version: 66.14
glider: 194
mission: 12
dive: 564
start: 2 26 118 16 25 43
data:
$ID,194
$MISSION,12
$DIVE,564
$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,50
$R_STBD_OVSHOOT,61
$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
$GPS1,260218,162001,4738.2998,-12254.7598,5,1.0,23,16.4,0.3,48.4,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.01
$_SM_ANGLEo,-71.0
$GPS2,260218,162503,4738.3203,-12254.7080,6,1.1,15,16.4,0.0,0.0,10,4.6
$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,195.5,393,-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,8,-1.25,-63.1,207,2070,368,368,0.0,0.0,0,17,0.00,0.00,-6.30,0.000,16386,0.000,0.000,207,2070,535,529,542,0,0,0,0,0,0,26.39,28.83,26.39,8.06,41.49
$GC,20,-1.25,-63.1,207,2070,529,542,16.0,0.0,1,121,10.45,0.00,-82.90,0.000,18438,0.234,0.000,2745,2069,2323,2362,2285,0,0,0,0,0,0,25.38,24.34,25.71,8.07,40.62
$GC,190,-1.10,-63.1,2744,2069,2361,2286,28.1,-19.1,27,199,0.15,2.17,0.00,0.000,2308,0.200,0.041,2788,3469,2324,2362,2286,0,0,0,0,0,0,25.60,25.82,25.72,8.23,41.33
$GC,246,-0.99,-63.1,2788,3469,2362,2285,38.4,-19.5,32,254,0.15,2.08,0.00,0.000,3078,0.182,0.023,2830,2070,2323,2361,2285,0,0,0,0,0,0,25.63,26.11,25.84,8.23,40.47
$GC,374,-0.99,-63.1,2830,2069,2362,2282,63.4,-18.2,45,382,0.00,2.10,0.00,0.000,516,0.000,0.039,2830,696,2321,2361,2281,0,0,0,0,0,0,26.53,26.08,26.55,8.23,41.02
$GC,446,-0.93,-63.1,2830,696,2361,2280,76.0,-17.6,52,450,0.00,2.05,0.00,0.000,1030,0.000,0.024,2831,2083,2320,2361,2280,0,0,0,0,0,0,26.25,26.16,26.27,8.23,42.12
$GC,579,-0.93,-63.1,2830,2083,2361,2279,96.8,-15.1,65,582,0.00,2.15,0.00,0.000,260,0.000,0.041,2830,3471,2320,2362,2279,0,0,0,0,0,0,26.60,26.09,26.60,8.24,41.80
$GC,618,-0.93,-63.1,2830,3472,2361,2279,102.5,-15.7,68,624,0.00,2.05,0.00,0.000,1030,0.000,0.022,2830,2082,2320,2361,2279,0,0,0,0,0,0,26.32,26.25,26.34,8.24,41.73
$GC,805,-0.93,-63.1,2830,2082,2362,2278,131.1,-14.5,87,809,0.00,2.17,0.00,0.000,516,0.000,0.038,2830,682,2319,2361,2277,0,0,0,0,0,0,26.65,26.18,26.65,8.25,41.92
$GC,927,-0.93,-63.1,2830,682,2362,2276,149.9,-15.5,99,932,0.00,2.10,0.00,0.000,1030,0.000,0.025,2830,2091,2318,2361,2276,0,0,0,0,0,0,26.34,26.26,26.37,8.26,42.20
$GC,1120,-0.93,-63.1,2830,2091,2361,2277,177.2,-14.0,118,1124,0.00,2.15,0.00,0.000,260,0.000,0.041,2830,3477,2319,2361,2277,0,0,0,0,0,0,26.70,26.17,26.70,8.27,42.67
$STATE,1130,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1130,begin apogee
$GC,1139,-0.22,0.0,2830,2079,2361,2277,179.0,-14.3,119,1203,0.73,0.00,55.60,0.770,10246,0.118,0.000,3077,2078,2064,2106,2022,0,0,0,0,0,0,25.80,25.08,24.57,8.27,42.67
$STATE,1204,end apogee,CONTROL_FINISHED_OK
$STATE,1204,begin climb
$GC,1206,1.25,63.1,3077,2079,2106,2021,179.6,0.0,126,1273,1.30,2.22,56.15,0.752,10500,0.086,0.037,3528,3473,1804,1855,1754,0,0,0,0,0,0,25.44,24.97,24.23,8.25,41.88
$GC,1329,1.36,93.0,3527,3473,1855,1753,174.3,6.8,138,1361,0.05,2.08,26.33,0.726,11270,0.079,0.021,3600,2080,1684,1738,1631,0,0,0,0,0,0,25.42,25.51,24.24,8.23,40.90
$GC,1543,1.36,93.0,3600,2080,1735,1628,150.0,12.3,159,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2080,1682,1735,1629,0,0,0,0,0,0,26.14,26.15,26.15,8.23,41.41
$GC,1723,1.36,93.0,3600,2080,1735,1628,126.9,12.6,177,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2080,1680,1734,1627,0,0,0,0,0,0,26.34,26.36,26.35,8.23,41.80
$GC,1903,1.36,93.0,3600,2080,1735,1627,104.4,11.0,195,1911,0.00,2.17,0.00,0.000,516,0.000,0.039,3611,691,1681,1735,1627,0,0,0,0,0,0,26.46,26.03,26.46,8.22,41.49
$GC,2005,1.36,93.0,3610,691,1734,1627,92.3,12.0,205,2013,0.00,2.08,0.00,0.000,1030,0.000,0.025,3611,2088,1680,1734,1627,0,0,0,0,0,0,26.22,26.15,26.25,8.22,41.88
$GC,2135,1.36,93.0,3610,2088,1734,1627,76.7,11.7,218,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2088,1681,1735,1627,0,0,0,0,0,0,26.55,26.56,26.56,8.22,41.73
$GC,2255,1.36,93.0,3611,2087,1734,1627,63.5,10.8,230,2259,0.00,2.20,0.00,0.000,516,0.000,0.039,3622,686,1680,1734,1627,0,0,0,0,0,0,26.59,26.13,26.60,8.22,41.88
$GC,2309,1.36,93.0,3621,686,1734,1627,57.5,11.8,235,2318,0.10,2.05,0.00,0.000,5126,0.155,0.024,3593,2088,1680,1734,1626,0,0,0,0,0,0,25.89,26.24,25.96,8.22,42.20
$GC,2438,1.42,93.0,3592,2088,1734,1627,45.7,8.7,248,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2088,1680,1734,1626,0,0,0,0,0,0,26.63,26.64,26.64,8.21,41.49
$GC,2558,1.52,138.5,3592,2088,1734,1626,38.8,5.2,260,2590,0.08,2.22,25.48,0.641,10756,0.102,0.038,3670,691,1498,1557,1440,0,0,0,0,0,0,26.44,25.77,24.98,8.21,42.04
$GC,2691,1.52,138.5,3670,691,1555,1439,27.5,11.5,273,2698,0.00,2.08,0.00,0.000,1030,0.000,0.025,3671,2080,1497,1556,1439,0,0,0,0,0,0,26.13,26.06,26.15,8.19,41.21
$GC,2822,1.60,213.0,3670,2080,1555,1437,18.2,2.1,291,2864,0.00,2.22,36.72,0.538,8452,0.000,0.036,3671,3478,1193,1250,1136,0,0,0,0,0,0,26.48,25.60,24.94,8.18,41.06
$GC,2935,2.15,306.9,3670,3478,1249,1132,15.0,0.0,311,2989,0.40,2.10,46.42,0.519,11270,0.042,0.023,3844,2072,811,865,757,0,0,0,0,0,0,25.89,25.90,24.70,8.16,40.98
$STATE,3025,end climb,NO_VERTICAL_VELOCITY
$STATE,3025,begin surface
$SM_CCo,3029,55.05,0.515,0,0,373,414.56
$SM_GC,16.18,9.80,0.00,0.00,0.042,0.000,0.000,206,2072,370,-9.15,-0.28,416.03,0,0,0,0,0,0,25.83,26.27,25.91
$IRIDIUM_FIX,4739.20,-12253.53,260218,151139
$TT8_MAMPS,0.026215,0.281624
$HUMID,41.14
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.70
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,100.2,87.6
$24V_AH,24.23,47.461
$10V_AH,10.10,17.358
$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,23.200,42.575,246.700,55.050,0.000,0.000,0.000,201.125,2.000,0.000,17.032,855.766,1546.588,389.838,804.190,141.425,0.000,981.459,0.000,606.072,0.000,10.500,0.000
$DEVICE_MAMPS,234.090,41.310,770.355,514.845,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.941,432.717,436.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24640,327
$CAP_FILE_SIZE,56998,0
$CFSIZE,2097872896,2035253248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078,57.12,1
$GPS,260218,172336,4738.179,-12254.732,5,0.8,19,16.4,0.2,54.6,10,5.0