version: 66.14
glider: 194
mission: 12
dive: 436
start: 2 20 118 17 6 59
data:
$ID,194
$MISSION,12
$DIVE,436
$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,49
$R_STBD_OVSHOOT,54
$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
$GPS1,200218,170101,4737.9731,-12255.9131,5,0.8,35,16.4,0.4,63.8,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.83
$_SM_ANGLEo,-71.0
$GPS2,200218,170621,4738.0112,-12255.8428,7,0.8,13,16.4,0.0,38.8,10,4.5
$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,195.0,913,-13.0,-10.000,-17.11,3689
$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,8,-0.81,-244.4,207,2064,369,368,0.0,0.0,0,17,0.00,0.00,-6.47,0.000,16386,0.000,0.000,206,2065,543,538,548,0,0,0,0,0,0,26.34,28.83,26.35,8.06,40.90
$GC,20,-0.81,-244.4,207,2065,537,548,13.9,0.0,1,150,10.88,0.00,-112.18,0.000,18950,0.233,0.000,2886,2063,3063,3140,2987,0,0,0,0,0,0,25.53,24.44,25.82,8.08,40.03
$GC,218,-0.62,-244.4,2885,2063,3141,2988,31.1,-21.8,31,227,0.17,2.17,0.00,0.000,2308,0.158,0.043,2943,3463,3064,3141,2988,0,0,0,0,0,0,25.76,25.97,25.86,8.29,40.35
$GC,274,-0.53,-244.4,2943,3462,3141,2988,40.9,-17.3,36,282,0.12,2.05,0.00,0.000,3078,0.148,0.023,2984,2075,3064,3141,2988,0,0,0,0,0,0,25.84,26.13,26.00,8.29,40.23
$GC,401,-0.53,-244.4,2983,2075,3141,2987,56.4,-11.9,49,410,0.00,2.20,0.00,0.000,260,0.000,0.043,2984,3481,3064,3140,2988,0,0,0,0,0,0,26.51,26.06,26.52,8.30,40.58
$GC,463,-0.53,-244.4,2983,3481,3141,2988,63.2,-10.9,55,472,0.00,2.08,0.00,0.000,1030,0.000,0.023,2984,2084,3064,3141,2987,0,0,0,0,0,0,26.27,26.20,26.29,8.30,41.61
$GC,593,-0.53,-244.4,2983,2083,3141,2988,77.9,-11.8,68,597,0.00,2.17,0.00,0.000,260,0.000,0.042,2984,3470,3064,3141,2987,0,0,0,0,0,0,26.57,26.11,26.58,8.31,41.21
$GC,636,-0.53,-244.4,2983,3470,3141,2988,82.6,-11.0,72,640,0.00,2.05,0.00,0.000,1030,0.000,0.022,2984,2077,3064,3141,2988,0,0,0,0,0,0,26.32,26.27,26.34,8.31,42.08
$GC,768,-0.53,-244.4,2983,2077,3141,2988,96.6,-10.9,85,772,0.00,2.17,0.00,0.000,260,0.000,0.042,2983,3479,3064,3141,2988,0,0,0,0,0,0,26.61,26.15,26.62,8.31,41.69
$GC,800,-0.53,-244.4,2983,3479,3141,2987,99.8,-10.2,88,805,0.00,2.05,0.00,0.000,1030,0.000,0.022,2984,2085,3064,3141,2988,0,0,0,0,0,0,26.35,26.29,26.38,8.31,41.84
$GC,935,-0.53,-244.4,2983,2085,3141,2988,113.8,-10.8,101,944,0.00,2.15,0.00,0.000,260,0.000,0.042,2984,3471,3064,3141,2988,0,0,0,0,0,0,26.65,26.17,26.65,8.31,42.04
$GC,983,-0.53,-244.4,2983,3471,3141,2988,119.1,-11.2,105,992,0.00,2.03,0.00,0.000,1030,0.000,0.022,2984,2082,3064,3141,2988,0,0,0,0,0,0,26.39,26.32,26.40,8.32,41.73
$GC,1173,-0.53,-244.4,2983,2082,3141,2988,139.2,-10.6,124,1181,0.00,2.15,0.00,0.000,260,0.000,0.044,2984,3463,3064,3141,2987,0,0,0,0,0,0,26.68,26.18,26.69,8.32,41.45
$GC,1214,-0.53,-244.4,2983,3463,3141,2987,143.8,-10.6,128,1223,0.00,2.03,0.00,0.000,1030,0.000,0.022,2984,2081,3064,3141,2987,0,0,0,0,0,0,26.41,26.35,26.44,8.32,41.53
$STATE,1372,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1372,begin apogee
$GC,1378,-0.22,0.0,2983,2080,3141,2988,159.5,-10.4,144,1584,0.25,0.00,197.05,0.751,10246,0.118,0.000,3077,2079,2064,2113,2015,0,0,0,0,0,0,26.06,24.57,24.16,8.33,41.37
$STATE,1585,end apogee,CONTROL_FINISHED_OK
$STATE,1585,begin climb
$GC,1589,0.81,244.4,3077,2079,2112,2014,162.5,0.0,165,1800,0.93,2.33,199.70,0.720,11012,0.099,0.038,3385,3474,1067,1130,1004,0,0,0,0,0,0,24.87,24.47,23.89,8.26,39.52
$GC,1816,0.92,354.4,3384,3474,1130,1004,151.6,6.9,187,1914,0.10,2.17,90.82,0.698,11270,0.076,0.021,3460,2088,618,667,570,0,0,0,0,0,0,24.81,24.82,23.90,8.18,38.58
$GC,2093,0.92,354.4,3459,2087,667,569,118.8,11.8,215,2097,0.00,2.22,0.00,0.000,516,0.000,0.041,3460,687,618,667,570,0,0,0,0,0,0,25.80,25.46,25.82,8.15,39.84
$GC,2227,0.92,354.4,3459,687,666,570,103.3,11.5,228,2231,0.00,2.12,0.00,0.000,1030,0.000,0.025,3460,2083,618,666,570,0,0,0,0,0,0,25.85,25.79,25.87,8.14,40.31
$GC,2420,0.92,354.4,3459,2083,666,569,80.3,11.6,247,2428,0.00,2.22,0.00,0.000,516,0.000,0.041,3460,681,617,666,569,0,0,0,0,0,0,26.29,25.91,26.30,8.14,40.58
$GC,2475,0.92,354.4,3459,681,666,570,74.5,11.2,252,2481,0.00,2.10,0.00,0.000,1030,0.000,0.025,3460,2081,618,666,570,0,0,0,0,0,0,26.10,26.03,26.11,8.13,40.54
$GC,2602,0.92,354.4,3459,2081,666,569,60.0,11.1,265,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2081,618,666,570,0,0,0,0,0,0,26.41,26.42,26.41,8.13,40.58
$GC,2722,0.92,354.4,3459,2081,666,570,46.9,10.9,277,2730,0.00,2.17,0.00,0.000,516,0.000,0.041,3460,690,617,666,569,0,0,0,0,0,0,26.47,26.08,26.48,8.13,41.02
$GC,2774,0.92,354.4,3459,690,666,570,41.3,10.6,282,2779,0.00,2.08,0.00,0.000,1030,0.000,0.025,3460,2088,618,666,570,0,0,0,0,0,0,26.24,26.17,26.26,8.12,40.31
$GC,2907,0.92,354.4,3458,2088,666,570,28.7,8.8,295,2911,0.00,2.15,0.00,0.000,260,0.000,0.039,3460,3477,618,666,570,0,0,0,0,0,0,26.53,26.13,26.54,8.12,40.70
$GC,2969,0.92,354.4,3459,3478,666,570,23.4,8.8,301,2978,0.00,2.08,0.00,0.000,1030,0.000,0.023,3460,2079,618,666,570,0,0,0,0,0,0,26.31,26.25,26.32,8.11,41.21
$GC,3102,1.11,486.5,3459,2079,666,570,13.6,6.3,322,3141,0.08,2.20,31.12,0.522,10756,0.116,0.043,3498,685,372,382,363,0,0,0,0,0,0,26.34,25.61,25.23,8.11,40.86
$GC,3165,1.70,856.4,3498,685,381,362,12.9,-0.3,332,3173,0.47,2.10,0.00,0.000,3078,0.053,0.025,3694,2068,371,381,362,0,0,0,0,0,0,25.95,25.98,26.03,8.09,40.27
$GC,3237,2.24,1210.6,3694,2068,381,361,12.9,0.2,345,3244,0.38,2.22,0.00,0.000,2308,0.055,0.040,3855,3489,371,381,361,0,0,0,0,0,0,26.01,25.96,26.05,8.09,39.84
$STATE,3255,end climb,NO_VERTICAL_VELOCITY
$STATE,3255,begin surface
$SM_CCo,3586,0.00,0.000,0,0,370,415.78
$SM_GC,13.93,9.77,2.17,0.00,0.046,0.023,0.000,203,2074,370,-9.15,1.19,415.78,0,0,0,0,0,0,26.10,26.17,26.17
$IRIDIUM_FIX,4739.67,-12257.95,200218,155003
$TT8_MAMPS,0.026964,0.289863
$HUMID,41.02
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.00
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.4,7.2
$ALTIM_BOTTOM_PING,130.7,38.6
$24V_AH,23.89,35.319
$10V_AH,10.18,13.627
$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,23.150,55.650,518.700,0.000,0.000,0.000,0.000,223.275,5.750,0.000,14.237,835.050,1457.988,600.047,885.898,147.855,0.000,1284.804,0.000,651.386,0.000,34.308,0.000
$DEVICE_MAMPS,233.325,43.605,751.230,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.787,459.296,463.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312216
$DATA_FILE_SIZE,24431,348
$CAP_FILE_SIZE,60691,0
$CFSIZE,2097872896,2047836160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.126,48.04,1
$GPS,200218,180739,4737.862,-12256.057,5,0.8,13,16.4,0.0,0.0,11,5.0