version: 66.14
glider: 194
mission: 12
dive: 656
start: 3 2 118 17 11 44
data:
$ID,194
$MISSION,12
$DIVE,656
$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,52
$R_STBD_OVSHOOT,58
$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
$GPS1,020318,170556,4738.8408,-12253.4844,39,0.7,47,16.4,0.4,42.4,12,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.12
$_SM_ANGLEo,-67.4
$GPS2,020318,171106,4738.8799,-12253.4023,8,0.8,15,16.4,0.5,53.8,11,4.7
$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,216.4,2244,-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,-244.4,203,2080,360,375,0.0,0.0,0,17,0.00,0.00,-6.07,0.000,16386,0.000,0.000,203,2080,526,520,533,0,0,0,0,0,0,26.42,28.83,26.43,8.06,41.84
$GC,20,-0.81,-244.4,203,2080,520,534,17.2,0.0,1,162,10.93,0.00,-123.93,0.000,19206,0.228,0.000,2888,2078,3060,3134,2986,0,0,0,0,0,0,25.41,25.48,25.71,8.08,40.82
$GC,231,-0.62,-244.4,2888,2078,3135,2987,28.1,-16.3,33,236,0.17,2.20,0.00,0.000,2564,0.158,0.038,2946,685,3061,3135,2987,0,0,0,0,0,0,25.75,25.91,25.83,8.28,40.66
$GC,256,-0.48,-244.4,2945,685,3136,2987,32.5,-17.8,35,261,0.15,2.10,0.00,0.000,3078,0.145,0.026,2994,2075,3061,3135,2987,0,0,0,0,0,0,25.76,26.09,25.92,8.29,40.54
$GC,390,-0.48,-244.4,2993,2075,3136,2987,48.5,-10.8,48,398,0.00,2.20,0.00,0.000,260,0.000,0.043,2994,3486,3061,3135,2987,0,0,0,0,0,0,26.57,26.02,26.58,8.29,41.65
$GC,434,-0.48,-244.4,2993,3486,3135,2987,53.0,-10.9,52,441,0.00,2.08,0.00,0.000,1030,0.000,0.023,2994,2085,3061,3135,2987,0,0,0,0,0,0,26.28,26.21,26.31,8.29,41.84
$GC,562,-0.48,-244.4,2993,2084,3136,2987,66.7,-10.5,65,566,0.00,2.17,0.00,0.000,516,0.000,0.040,2994,688,3061,3135,2987,0,0,0,0,0,0,26.63,26.11,26.63,8.30,42.16
$GC,627,-0.48,-244.4,2993,688,3135,2987,73.1,-9.3,71,634,0.00,2.08,0.00,0.000,1030,0.000,0.025,2994,2083,3061,3135,2987,0,0,0,0,0,0,26.29,26.21,26.33,8.30,41.92
$GC,755,-0.48,-244.4,2993,2083,3135,2987,85.9,-9.7,84,763,0.00,2.17,0.00,0.000,260,0.000,0.041,2994,3489,3061,3135,2987,0,0,0,0,0,0,26.66,26.10,26.67,8.31,41.69
$GC,807,-0.48,-244.4,2993,3488,3135,2987,90.8,-9.2,89,811,0.00,2.10,0.00,0.000,1030,0.000,0.023,2994,2071,3061,3135,2987,0,0,0,0,0,0,26.36,26.29,26.39,8.31,42.08
$GC,940,-0.48,-244.4,2993,2071,3135,2987,103.7,-9.5,102,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2071,3061,3135,2987,0,0,0,0,0,0,26.70,26.70,26.70,8.31,42.28
$GC,1120,-0.48,-244.4,2993,2071,3135,2987,120.7,-9.7,120,1124,0.00,2.15,0.00,0.000,516,0.000,0.039,2994,687,3061,3135,2987,0,0,0,0,0,0,26.72,26.20,26.72,8.31,42.67
$GC,1162,-0.48,-244.4,2993,687,3135,2987,125.0,-10.1,124,1167,0.00,2.10,0.00,0.000,1030,0.000,0.025,2994,2094,3061,3135,2987,0,0,0,0,0,0,26.37,26.29,26.40,8.32,43.03
$GC,1355,-0.48,-244.4,2993,2094,3136,2987,142.9,-9.0,143,1359,0.00,2.15,0.00,0.000,260,0.000,0.041,2994,3478,3061,3135,2987,0,0,0,0,0,0,26.74,26.17,26.74,8.32,42.36
$GC,1428,-0.54,-244.4,2993,3478,3135,2987,149.4,-8.8,150,1437,0.00,2.05,0.00,0.000,1030,0.000,0.023,2994,2080,3061,3135,2987,0,0,0,0,0,0,26.39,26.36,26.44,8.33,42.32
$STATE,1566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1566,begin apogee
$GC,1572,-0.22,0.0,2994,2079,3135,2987,162.2,-9.3,164,1778,0.22,0.00,200.40,0.754,10246,0.110,0.000,3082,2079,2064,2112,2016,0,0,0,0,0,0,26.08,24.68,23.93,8.33,42.55
$STATE,1779,end apogee,CONTROL_FINISHED_OK
$STATE,1779,begin climb
$GC,1783,0.81,244.4,3082,2079,2112,2015,169.2,0.0,185,1990,0.90,0.00,201.27,0.719,10502,0.086,0.000,3389,2079,1067,1130,1004,0,0,0,0,0,0,24.86,24.34,23.66,8.26,41.25
$GC,2171,0.99,351.7,3389,2079,1128,1001,147.2,7.0,224,2269,0.12,2.28,88.25,0.705,10756,0.073,0.042,3478,688,630,676,585,0,0,0,0,0,0,25.75,24.85,24.06,8.18,41.33
$GC,2386,0.99,351.7,3478,688,672,585,122.2,12.3,245,2392,0.00,2.12,0.00,0.000,1030,0.000,0.024,3478,2091,628,672,585,0,0,0,0,0,0,25.76,25.70,25.78,8.15,40.47
$GC,2572,0.99,351.7,3478,2091,672,584,100.4,11.7,264,2577,0.00,2.22,0.00,0.000,516,0.000,0.041,3481,692,628,672,584,0,0,0,0,0,0,26.31,25.88,26.32,8.15,41.41
$GC,2665,0.99,351.7,3480,692,672,584,89.5,11.6,273,2669,0.00,2.10,0.00,0.000,1030,0.000,0.024,3481,2093,628,672,584,0,0,0,0,0,0,26.12,26.05,26.15,8.14,41.21
$GC,2797,0.99,351.7,3480,2093,671,584,73.5,11.8,286,2801,0.00,2.22,0.00,0.000,516,0.000,0.041,3484,686,627,671,584,0,0,0,0,0,0,26.47,26.02,26.48,8.13,41.14
$GC,2863,0.99,351.7,3483,687,672,584,65.9,12.3,292,2869,0.00,2.08,0.00,0.000,1030,0.000,0.024,3484,2086,628,672,584,0,0,0,0,0,0,26.22,26.15,26.25,8.14,41.49
$GC,2990,0.99,351.7,3483,2086,672,584,50.3,12.6,305,2999,0.00,2.17,0.00,0.000,516,0.000,0.041,3484,695,628,672,584,0,0,0,0,0,0,26.55,26.09,26.55,8.13,42.04
$GC,3075,0.99,351.7,3484,695,672,584,40.3,11.8,313,3081,0.00,2.05,0.00,0.000,1030,0.000,0.024,3484,2083,627,671,583,0,0,0,0,0,0,26.29,26.22,26.32,8.12,41.77
$GC,3202,0.99,351.7,3483,2083,671,584,26.2,9.7,326,3207,0.00,2.20,0.00,0.000,516,0.000,0.042,3484,687,628,672,584,0,0,0,0,0,0,26.61,26.13,26.63,8.12,40.86
$GC,3249,0.99,351.7,3483,687,672,584,22.4,8.9,330,3255,0.00,2.08,0.00,0.000,1030,0.000,0.024,3484,2095,627,671,584,0,0,0,0,0,0,26.34,26.27,26.36,8.12,41.21
$GC,3379,1.55,742.5,3483,2096,671,584,16.3,-0.8,353,3422,0.35,2.15,33.03,0.523,10500,0.054,0.037,3640,3461,371,366,377,0,0,0,0,0,0,26.27,25.65,24.90,8.10,41.69
$STATE,3453,end climb,NO_VERTICAL_VELOCITY
$STATE,3453,begin surface
$SM_CCo,3783,0.00,0.000,0,0,369,416.03
$SM_GC,17.33,9.18,2.12,0.00,0.042,0.024,0.000,208,2090,369,-9.14,1.58,416.03,0,0,0,0,0,0,26.03,26.17,26.12
$IRIDIUM_FIX,4737.46,-12258.89,020318,155548
$TT8_MAMPS,0.026215,0.283122
$HUMID,41.69
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,105.5,71.7
$24V_AH,23.66,56.463
$10V_AH,10.07,19.919
$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,22.025,51.350,522.950,0.000,0.000,0.000,0.000,207.650,1.750,0.000,16.738,876.609,1592.317,587.516,908.754,148.217,0.000,1275.717,0.000,698.821,0.000,12.070,0.000
$DEVICE_MAMPS,227.970,42.840,753.525,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.480,483.259,488.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312128
$DATA_FILE_SIZE,24479,366
$CAP_FILE_SIZE,59991,0
$CFSIZE,2097872896,2026209280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.143,50.63,1
$GPS,020318,181544,4738.875,-12253.677,5,0.9,16,16.4,0.5,52.3,9,5.0