version: 66.14
glider: 194
mission: 12
dive: 659
start: 3 2 118 20 51 20
data:
$ID,194
$MISSION,12
$DIVE,659
$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,67
$R_STBD_OVSHOOT,70
$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
$GPS1,020318,204507,4738.6494,-12254.0059,34,0.9,40,16.4,0.4,69.5,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.24
$_SM_ANGLEo,-70.8
$GPS2,020318,205042,4738.6719,-12253.9102,8,0.9,17,16.4,0.4,72.9,9,4.8
$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,214.5,1512,-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,-244.4,208,2065,361,377,0.0,0.0,0,17,0.00,0.00,-6.10,0.000,16386,0.000,0.000,208,2064,530,520,540,0,0,0,0,0,0,26.41,28.83,26.42,8.07,41.14
$GC,20,-0.81,-244.4,208,2065,521,540,17.3,0.0,1,150,10.93,0.00,-115.85,0.000,18950,0.229,0.000,2889,2065,3063,3140,2987,0,0,0,0,0,0,25.37,24.32,25.67,8.08,41.69
$GC,220,-0.64,-244.4,2889,2065,3141,2988,30.5,-18.3,30,226,0.17,0.00,0.00,0.000,2054,0.158,0.000,2943,2065,3064,3141,2988,0,0,0,0,0,0,25.76,25.99,25.91,8.29,40.74
$GC,349,-0.56,-244.4,2942,2065,3142,2988,48.9,-13.9,43,358,0.00,2.17,0.00,0.000,260,0.000,0.042,2943,3457,3064,3141,2988,0,0,0,0,0,0,26.56,26.01,26.57,8.29,41.88
$GC,401,-0.56,-244.4,2942,3457,3141,2988,56.0,-13.2,48,406,0.00,2.03,0.00,0.000,1030,0.000,0.023,2943,2099,3065,3142,2988,0,0,0,0,0,0,26.27,26.20,26.29,8.30,42.32
$GC,535,-0.51,-244.4,2943,2098,3142,2988,73.2,-13.4,61,544,0.10,2.17,0.00,0.000,2564,0.155,0.037,2981,682,3065,3142,2988,0,0,0,0,0,0,26.10,26.11,26.13,8.30,41.96
$GC,577,-0.51,-244.4,2980,682,3142,2988,78.6,-12.3,65,586,0.00,2.08,0.00,0.000,1030,0.000,0.025,2981,2062,3064,3141,2988,0,0,0,0,0,0,26.29,26.20,26.32,8.31,42.51
$GC,707,-0.51,-244.4,2980,2062,3142,2988,92.8,-10.7,78,712,0.00,2.22,0.00,0.000,260,0.000,0.042,2981,3489,3064,3141,2988,0,0,0,0,0,0,26.65,26.09,26.66,8.31,41.92
$GC,763,-0.51,-244.4,2980,3489,3141,2988,97.8,-9.3,83,770,0.00,2.10,0.00,0.000,1030,0.000,0.022,2981,2067,3064,3141,2988,0,0,0,0,0,0,26.35,26.28,26.37,8.31,42.28
$GC,890,-0.51,-244.4,2980,2067,3142,2988,109.8,-9.1,96,894,0.00,2.15,0.00,0.000,516,0.000,0.039,2981,683,3064,3141,2988,0,0,0,0,0,0,26.69,26.17,26.70,8.31,42.55
$GC,923,-0.51,-244.4,2980,683,3142,2988,113.0,-10.0,99,932,0.00,2.10,0.00,0.000,1030,0.000,0.025,2981,2090,3065,3142,2988,0,0,0,0,0,0,26.34,26.25,26.36,8.31,42.20
$GC,1113,-0.51,-244.4,2980,2090,3141,2988,132.5,-10.8,118,1121,0.00,2.15,0.00,0.000,260,0.000,0.041,2981,3473,3065,3142,2988,0,0,0,0,0,0,26.72,26.14,26.72,8.32,42.59
$GC,1157,-0.51,-244.4,2980,3473,3142,2988,136.8,-10.2,122,1164,0.00,2.05,0.00,0.000,1030,0.000,0.022,2980,2078,3065,3142,2988,0,0,0,0,0,0,26.40,26.34,26.43,8.32,42.59
$GC,1345,-0.51,-244.4,2980,2078,3141,2988,156.0,-9.7,141,1354,0.00,2.12,0.00,0.000,516,0.000,0.039,2981,691,3064,3141,2988,0,0,0,0,0,0,26.74,26.22,26.75,8.33,42.12
$GC,1377,-0.51,-244.4,2980,691,3141,2988,159.1,-9.9,144,1381,0.00,2.08,0.00,0.000,1030,0.000,0.025,2981,2085,3064,3141,2988,0,0,0,0,0,0,26.39,26.30,26.41,8.33,42.04
$STATE,1467,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1467,begin apogee
$GC,1473,-0.22,0.0,2981,2085,3141,2988,167.6,-9.4,153,1679,0.25,0.00,200.95,0.755,10246,0.114,0.000,3076,2085,2063,2113,2014,0,0,0,0,0,0,26.02,24.68,23.92,8.33,42.08
$STATE,1680,end apogee,CONTROL_FINISHED_OK
$STATE,1680,begin climb
$GC,1685,0.81,244.4,3076,2085,2113,2013,171.4,0.0,174,1900,0.93,2.33,201.45,0.720,11012,0.083,0.037,3392,3473,1066,1130,1003,0,0,0,0,0,0,24.86,24.40,23.66,8.25,40.66
$GC,1998,0.81,244.4,3392,3473,1129,1001,150.8,8.9,205,2005,0.00,2.12,0.00,0.000,1030,0.000,0.022,3392,2088,1065,1129,1001,0,0,0,0,0,0,25.49,25.44,25.51,8.18,40.51
$GC,2188,1.01,374.5,3392,2088,1130,1001,137.0,6.4,224,2305,0.15,2.28,107.10,0.702,11012,0.063,0.037,3488,3473,535,567,504,0,0,0,0,0,0,25.98,24.89,24.13,8.18,40.82
$GC,2403,1.01,374.5,3487,3473,567,502,111.5,12.5,245,2411,0.00,2.12,0.00,0.000,1030,0.000,0.024,3494,2076,534,567,502,0,0,0,0,0,0,25.69,25.65,25.71,8.14,40.03
$GC,2591,1.01,374.5,3493,2076,567,501,87.3,11.9,264,2600,0.00,2.17,0.00,0.000,516,0.000,0.041,3497,691,534,567,501,0,0,0,0,0,0,26.29,25.88,26.31,8.13,41.06
$GC,2728,1.01,374.5,3496,691,567,500,71.0,12.8,277,2735,0.00,2.08,0.00,0.000,1030,0.000,0.024,3497,2087,533,567,500,0,0,0,0,0,0,26.15,26.08,26.17,8.13,41.49
$GC,2854,1.01,374.5,3496,2087,567,500,53.8,12.1,290,2863,0.00,2.20,0.00,0.000,516,0.000,0.041,3497,689,533,566,500,0,0,0,0,0,0,26.49,26.04,26.50,8.12,41.80
$GC,2929,1.01,374.5,3496,690,566,500,45.6,11.4,297,2936,0.00,2.08,0.00,0.000,1030,0.000,0.024,3497,2088,533,567,500,0,0,0,0,0,0,26.25,26.17,26.27,8.12,40.94
$GC,3057,1.01,374.5,3496,2088,567,499,30.1,11.2,310,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,2088,533,567,500,0,0,0,0,0,0,26.57,26.58,26.58,8.12,41.25
$GC,3177,1.01,374.5,3496,2088,567,500,18.0,8.8,324,3184,0.00,2.20,0.00,0.000,516,0.000,0.043,3497,687,533,567,500,0,0,0,0,0,0,26.60,26.13,26.61,8.11,41.41
$STATE,3335,end climb,NO_VERTICAL_VELOCITY
$STATE,3336,begin surface
$SM_CCo,3339,20.73,0.513,0,0,372,414.56
$SM_GC,17.24,8.75,2.15,0.00,0.041,0.024,0.000,206,2091,369,-9.15,-1.58,416.03,0,0,0,0,0,0,26.07,26.20,26.15
$IRIDIUM_FIX,4741.52,-12250.84,020318,192925
$TT8_MAMPS,0.026215,0.315329
$HUMID,41.53
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,100.6,81.4
$24V_AH,23.66,56.795
$10V_AH,10.02,20.013
$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,21.275,47.150,509.500,20.725,0.000,0.000,0.000,229.050,1.250,0.000,18.821,841.275,1537.714,601.399,914.893,149.767,0.000,1305.695,0.000,684.060,0.000,10.474,0.000
$DEVICE_MAMPS,228.735,42.840,755.055,513.315,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.831,468.670,473.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24613,355
$CAP_FILE_SIZE,57765,0
$CFSIZE,2097872896,2025914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.034,232.36,1
$GPS,020318,215348,4738.547,-12254.433,5,0.9,16,16.4,0.5,60.1,9,4.6