version: 66.14
glider: 194
mission: 12
dive: 650
start: 3 2 118 10 17 19
data:
$ID,194
$MISSION,12
$DIVE,650
$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,57
$R_STBD_OVSHOOT,59
$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
$GPS1,020318,101130,4738.0625,-12254.8818,5,0.9,32,16.4,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.04
$_SM_ANGLEo,-71.2
$GPS2,020318,101642,4738.0581,-12254.8359,5,0.9,16,16.4,0.0,0.0,9,4.6
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$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,40.9,2095,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.81,-244.4,210,2096,341,395,0.0,0.0,0,18,0.00,0.00,-6.47,0.000,16386,0.000,0.000,210,2096,539,517,562,0,0,0,0,0,0,26.37,28.83,26.39,8.06,40.74
$GC,21,-0.81,-244.4,210,2096,517,562,17.0,0.0,1,145,11.00,2.28,-104.28,0.000,18948,0.233,0.051,2886,686,3063,3135,2991,0,0,0,0,0,0,25.36,23.96,25.67,8.08,40.98
$GC,287,-0.66,-244.4,2885,684,3135,2992,47.7,-18.1,35,293,0.15,2.10,0.00,0.000,3078,0.158,0.026,2933,2075,3064,3136,2992,0,0,0,0,0,0,25.71,26.10,25.90,8.29,40.98
$GC,421,-0.59,-244.4,2932,2075,3136,2992,69.2,-15.5,48,430,0.10,2.17,0.00,0.000,2308,0.164,0.041,2968,3477,3064,3136,2992,0,0,0,0,0,0,26.02,26.03,26.07,8.30,41.92
$GC,494,-0.59,-244.4,2967,3477,3136,2992,78.2,-11.3,55,498,0.00,2.08,0.00,0.000,1030,0.000,0.023,2968,2086,3063,3135,2992,0,0,0,0,0,0,26.29,26.22,26.32,8.30,41.96
$GC,627,-0.59,-244.4,2967,2085,3136,2992,93.7,-11.9,68,635,0.00,2.17,0.00,0.000,516,0.000,0.039,2968,690,3063,3135,2992,0,0,0,0,0,0,26.63,26.13,26.64,8.31,42.20
$GC,659,-0.59,-244.4,2967,690,3136,2992,97.4,-11.4,71,663,0.00,2.10,0.00,0.000,1030,0.000,0.025,2968,2094,3064,3136,2992,0,0,0,0,0,0,26.29,26.21,26.32,8.30,42.20
$GC,791,-0.59,-244.4,2967,2094,3136,2992,111.8,-11.3,84,795,0.00,2.12,0.00,0.000,260,0.000,0.041,2968,3470,3064,3136,2992,0,0,0,0,0,0,26.66,26.10,26.67,8.32,42.47
$GC,836,-0.59,-244.4,2967,3471,3136,2992,116.1,-10.5,88,843,0.00,2.05,0.00,0.000,1030,0.000,0.023,2968,2079,3064,3136,2992,0,0,0,0,0,0,26.36,26.29,26.38,8.31,42.43
$GC,1023,-0.59,-244.4,2967,2079,3135,2992,137.3,-11.7,107,1032,0.00,2.15,0.00,0.000,516,0.000,0.038,2968,690,3063,3136,2991,0,0,0,0,0,0,26.70,26.19,26.70,8.33,42.36
$GC,1105,-0.59,-244.4,2967,690,3135,2992,147.4,-12.3,115,1114,0.00,2.08,0.00,0.000,1030,0.000,0.025,2968,2085,3063,3135,2992,0,0,0,0,0,0,26.36,26.27,26.39,8.33,42.59
$GC,1295,-0.59,-244.4,2967,2085,3136,2991,170.3,-12.1,134,1304,0.00,2.12,0.00,0.000,260,0.000,0.041,2968,3471,3063,3135,2991,0,0,0,0,0,0,26.73,26.17,26.74,8.33,42.40
$STATE,1315,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1315,begin apogee
$GC,1324,-0.22,0.0,2967,2072,3136,2992,172.5,-10.5,136,1528,0.30,0.00,199.95,0.757,10246,0.111,0.000,3081,2071,2064,2112,2017,0,0,0,0,0,0,26.02,24.68,23.94,8.33,42.47
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1534,0.81,244.4,3080,2071,2111,2017,177.9,0.0,157,1749,0.90,2.35,201.70,0.734,10500,0.051,0.037,3423,3463,1066,1127,1006,0,0,0,0,0,0,24.96,24.38,23.64,8.26,41.10
$GC,1783,0.81,244.4,3422,3463,1127,1006,164.5,8.3,182,1787,0.00,2.15,0.00,0.000,1030,0.000,0.021,3426,2092,1066,1127,1006,0,0,0,0,0,0,25.08,25.01,25.09,8.19,39.88
$GC,1976,0.91,346.7,3425,2092,1127,1005,150.3,7.2,201,2066,0.00,2.35,84.30,0.713,8708,0.000,0.041,3426,687,649,695,603,0,0,0,0,0,0,26.10,24.91,24.14,8.18,40.54
$GC,2072,0.91,346.7,3425,687,695,603,143.4,8.2,210,2078,0.00,2.15,0.00,0.000,1030,0.000,0.024,3426,2087,649,695,603,0,0,0,0,0,0,25.29,25.24,25.32,8.16,40.31
$GC,2259,0.91,346.7,3425,2087,695,602,124.4,10.1,229,2263,0.00,2.15,0.00,0.000,260,0.000,0.037,3426,3471,648,695,602,0,0,0,0,0,0,26.17,25.77,26.17,8.15,40.43
$GC,2321,0.97,346.7,3425,3472,695,602,118.0,10.4,235,2330,0.00,2.08,0.00,0.000,3078,0.000,0.023,3426,2083,648,695,602,0,0,0,0,0,0,25.97,25.94,25.98,8.15,41.14
$GC,2511,0.97,346.7,3425,2083,696,602,100.9,8.7,254,2520,0.00,2.17,0.00,0.000,2564,0.000,0.041,3426,684,648,695,601,0,0,0,0,0,0,26.44,25.98,26.44,8.15,41.33
$GC,2593,1.03,346.7,3425,685,695,601,93.6,8.7,262,2603,0.08,2.05,0.00,0.000,3078,0.068,0.024,3490,2078,648,695,601,0,0,0,0,0,0,26.04,26.14,26.10,8.15,40.94
$GC,2723,1.03,346.7,3490,2078,695,601,78.2,12.0,275,2727,0.00,2.20,0.00,0.000,516,0.000,0.042,3493,686,648,695,601,0,0,0,0,0,0,26.53,26.08,26.53,8.14,41.33
$GC,2869,1.03,346.7,3493,686,695,602,61.4,11.7,289,2874,0.00,2.08,0.00,0.000,1030,0.000,0.024,3493,2075,648,695,601,0,0,0,0,0,0,26.29,26.22,26.32,8.14,41.88
$GC,3002,1.03,346.7,3493,2075,695,601,44.8,11.9,302,3010,0.00,2.20,0.00,0.000,516,0.000,0.042,3495,676,648,695,601,0,0,0,0,0,0,26.62,26.14,26.63,8.13,41.37
$GC,3066,1.03,346.7,3494,676,695,601,37.7,11.2,308,3073,0.00,2.10,0.00,0.000,1030,0.000,0.024,3494,2098,647,694,601,0,0,0,0,0,0,26.34,26.27,26.36,8.13,40.98
$GC,3194,1.03,346.7,3494,2098,695,601,24.3,9.3,321,3198,0.00,2.10,0.00,0.000,260,0.000,0.037,3495,3474,648,696,601,0,0,0,0,0,0,26.66,26.18,26.67,8.12,41.25
$GC,3220,1.03,346.7,3494,3474,695,602,22.3,9.2,323,3227,0.00,2.08,0.00,0.000,1030,0.000,0.022,3497,2079,648,695,601,0,0,0,0,0,0,26.38,26.31,26.40,8.12,41.25
$GC,3350,1.60,714.7,3496,2078,695,601,16.1,-0.2,346,3392,0.38,0.00,35.40,0.528,10758,0.054,0.000,3662,2078,372,368,376,0,0,0,0,0,0,26.29,25.37,24.96,8.11,41.21
$STATE,3437,end climb,NO_VERTICAL_VELOCITY
$STATE,3437,begin surface
$SM_CCo,3766,0.00,0.000,0,0,369,416.03
$SM_GC,17.10,9.18,0.00,0.00,0.040,0.000,0.000,209,2078,369,-9.14,-0.11,416.03,0,0,0,0,0,0,26.05,26.53,26.13
$IRIDIUM_FIX,4736.40,-12251.79,020318,091038
$TT8_MAMPS,0.026215,0.275632
$HUMID,42.32
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,100.9,86.3
$24V_AH,23.64,55.869
$10V_AH,10.07,19.738
$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,22.075,55.750,521.350,0.000,0.000,0.000,0.000,210.525,1.750,0.000,17.698,872.455,1575.000,586.088,923.663,141.790,0.000,1280.493,0.000,707.194,0.000,10.490,0.000
$DEVICE_MAMPS,232.560,51.255,756.585,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.826,478.073,482.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312148
$DATA_FILE_SIZE,24700,362
$CAP_FILE_SIZE,59894,0
$CFSIZE,2097872896,2026799104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,238.44,1
$GPS,020318,112108,4738.081,-12254.572,5,0.8,22,16.4,0.0,0.0,10,4.8