version: 66.14
glider: 194
mission: 12
dive: 519
start: 2 24 118 15 48 17
data:
$ID,194
$MISSION,12
$DIVE,519
$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,47
$R_STBD_OVSHOOT,57
$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,10
$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
$GPS1,240218,153912,4738.1763,-12254.8076,8,1.1,16,16.4,0.5,69.4,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.26
$_SM_ANGLEo,-72.2
$GPS2,240218,154738,4738.2256,-12254.6133,6,0.9,19,16.4,0.5,69.3,11,5.0
$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,222.0,307,-27.2,-10.000,-30.00,962
$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,-1.25,-63.1,214,2079,362,373,0.0,0.0,0,17,0.00,0.00,-5.82,0.000,16386,0.000,0.000,214,2079,521,511,532,0,0,0,0,0,0,26.29,28.83,26.30,8.04,40.58
$GC,20,-1.25,-63.1,214,2079,512,532,15.3,0.0,1,112,10.48,2.20,-74.15,0.000,18692,0.236,0.054,2747,3469,2323,2358,2289,0,0,0,0,0,0,25.34,25.29,25.67,8.06,40.15
$GC,136,-1.07,-63.1,2747,3468,2358,2290,21.5,-16.9,19,144,0.20,2.08,0.00,0.000,3078,0.193,0.021,2801,2055,2324,2358,2290,0,0,0,0,0,0,25.39,26.03,25.65,8.22,40.74
$GC,263,-0.97,-63.1,2801,2054,2357,2287,44.0,-17.2,32,265,0.12,0.00,0.00,0.000,2054,0.197,0.000,2835,2054,2322,2357,2287,0,0,0,0,0,0,25.72,25.96,25.88,8.21,41.14
$GC,383,-0.97,-63.1,2834,2054,2357,2285,64.9,-15.9,44,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2054,2321,2357,2285,0,0,0,0,0,0,26.48,26.50,26.49,8.22,40.90
$GC,503,-0.97,-63.1,2834,2055,2358,2284,84.9,-17.1,56,507,0.00,2.22,0.00,0.000,260,0.000,0.042,2835,3469,2321,2358,2284,0,0,0,0,0,0,26.53,26.01,26.54,8.23,41.33
$GC,745,-0.97,-63.1,2834,3469,2357,2283,124.3,-15.0,79,754,0.00,2.03,0.00,0.000,1030,0.000,0.023,2835,2093,2319,2357,2281,0,0,0,0,0,0,26.26,26.23,26.29,8.24,41.77
$GC,933,-0.97,-63.1,2834,2093,2357,2280,150.9,-13.2,98,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2093,2318,2357,2280,0,0,0,0,0,0,26.64,26.65,26.65,8.25,41.88
$GC,1113,-0.97,-63.1,2834,2093,2357,2279,174.0,-12.6,116,1118,0.00,2.15,0.00,0.000,260,0.000,0.041,2835,3469,2318,2358,2279,0,0,0,0,0,0,26.67,26.13,26.67,8.26,41.57
$STATE,1134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1134,begin apogee
$GC,1143,-0.22,0.0,2835,2072,2358,2279,177.0,-12.8,118,1205,0.77,0.00,53.92,0.775,10246,0.151,0.000,3077,2071,2064,2106,2023,0,0,0,0,0,0,25.61,25.37,24.62,8.26,41.88
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1209,1.25,63.1,3077,2070,2106,2024,179.9,0.0,125,1276,1.30,2.22,56.25,0.759,10756,0.083,0.037,3541,687,1805,1853,1758,0,0,0,0,0,0,25.46,24.75,24.26,8.24,41.92
$GC,1392,1.25,63.1,3541,687,1854,1759,168.3,9.8,143,1400,0.00,2.10,0.00,0.000,1030,0.000,0.024,3541,2072,1806,1854,1759,0,0,0,0,0,0,25.67,25.63,25.69,8.23,40.39
$GC,1582,1.25,63.1,3541,2072,1854,1758,149.4,10.3,162,1590,0.00,2.15,0.00,0.000,260,0.000,0.037,3541,3474,1806,1854,1758,0,0,0,0,0,0,26.25,25.82,26.25,8.23,41.29
$GC,1673,1.25,63.1,3541,3474,1853,1758,139.3,10.8,171,1683,0.00,2.08,0.00,0.000,1030,0.000,0.021,3553,2079,1805,1853,1758,0,0,0,0,0,0,26.06,26.00,26.09,8.23,41.77
$GC,1863,1.25,63.1,3552,2079,1853,1758,120.3,9.4,190,1867,0.00,2.15,0.00,0.000,516,0.000,0.038,3562,689,1805,1853,1758,0,0,0,0,0,0,26.45,26.01,26.46,8.23,41.41
$GC,1896,1.25,63.1,3562,688,1853,1758,117.3,9.2,193,1905,0.00,2.08,0.00,0.000,1030,0.000,0.024,3562,2088,1805,1853,1758,0,0,0,0,0,0,26.13,26.10,26.16,8.23,41.49
$GC,2086,1.25,63.1,3562,2088,1853,1758,100.1,8.3,212,2090,0.00,2.17,0.00,0.000,516,0.000,0.038,3573,693,1805,1852,1758,0,0,0,0,0,0,26.53,26.08,26.54,8.23,41.10
$GC,2231,1.25,63.1,3573,693,1853,1758,87.5,8.6,226,2239,0.00,2.05,0.00,0.000,1030,0.000,0.024,3573,2085,1805,1853,1758,0,0,0,0,0,0,26.24,26.21,26.27,8.23,41.25
$GC,2358,1.27,86.8,3572,2085,1852,1758,77.3,7.5,239,2388,0.00,2.20,20.85,0.685,8708,0.000,0.039,3582,696,1709,1757,1661,0,0,0,0,0,0,26.61,25.82,25.03,8.22,41.06
$GC,2474,1.27,86.8,3582,695,1758,1663,66.9,9.6,250,2478,0.00,2.05,0.00,0.000,1030,0.000,0.024,3582,2082,1710,1758,1662,0,0,0,0,0,0,26.11,26.03,26.13,8.21,41.17
$GC,2606,1.27,86.8,3582,2082,1758,1663,52.6,11.9,263,2610,0.00,2.15,0.00,0.000,260,0.000,0.037,3582,3480,1710,1758,1663,0,0,0,0,0,0,26.46,26.01,26.48,8.21,41.57
$GC,2699,1.27,86.8,3582,3480,1758,1663,43.9,9.1,272,2708,0.10,2.05,0.00,0.000,5126,0.159,0.021,3564,2082,1710,1758,1663,0,0,0,0,0,0,25.79,26.16,25.86,8.21,41.41
$GC,2829,1.30,117.3,3563,2082,1758,1663,35.0,6.8,285,2851,0.00,2.17,17.55,0.610,8452,0.000,0.037,3564,3470,1584,1637,1532,0,0,0,0,0,0,26.55,25.54,25.07,8.21,41.29
$GC,3147,1.39,206.0,3563,3470,1637,1532,21.9,0.6,316,3198,0.00,2.05,45.78,0.569,9222,0.000,0.021,3572,2074,1222,1279,1166,0,0,0,0,0,0,26.20,26.17,24.93,8.19,41.33
$GC,3324,1.58,282.6,3572,2074,1279,1166,15.8,1.9,344,3369,0.15,2.25,38.42,0.523,11012,0.055,0.038,3697,690,909,955,864,0,0,0,0,0,0,26.01,25.41,24.79,8.14,39.99
$GC,3387,1.81,352.5,3697,690,955,864,14.3,2.6,354,3430,0.00,2.12,35.62,0.513,11270,0.000,0.024,3697,2098,624,658,591,0,0,0,0,0,0,25.72,25.64,24.68,8.12,40.58
$GC,3496,2.30,444.8,3697,2098,658,590,14.2,0.2,373,3522,0.43,0.00,22.27,0.503,10498,0.037,0.000,3898,2098,449,460,438,0,0,0,0,0,0,25.68,28.83,25.70,8.09,40.27
$STATE,3523,end climb,NO_VERTICAL_VELOCITY
$STATE,3523,begin surface
$SM_CCo,3526,9.57,0.458,0,0,373,414.56
$SM_GC,15.61,10.10,0.00,0.00,0.050,0.000,0.000,211,2098,371,-9.14,0.45,415.54,0,0,0,0,0,0,25.79,26.27,25.89
$IRIDIUM_FIX,4739.20,-12253.53,240218,154043
$TT8_MAMPS,0.026215,0.273385
$HUMID,40.78
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,9.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,6.3
$ALTIM_BOTTOM_PING,140.3,46.5
$24V_AH,24.26,42.927
$10V_AH,10.12,16.071
$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,23.650,46.850,290.675,9.575,0.000,0.000,0.000,345.750,4.000,0.000,20.382,994.750,1758.046,372.952,1115.021,153.597,0.000,1185.445,0.000,758.308,0.000,33.932,0.000
$DEVICE_MAMPS,235.620,54.315,774.945,458.235,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.743,499.100,503.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312164
$DATA_FILE_SIZE,28027,377
$CAP_FILE_SIZE,65766,0
$CFSIZE,2097872896,2039644160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,84.22,1
$GPS,240218,165354,4738.146,-12254.723,8,0.8,31,16.4,0.5,79.3,11,5.0