version: 66.14
glider: 194
mission: 12
dive: 654
start: 3 2 118 14 50 56
data:
$ID,194
$MISSION,12
$DIVE,654
$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,53
$R_STBD_OVSHOOT,85
$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
$GPS1,020318,144440,4738.7695,-12253.1494,6,1.2,19,16.4,0.0,73.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.07
$_SM_ANGLEo,-69.1
$GPS2,020318,145018,4738.7959,-12253.0566,5,0.8,19,16.4,0.3,57.5,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$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,224.8,2512,-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,9,-0.81,-244.4,206,2108,341,395,0.0,0.0,0,17,0.00,0.00,-5.97,0.000,16386,0.000,0.000,205,2108,526,502,551,0,0,0,0,0,0,26.36,28.83,26.36,8.06,40.94
$GC,20,-0.81,-244.4,206,2108,503,551,17.1,0.0,1,146,10.82,0.00,-111.85,0.000,18950,0.225,0.000,2891,2109,3063,3134,2993,0,0,0,0,0,0,25.39,24.31,25.69,8.07,40.86
$GC,215,-0.64,-244.4,2890,2109,3134,2994,32.6,-19.9,29,220,0.15,2.10,0.00,0.000,2308,0.158,0.041,2941,3441,3064,3134,2994,0,0,0,0,0,0,25.79,25.93,25.86,8.28,41.06
$GC,243,-0.51,-244.4,2940,3441,3134,2995,36.6,-18.2,31,251,0.12,2.03,0.00,0.000,3078,0.137,0.024,2983,2089,3064,3134,2995,0,0,0,0,0,0,25.82,26.11,25.96,8.28,40.70
$GC,369,-0.51,-244.4,2983,2088,3134,2994,55.0,-12.9,44,378,0.00,2.17,0.00,0.000,516,0.000,0.039,2983,690,3064,3134,2994,0,0,0,0,0,0,26.54,26.06,26.55,8.29,41.57
$GC,405,-0.51,-244.4,2983,690,3135,2995,59.3,-13.7,47,411,0.00,2.03,0.00,0.000,1030,0.000,0.025,2983,2037,3065,3135,2995,0,0,0,0,0,0,26.23,26.15,26.25,8.29,42.24
$GC,531,-0.51,-244.4,2983,2037,3134,2995,75.5,-11.7,60,540,0.00,2.25,0.00,0.000,260,0.000,0.042,2983,3488,3064,3134,2994,0,0,0,0,0,0,26.59,26.05,26.60,8.30,41.69
$GC,576,-0.51,-244.4,2983,3487,3134,2995,79.9,-10.5,64,583,0.00,2.10,0.00,0.000,1030,0.000,0.022,2984,2072,3064,3134,2995,0,0,0,0,0,0,26.30,26.23,26.33,8.30,41.92
$GC,703,-0.51,-244.4,2983,2071,3134,2995,93.2,-10.2,77,708,0.00,2.15,0.00,0.000,516,0.000,0.039,2983,689,3064,3134,2994,0,0,0,0,0,0,26.63,26.14,26.65,8.31,42.71
$GC,739,-0.51,-244.4,2983,689,3134,2994,96.9,-11.1,80,746,0.00,2.10,0.00,0.000,1030,0.000,0.025,2983,2098,3065,3135,2995,0,0,0,0,0,0,26.30,26.22,26.33,8.30,42.47
$GC,866,-0.51,-244.4,2982,2098,3134,2995,109.9,-10.2,93,870,0.00,2.15,0.00,0.000,260,0.000,0.041,2982,3476,3064,3134,2994,0,0,0,0,0,0,26.67,26.11,26.67,8.31,41.96
$GC,903,-0.51,-244.4,2983,3475,3134,2995,113.4,-10.0,96,910,0.00,2.05,0.00,0.000,1030,0.000,0.022,2983,2082,3065,3135,2995,0,0,0,0,0,0,26.36,26.29,26.39,8.32,42.32
$GC,1090,-0.51,-244.4,2983,2082,3134,2994,131.9,-9.6,115,1094,0.00,2.15,0.00,0.000,516,0.000,0.038,2983,686,3064,3134,2995,0,0,0,0,0,0,26.70,26.19,26.71,8.32,42.59
$GC,1126,-0.51,-244.4,2983,686,3135,2994,135.2,-10.4,118,1133,0.00,2.08,0.00,0.000,1030,0.000,0.024,2983,2081,3064,3134,2994,0,0,0,0,0,0,26.36,26.28,26.39,8.32,42.32
$GC,1312,-0.51,-244.4,2983,2081,3135,2995,153.9,-9.4,137,1317,0.00,2.15,0.00,0.000,260,0.000,0.041,2983,3477,3065,3135,2995,0,0,0,0,0,0,26.73,26.16,26.74,8.32,42.24
$GC,1359,-0.51,-244.4,2983,3477,3134,2994,157.7,-8.8,141,1366,0.00,2.05,0.00,0.000,1030,0.000,0.022,2983,2079,3064,3134,2994,0,0,0,0,0,0,26.42,26.35,26.44,8.33,42.67
$STATE,1423,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1423,begin apogee
$GC,1429,-0.22,0.0,2983,2079,3134,2994,164.1,-9.6,148,1636,0.25,0.00,199.75,0.752,10246,0.112,0.000,3079,2078,2064,2109,2019,0,0,0,0,0,0,26.02,24.68,23.94,8.33,42.28
$STATE,1638,end apogee,CONTROL_FINISHED_OK
$STATE,1638,begin climb
$GC,1642,0.81,244.4,3079,2078,2109,2018,173.7,0.0,169,1855,0.90,0.00,202.12,0.724,10502,0.096,0.000,3378,2078,1066,1127,1006,0,0,0,0,0,0,24.84,24.12,23.66,8.25,40.86
$GC,2038,1.02,369.9,3378,2078,1126,1003,152.6,6.5,209,2149,0.20,2.28,103.43,0.704,10756,0.054,0.040,3491,690,555,587,524,0,0,0,0,0,0,25.75,24.52,24.03,8.18,40.43
$GC,2298,1.02,369.9,3491,690,585,522,120.4,12.4,234,2304,0.00,2.12,0.00,0.000,1030,0.000,0.024,3492,2093,553,584,523,0,0,0,0,0,0,25.82,25.75,25.84,8.14,40.54
$GC,2484,1.02,369.9,3491,2093,584,522,96.9,11.8,253,2489,0.00,2.22,0.00,0.000,516,0.000,0.041,3492,694,553,584,522,0,0,0,0,0,0,26.33,25.90,26.34,8.14,40.90
$GC,2577,1.02,369.9,3491,694,584,522,86.0,12.4,262,2586,0.00,2.10,0.00,0.000,1030,0.000,0.024,3492,2091,553,584,522,0,0,0,0,0,0,26.14,26.07,26.16,8.13,41.06
$GC,2707,1.02,369.9,3491,2091,584,522,68.3,13.4,275,2711,0.00,2.22,0.00,0.000,516,0.000,0.041,3492,686,553,584,522,0,0,0,0,0,0,26.48,26.03,26.48,8.13,41.25
$GC,2770,1.02,369.9,3491,686,584,521,60.1,13.0,281,2774,0.00,2.10,0.00,0.000,1030,0.000,0.024,3492,2088,553,584,522,0,0,0,0,0,0,26.23,26.16,26.25,8.13,40.86
$GC,2902,1.02,369.9,3491,2088,584,522,44.2,10.3,294,2911,0.00,2.20,0.00,0.000,516,0.000,0.041,3494,685,553,585,521,0,0,0,0,0,0,26.56,26.10,26.57,8.12,41.53
$GC,2958,1.02,369.9,3494,685,584,522,38.0,12.3,299,2964,0.00,2.08,0.00,0.000,1030,0.000,0.024,3494,2085,552,584,521,0,0,0,0,0,0,26.29,26.22,26.32,8.12,41.17
$GC,3084,1.02,369.9,3494,2085,584,522,22.7,9.5,312,3088,0.00,2.20,0.00,0.000,516,0.000,0.041,3494,688,553,584,522,0,0,0,0,0,0,26.61,26.13,26.62,8.11,41.69
$GC,3230,1.57,714.0,3493,687,585,521,16.2,0.5,337,3261,0.38,2.08,23.20,0.515,11270,0.063,0.027,3642,2076,372,370,375,0,0,0,0,0,0,26.15,26.22,24.93,8.10,41.06
$STATE,3292,end climb,NO_VERTICAL_VELOCITY
$STATE,3292,begin surface
$SM_CCo,3620,0.00,0.000,0,0,370,415.78
$SM_GC,17.20,9.25,0.00,0.00,0.044,0.000,0.000,182,2077,370,-9.21,-0.14,415.78,0,0,0,0,0,0,26.11,26.56,26.19
$IRIDIUM_FIX,4738.33,-12256.21,020318,133706
$TT8_MAMPS,0.027713,0.279377
$HUMID,41.80
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.70
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,111.3,67.4
$24V_AH,23.66,56.243
$10V_AH,10.06,19.856
$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,22.075,51.150,528.500,0.000,0.000,0.000,0.000,231.875,3.750,0.000,20.889,830.411,1507.106,583.179,909.741,148.615,0.000,1284.807,0.000,668.293,0.000,19.444,0.000
$DEVICE_MAMPS,224.910,42.075,751.995,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.892,459.357,463.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312112
$DATA_FILE_SIZE,24659,348
$CAP_FILE_SIZE,58960,0
$CFSIZE,2097872896,2026405888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.150,52.13,1
$GPS,020318,155226,4738.855,-12253.350,6,1.0,29,16.4,0.5,55.3,11,5.0