version: 66.14
glider: 194
mission: 12
dive: 647
start: 3 2 118 6 58 24
data:
$ID,194
$MISSION,12
$DIVE,647
$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,65
$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,15
$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
$GPS1,020318,065321,4737.6816,-12256.1348,8,1.0,16,16.4,0.0,0.0,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.94
$_SM_ANGLEo,-71.4
$GPS2,020318,065744,4737.6899,-12256.1191,5,0.9,17,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$TGT_LATLONG,4738.117,-12254.800
$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,49.0,1827,-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,-244.4,210,2093,356,382,0.0,0.0,0,17,0.00,0.00,-6.32,0.000,16386,0.000,0.000,210,2093,535,519,551,0,0,0,0,0,0,26.38,28.83,26.39,8.06,41.21
$GC,20,-0.81,-244.4,210,2093,521,552,17.0,0.0,1,143,10.93,2.17,-106.00,0.000,18692,0.230,0.054,2886,3467,3061,3134,2989,0,0,0,0,0,0,25.40,25.39,25.70,8.07,40.90
$GC,339,-0.69,-244.4,2884,3467,3134,2989,56.6,-17.3,40,346,0.12,2.08,0.00,0.000,3078,0.151,0.024,2926,2074,3061,3134,2989,0,0,0,0,0,0,25.82,26.16,25.98,8.29,42.00
$GC,465,-0.61,-244.4,2925,2073,3135,2989,77.7,-15.6,53,470,0.10,2.17,0.00,0.000,2564,0.160,0.037,2963,685,3062,3135,2989,0,0,0,0,0,0,26.06,26.10,26.10,8.30,41.96
$GC,492,-0.54,-244.4,2962,685,3134,2989,81.1,-14.7,55,499,0.00,2.08,0.00,0.000,1030,0.000,0.025,2963,2072,3061,3134,2989,0,0,0,0,0,0,26.26,26.17,26.29,8.30,42.08
$GC,618,-0.54,-244.4,2962,2073,3134,2989,97.0,-11.9,68,627,0.00,2.17,0.00,0.000,260,0.000,0.042,2963,3476,3061,3133,2989,0,0,0,0,0,0,26.62,26.10,26.63,8.31,42.28
$GC,665,-0.54,-244.4,2962,3476,3134,2989,102.0,-11.2,72,671,0.00,2.08,0.00,0.000,1030,0.000,0.023,2963,2076,3061,3134,2989,0,0,0,0,0,0,26.33,26.26,26.35,8.31,42.12
$GC,853,-0.54,-244.4,2962,2076,3134,2989,122.5,-10.1,91,861,0.00,2.12,0.00,0.000,516,0.000,0.040,2963,691,3061,3134,2989,0,0,0,0,0,0,26.67,26.17,26.67,8.32,42.36
$GC,887,-0.54,-244.4,2962,691,3134,2989,126.2,-11.0,94,894,0.00,2.08,0.00,0.000,1030,0.000,0.025,2964,2092,3061,3134,2989,0,0,0,0,0,0,26.34,26.25,26.36,8.32,42.99
$GC,1074,-0.54,-244.4,2962,2091,3134,2989,146.5,-10.6,113,1079,0.00,2.15,0.00,0.000,260,0.000,0.041,2963,3473,3061,3134,2989,0,0,0,0,0,0,26.70,26.15,26.71,8.32,42.55
$GC,1110,-0.54,-244.4,2962,3473,3134,2989,149.8,-10.1,116,1117,0.00,2.05,0.00,0.000,1030,0.000,0.022,2963,2081,3061,3134,2989,0,0,0,0,0,0,26.40,26.34,26.42,8.32,42.32
$GC,1297,-0.54,-244.4,2962,2081,3134,2989,170.0,-11.1,135,1306,0.00,2.12,0.00,0.000,516,0.000,0.039,2963,686,3061,3134,2989,0,0,0,0,0,0,26.72,26.22,26.74,8.33,42.75
$STATE,1317,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1317,begin apogee
$GC,1326,-0.22,0.0,2963,2092,3135,2989,172.6,-11.2,137,1529,0.32,0.00,198.80,0.755,10246,0.114,0.000,3082,2091,2064,2111,2017,0,0,0,0,0,0,25.96,24.68,23.94,8.34,42.28
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1533,0.81,244.4,3082,2091,2110,2017,183.4,0.0,158,1743,0.93,0.00,202.15,0.727,10502,0.094,0.000,3390,2091,1066,1128,1005,0,0,0,0,0,0,24.81,24.32,23.65,8.26,40.90
$GC,1924,0.97,338.7,3389,2091,1128,1004,160.5,7.4,197,2011,0.12,2.33,77.55,0.708,10756,0.071,0.042,3481,695,682,732,632,0,0,0,0,0,0,25.74,24.89,24.10,8.19,40.70
$GC,2127,0.97,338.7,3480,695,731,633,135.7,12.2,217,2134,0.00,2.10,0.00,0.000,1030,0.000,0.024,3481,2084,682,731,633,0,0,0,0,0,0,25.77,25.70,25.79,8.16,40.70
$GC,2315,0.97,338.7,3480,2083,731,632,111.1,13.4,236,2323,0.00,2.17,0.00,0.000,516,0.000,0.041,3484,693,681,731,632,0,0,0,0,0,0,26.31,25.89,26.31,8.15,41.77
$GC,2387,0.97,338.7,3484,692,730,632,101.8,12.7,243,2391,0.00,2.10,0.00,0.000,1030,0.000,0.024,3484,2089,682,731,633,0,0,0,0,0,0,26.10,26.03,26.13,8.14,41.45
$GC,2579,0.97,338.7,3484,2089,731,632,78.1,11.8,262,2584,0.00,2.22,0.00,0.000,516,0.000,0.042,3485,686,681,731,632,0,0,0,0,0,0,26.49,26.04,26.49,8.14,41.33
$GC,2662,0.97,338.7,3484,686,731,632,68.5,11.7,270,2666,0.00,2.10,0.00,0.000,1030,0.000,0.025,3485,2089,681,731,632,0,0,0,0,0,0,26.25,26.17,26.27,8.14,41.53
$GC,2795,0.97,338.7,3484,2089,731,632,53.1,11.5,283,2803,0.00,2.20,0.00,0.000,516,0.000,0.041,3484,687,681,731,632,0,0,0,0,0,0,26.57,26.11,26.58,8.14,41.53
$GC,2839,0.97,338.7,3484,687,731,632,48.2,11.6,287,2846,0.00,2.08,0.00,0.000,1030,0.000,0.024,3484,2087,681,731,632,0,0,0,0,0,0,26.30,26.23,26.32,8.13,41.25
$GC,2967,0.97,338.7,3484,2086,731,632,33.8,10.6,300,2971,0.00,2.12,0.00,0.000,260,0.000,0.037,3484,3476,681,731,632,0,0,0,0,0,0,26.62,26.15,26.63,8.12,41.21
$GC,3013,0.97,338.7,3484,3476,731,632,29.6,9.9,304,3020,0.00,2.08,0.00,0.000,1030,0.000,0.023,3485,2078,681,731,632,0,0,0,0,0,0,26.33,26.26,26.36,8.13,41.21
$GC,3142,1.08,447.5,3484,2077,731,632,18.9,7.0,318,3186,0.00,0.00,39.70,0.529,8710,0.000,0.000,3484,2077,371,370,373,0,0,0,0,0,0,26.65,25.31,24.89,8.11,41.41
$GC,3249,1.66,814.4,3484,2077,370,371,16.1,-0.2,337,3255,0.45,0.00,0.00,0.000,2054,0.048,0.000,3676,2077,370,370,371,0,0,0,0,0,0,25.96,26.03,25.99,8.09,41.49
$GC,3319,2.24,1184.0,3676,2077,370,370,16.1,-0.2,350,3327,0.43,2.20,0.00,0.000,2308,0.055,0.037,3853,3479,370,370,371,0,0,0,0,0,0,25.98,25.92,26.03,8.09,41.02
$STATE,3334,end climb,NO_VERTICAL_VELOCITY
$STATE,3334,begin surface
$SM_CCo,3665,0.00,0.000,0,0,368,416.52
$SM_GC,17.03,9.75,2.15,0.00,0.044,0.023,0.000,205,2075,368,-9.15,1.53,416.52,0,0,0,0,0,0,26.06,26.18,26.15
$IRIDIUM_FIX,4739.20,-12253.53,020318,060130
$TT8_MAMPS,0.025466,0.283122
$HUMID,42.20
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,100.6,85.8
$24V_AH,23.65,55.586
$10V_AH,10.07,19.651
$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,23.150,51.275,518.200,0.000,0.000,0.000,0.000,166.450,2.250,0.000,18.629,840.260,1545.054,582.438,850.418,136.100,0.000,1213.541,0.000,676.771,0.000,10.506,0.000
$DEVICE_MAMPS,230.265,54.315,755.055,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.721,464.708,469.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312172
$DATA_FILE_SIZE,24526,352
$CAP_FILE_SIZE,57754,0
$CFSIZE,2097872896,2027094016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.006,258.39,1
$GPS,020318,080049,4737.784,-12255.514,5,0.8,39,16.4,0.0,0.0,10,3.7