version: 66.14
glider: 194
mission: 12
dive: 399
start: 2 18 118 21 28 0
data:
$ID,194
$MISSION,12
$DIVE,399
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,90
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59218
$MASS_COMP,3867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,20
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,3153
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.1
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2082
$C_ROLL_CLIMB,2082
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,375
$VBD_MAX,3900
$C_VBD,2065
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,1
$CF8_MAXERRORS,20
$AH0_24V,142
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-56.168804
$PRESSURE_SLOPE,0.0001158091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.223
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043142368
$SEABIRD_T_H,0.00062992517
$SEABIRD_T_I,2.3677077e-05
$SEABIRD_T_J,2.5192039e-06
$SEABIRD_C_G,-10.019496
$SEABIRD_C_H,1.1237694
$SEABIRD_C_I,-0.0014884615
$SEABIRD_C_J,0.00020148222
$SEABIRD_C_Z,2989.49
$GPS1,180218,212124,4737.9746,-12255.6660,8,0.9,30,16.4,0.7,233.3,9,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,12.83
$_SM_ANGLEo,-64.2
$GPS2,180218,212714,4737.9409,-12255.7783,18,0.9,24,16.4,0.3,247.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW3
$TGT_LATLONG,4737.577,-12256.188
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.288867,-0.148510
$KALMAN_X,34651.437500,518.190002,-280.221558,-35416.792969,662.479614
$KALMAN_Y,12811.416016,296.136719,-399.748138,-13361.724609,330.277039
$MHEAD_RNG_PITCHd_Wd,199.4,846,-23.3,-10.000,-26.38,1297
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-1.10,-85.1,217,2075,359,380,0.0,0.0,0,17,0.00,0.00,-5.95,0.000,16386,0.000,0.000,216,2075,528,520,536,0,0,0,0,0,0,26.34,28.83,26.35,8.07,40.11
$GC,20,-1.10,-85.1,217,2074,520,537,12.8,0.0,1,126,9.82,2.20,-89.03,0.000,19204,0.212,0.050,2797,689,2412,2459,2365,0,0,0,0,0,0,25.60,24.25,25.86,8.08,40.27
$GC,422,-0.95,-85.1,2796,689,2459,2361,72.9,-19.8,53,428,0.17,2.05,0.00,0.000,3078,0.190,0.026,2846,2071,2409,2459,2360,0,0,0,0,0,0,25.75,26.18,25.99,8.24,40.86
$GC,556,-0.88,-85.1,2845,2072,2459,2360,94.8,-15.6,66,565,0.00,2.17,0.00,0.000,260,0.000,0.044,2846,3477,2409,2459,2360,0,0,0,0,0,0,26.57,26.14,26.58,8.25,40.90
$GC,614,-0.82,-85.1,2846,3477,2459,2360,102.8,-14.5,71,622,0.12,2.05,0.00,0.000,3078,0.171,0.022,2883,2075,2410,2460,2360,0,0,0,0,0,0,25.91,26.27,26.10,8.25,41.14
$GC,801,-0.82,-85.1,2883,2074,2458,2359,127.7,-13.1,90,805,0.00,2.12,0.00,0.000,516,0.000,0.038,2883,683,2409,2459,2359,0,0,0,0,0,0,26.63,26.22,26.63,8.26,41.41
$GC,866,-0.82,-85.1,2882,683,2459,2359,135.9,-13.3,96,870,0.00,2.10,0.00,0.000,1030,0.000,0.026,2883,2092,2408,2459,2358,0,0,0,0,0,0,26.36,26.27,26.39,8.27,41.06
$GC,1059,-0.82,-85.1,2882,2093,2459,2358,159.4,-11.8,115,1063,0.00,2.15,0.00,0.000,260,0.000,0.042,2883,3478,2408,2459,2358,0,0,0,0,0,0,26.67,26.22,26.67,8.28,42.04
$STATE,1149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1149,begin apogee
$GC,1157,-0.22,0.0,2883,2073,2459,2358,170.4,-12.1,124,1233,0.57,0.00,72.45,0.766,10246,0.141,0.000,3073,2072,2064,2110,2019,0,0,0,0,0,0,25.90,25.25,24.62,8.28,41.84
$STATE,1235,end apogee,CONTROL_FINISHED_OK
$STATE,1235,begin climb
$GC,1237,1.10,85.1,3073,2072,2110,2019,174.9,0.0,132,1315,1.20,0.00,73.28,0.739,10246,0.097,0.000,3478,2072,1717,1771,1664,0,0,0,0,0,0,25.28,24.87,24.29,8.25,40.47
$GC,1493,1.10,85.1,3478,2072,1769,1661,153.3,10.2,158,1497,0.00,2.22,0.00,0.000,260,0.000,0.038,3478,3476,1715,1769,1661,0,0,0,0,0,0,26.00,25.64,26.01,8.23,40.54
$GC,1559,1.10,85.1,3478,3476,1768,1661,146.5,10.9,164,1565,0.00,2.08,0.00,0.000,1030,0.000,0.022,3486,2093,1714,1768,1661,0,0,0,0,0,0,25.89,25.83,25.91,8.23,40.62
$GC,1746,1.10,85.1,3485,2093,1768,1660,127.0,10.0,183,1750,0.00,2.17,0.00,0.000,260,0.000,0.038,3486,3482,1714,1768,1660,0,0,0,0,0,0,26.31,25.93,26.32,8.23,40.90
$GC,1761,1.10,85.1,3485,3482,1768,1660,125.8,10.3,184,1768,0.00,2.08,0.00,0.000,1030,0.000,0.021,3496,2076,1714,1768,1660,0,0,0,0,0,0,26.09,26.03,26.11,8.23,41.25
$GC,1948,1.10,85.1,3495,2076,1768,1660,106.0,10.1,203,1952,0.00,2.17,0.00,0.000,516,0.000,0.038,3505,680,1713,1768,1659,0,0,0,0,0,0,26.44,26.06,26.44,8.23,40.47
$GC,2033,1.10,85.1,3504,679,1767,1660,97.0,11.2,211,2040,0.00,2.10,0.00,0.000,1030,0.000,0.025,3505,2096,1713,1767,1660,0,0,0,0,0,0,26.22,26.15,26.25,8.23,40.66
$GC,2160,1.10,85.1,3504,2096,1767,1660,83.6,10.0,224,2165,0.00,2.12,0.00,0.000,260,0.000,0.039,3505,3473,1714,1768,1660,0,0,0,0,0,0,26.52,26.13,26.53,8.23,40.86
$GC,2226,1.10,85.1,3504,3473,1767,1659,76.9,10.5,230,2233,0.00,2.05,0.00,0.000,1030,0.000,0.022,3513,2081,1713,1767,1659,0,0,0,0,0,0,26.30,26.25,26.32,8.23,40.90
$GC,2353,1.10,85.1,3513,2080,1767,1659,64.6,9.4,243,2362,0.00,2.17,0.00,0.000,516,0.000,0.039,3513,678,1713,1767,1660,0,0,0,0,0,0,26.58,26.18,26.59,8.22,40.70
$GC,2375,1.10,85.1,3513,679,1767,1659,62.6,9.1,245,2384,0.00,2.10,0.00,0.000,1030,0.000,0.024,3513,2092,1713,1767,1659,0,0,0,0,0,0,26.33,26.26,26.35,8.23,41.06
$GC,2505,1.10,85.1,3513,2092,1767,1659,50.5,9.1,258,2510,0.00,2.20,0.00,0.000,516,0.000,0.038,3523,677,1713,1767,1659,0,0,0,0,0,0,26.62,26.22,26.62,8.22,40.70
$GC,2531,1.10,85.1,3522,677,1767,1659,48.5,8.8,260,2537,0.00,2.08,0.00,0.000,1030,0.000,0.025,3522,2086,1713,1767,1659,0,0,0,0,0,0,26.36,26.29,26.38,8.21,41.37
$GC,2658,1.15,136.8,3522,2085,1767,1659,39.3,5.9,273,2697,0.00,2.22,30.08,0.650,8708,0.000,0.039,3532,686,1505,1565,1445,0,0,0,0,0,0,26.65,25.84,25.20,8.21,41.10
$GC,2713,1.21,192.0,3532,686,1564,1445,36.3,5.6,278,2752,0.00,2.08,31.12,0.636,9222,0.000,0.024,3533,2078,1280,1339,1221,0,0,0,0,0,0,26.04,25.98,24.93,8.20,40.35
$GC,2873,1.25,234.1,3531,2078,1339,1218,23.6,6.7,294,2901,0.00,2.28,22.17,0.568,8708,0.000,0.038,3541,679,1108,1163,1053,0,0,0,0,0,0,26.15,25.51,24.89,8.17,39.84
$GC,2967,1.25,234.1,3540,679,1160,1052,17.2,8.6,306,2974,0.00,2.12,0.00,0.000,1030,0.000,0.025,3541,2081,1106,1160,1052,0,0,0,0,0,0,25.85,25.78,25.87,8.15,40.27
$GC,3038,1.63,334.8,3541,2082,1160,1049,12.0,2.1,319,3098,0.28,2.28,50.83,0.522,10756,0.052,0.041,3671,670,697,741,653,0,0,0,0,0,0,25.91,25.36,24.82,8.15,40.39
$STATE,3164,end climb,NO_VERTICAL_VELOCITY
$STATE,3165,begin surface
$SM_CCo,3168,40.85,0.514,0,0,372,414.56
$SM_GC,12.74,9.35,2.20,0.00,0.045,0.026,0.000,212,2079,368,-9.13,-1.64,416.27,0,0,0,0,0,0,25.84,25.91,25.91
$IRIDIUM_FIX,4739.67,-12257.95,180218,200437
$TT8_MAMPS,0.026215,0.274134
$HUMID,40.90
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.6,11.6
$ALTIM_BOTTOM_PING,135.9,44.0
$24V_AH,24.25,31.753
$10V_AH,10.21,12.500
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.525,55.700,279.925,40.850,0.000,0.000,0.000,241.600,4.500,0.000,25.171,899.003,1547.064,429.480,899.820,142.155,0.000,1076.035,0.000,643.368,0.000,27.445,0.000
$DEVICE_MAMPS,211.905,50.490,765.765,514.080,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.724,452.557,456.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312124
$DATA_FILE_SIZE,24532,342
$CAP_FILE_SIZE,59878,0
$CFSIZE,2097872896,2051473408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.157,243.17,1
$GPS,180218,222819,4737.557,-12256.415,15,1.0,38,16.4,1.2,239.6,8,4.3