version: 66.14
glider: 194
mission: 12
dive: 524
start: 2 24 118 21 16 46
data:
$ID,194
$MISSION,12
$DIVE,524
$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,49
$R_STBD_OVSHOOT,33
$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
$GPS1,240218,211111,4738.2788,-12254.5820,8,0.9,18,16.4,0.5,84.5,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.41
$_SM_ANGLEo,-71.0
$GPS2,240218,211608,4738.3027,-12254.4658,5,0.9,20,16.4,0.5,71.2,9,5.0
$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,225.1,540,-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,-244.4,209,2075,346,388,0.0,0.0,0,17,0.00,0.00,-5.90,0.000,16386,0.000,0.000,208,2075,526,507,545,0,0,0,0,0,0,26.32,28.83,26.34,8.04,40.58
$GC,20,-0.81,-244.4,209,2075,507,545,15.3,0.0,1,147,10.98,2.28,-108.68,0.000,19204,0.233,0.055,2885,3491,3062,3135,2989,0,0,0,0,0,0,25.40,24.02,25.72,8.05,40.66
$GC,164,-0.57,-244.4,2885,3491,3135,2990,21.1,-14.7,24,173,0.25,2.10,0.00,0.000,3078,0.150,0.023,2961,2077,3063,3136,2990,0,0,0,0,0,0,25.56,26.04,25.77,8.27,39.88
$GC,292,-0.51,-244.4,2961,2077,3136,2990,41.7,-14.8,37,301,0.00,2.22,0.00,0.000,260,0.000,0.044,2962,3488,3063,3136,2990,0,0,0,0,0,0,26.46,25.96,26.46,8.27,40.47
$GC,355,-0.51,-244.4,2961,3488,3136,2990,50.5,-13.6,43,359,0.00,2.12,0.00,0.000,1030,0.000,0.023,2962,2086,3063,3136,2990,0,0,0,0,0,0,26.23,26.13,26.25,8.28,41.33
$GC,488,-0.51,-244.4,2961,2085,3136,2990,67.7,-12.7,56,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2085,3063,3136,2990,0,0,0,0,0,0,26.53,26.54,26.54,8.28,41.53
$GC,608,-0.51,-244.4,2961,2085,3136,2990,82.2,-11.9,68,617,0.00,2.20,0.00,0.000,260,0.000,0.043,2961,3505,3063,3136,2990,0,0,0,0,0,0,26.57,26.06,26.58,8.29,41.80
$GC,730,-0.51,-244.4,2961,3505,3136,2990,96.4,-11.1,80,740,0.00,2.12,0.00,0.000,1030,0.000,0.023,2962,2078,3062,3136,2989,0,0,0,0,0,0,26.31,26.25,26.34,8.29,41.96
$GC,861,-0.51,-244.4,2961,2077,3136,2990,111.5,-11.4,93,870,0.00,2.15,0.00,0.000,516,0.000,0.039,2962,687,3062,3136,2989,0,0,0,0,0,0,26.63,26.15,26.63,8.30,42.00
$GC,885,-0.51,-244.4,2961,687,3136,2990,114.1,-11.7,95,893,0.00,2.10,0.00,0.000,1030,0.000,0.026,2962,2101,3062,3136,2989,0,0,0,0,0,0,26.30,26.22,26.33,8.30,42.28
$GC,1078,-0.51,-244.4,2961,2100,3136,2990,135.5,-10.5,114,1086,0.00,2.12,0.00,0.000,260,0.000,0.043,2962,3472,3062,3136,2989,0,0,0,0,0,0,26.65,26.13,26.66,8.31,41.96
$GC,1190,-0.51,-244.4,2961,3471,3136,2989,146.5,-9.6,124,1197,0.00,2.05,0.00,0.000,1030,0.000,0.023,2962,2076,3062,3136,2989,0,0,0,0,0,0,26.39,26.31,26.41,8.32,42.32
$GC,1378,-0.51,-244.4,2962,2075,3136,2990,165.9,-10.4,143,1382,0.00,2.17,0.00,0.000,260,0.000,0.042,2962,3473,3063,3136,2990,0,0,0,0,0,0,26.70,26.15,26.71,8.32,41.92
$STATE,1408,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1408,begin apogee
$GC,1417,-0.22,0.0,2962,2076,3136,2989,169.5,-10.5,146,1620,0.32,0.00,198.27,0.764,10246,0.111,0.000,3082,2076,2064,2112,2017,0,0,0,0,0,0,25.97,24.67,24.02,8.32,41.96
$STATE,1621,end apogee,CONTROL_FINISHED_OK
$STATE,1621,begin climb
$GC,1626,0.81,244.4,3082,2076,2111,2017,176.6,0.0,167,1836,0.90,2.30,202.15,0.731,11012,0.086,0.039,3386,694,1066,1127,1006,0,0,0,0,0,0,24.79,24.33,23.70,8.25,39.64
$GC,1869,1.02,401.8,3385,694,1127,1007,164.7,5.6,191,2010,0.20,2.20,130.20,0.708,11270,0.051,0.024,3489,2097,426,437,415,0,0,0,0,0,0,24.84,24.82,23.72,8.18,38.85
$GC,2198,1.02,401.8,3488,2097,437,414,119.4,14.9,224,2207,0.00,2.25,0.00,0.000,516,0.000,0.041,3489,695,425,437,414,0,0,0,0,0,0,25.85,25.49,25.86,8.12,39.91
$GC,2281,1.02,401.8,3489,695,437,414,108.1,13.8,232,2291,0.00,2.12,0.00,0.000,1030,0.000,0.025,3489,2087,425,437,413,0,0,0,0,0,0,25.80,25.73,25.82,8.13,40.35
$GC,2471,1.02,401.8,3488,2087,437,413,84.8,12.4,251,2481,0.00,2.22,0.00,0.000,516,0.000,0.041,3492,683,425,437,413,0,0,0,0,0,0,26.27,25.88,26.29,8.11,40.98
$GC,2526,1.02,401.8,3491,683,437,413,77.8,13.1,256,2533,0.00,2.10,0.00,0.000,1030,0.000,0.025,3491,2079,425,437,413,0,0,0,0,0,0,26.06,25.99,26.08,8.11,40.11
$GC,2654,1.02,401.8,3491,2079,437,413,59.0,13.6,269,2658,0.00,2.17,0.00,0.000,516,0.000,0.041,3493,692,425,437,413,0,0,0,0,0,0,26.40,25.98,26.41,8.11,40.47
$GC,2699,1.02,401.8,3493,693,437,413,53.4,13.3,273,2707,0.00,2.10,0.00,0.000,1030,0.000,0.025,3494,2095,425,437,414,0,0,0,0,0,0,26.17,26.09,26.19,8.10,40.66
$GC,2827,1.02,401.8,3493,2095,437,413,37.4,11.5,286,2835,0.00,2.10,0.00,0.000,260,0.000,0.039,3494,3470,424,437,412,0,0,0,0,0,0,26.48,26.06,26.49,8.10,40.82
$GC,2869,1.02,401.8,3493,3470,437,413,32.4,11.7,290,2877,0.00,2.05,0.00,0.000,1030,0.000,0.023,3497,2087,425,437,413,0,0,0,0,0,0,26.20,26.18,26.23,8.10,40.35
$GC,2999,1.02,401.8,3496,2086,437,413,18.8,9.1,304,3006,0.00,2.17,0.00,0.000,516,0.000,0.041,3497,685,425,437,413,0,0,0,0,0,0,26.54,26.10,26.55,8.09,41.02
$STATE,3197,end climb,NO_VERTICAL_VELOCITY
$STATE,3197,begin surface
$SM_CCo,3201,6.62,0.450,0,0,373,414.56
$SM_GC,15.68,8.80,2.17,0.00,0.044,0.026,0.000,208,2092,372,-9.15,-1.24,415.29,0,0,0,0,0,0,26.11,26.25,26.21
$IRIDIUM_FIX,4739.20,-12253.53,240218,200613
$TT8_MAMPS,0.026215,0.280875
$HUMID,41.14
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,9.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,150.4,29.0
$24V_AH,23.70,43.323
$10V_AH,10.13,16.209
$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,21.450,51.750,530.625,6.625,0.000,0.000,0.000,193.150,5.500,0.000,21.552,809.739,1431.504,603.112,872.959,140.547,0.000,1259.308,0.000,656.856,0.000,37.869,0.000
$DEVICE_MAMPS,232.560,55.080,764.235,449.820,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.517,452.723,457.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,24458,343
$CAP_FILE_SIZE,56936,0
$CFSIZE,2097872896,2039185408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.231,67.43,1
$GPS,240218,221652,4738.375,-12254.581,8,0.9,26,16.4,0.5,78.2,9,5.0