version: 66.14
glider: 194
mission: 12
dive: 566
start: 2 26 118 18 42 21
data:
$ID,194
$MISSION,12
$DIVE,566
$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,51
$R_STBD_OVSHOOT,26
$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
$GPS1,260218,183630,4738.1533,-12255.0215,5,0.9,43,16.4,0.3,54.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.00
$_SM_ANGLEo,-68.8
$GPS2,260218,184144,4738.1763,-12254.9600,7,0.8,14,16.4,0.0,0.0,10,4.6
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW3
$TGT_LATLONG,4737.577,-12256.188
$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,216.3,1893,-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,-244.4,209,2082,368,366,0.0,0.0,0,17,0.00,0.00,-5.93,0.000,16386,0.000,0.000,209,2082,524,518,531,0,0,0,0,0,0,26.40,28.83,26.41,8.06,41.29
$GC,20,-0.81,-244.4,209,2082,518,531,16.1,0.0,1,151,10.82,0.00,-115.30,0.000,18950,0.227,0.000,2888,2081,3063,3141,2986,0,0,0,0,0,0,25.45,24.35,25.75,8.07,41.02
$GC,219,-0.60,-244.4,2887,2081,3142,2987,30.1,-19.6,31,229,0.20,2.22,0.00,0.000,2308,0.160,0.043,2951,3494,3064,3142,2987,0,0,0,0,0,0,25.67,25.88,25.79,8.28,40.43
$GC,262,-0.48,-244.4,2950,3494,3142,2987,37.5,-17.1,35,271,0.12,2.10,0.00,0.000,3078,0.132,0.024,2993,2076,3064,3142,2987,0,0,0,0,0,0,25.77,26.12,25.88,8.29,40.62
$GC,392,-0.48,-244.4,2993,2076,3142,2987,54.9,-12.4,48,397,0.00,2.17,0.00,0.000,516,0.000,0.040,2993,687,3064,3142,2987,0,0,0,0,0,0,26.55,26.07,26.55,8.29,41.61
$GC,447,-0.48,-244.4,2993,688,3141,2987,61.3,-12.0,53,454,0.00,2.12,0.00,0.000,1030,0.000,0.026,2993,2109,3064,3142,2987,0,0,0,0,0,0,26.25,26.16,26.27,8.29,40.86
$GC,575,-0.48,-244.4,2993,2109,3142,2987,76.0,-11.4,66,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2109,3064,3142,2987,0,0,0,0,0,0,26.60,26.61,26.61,8.30,41.25
$GC,695,-0.48,-244.4,2993,2109,3142,2987,88.7,-10.3,78,699,0.00,2.12,0.00,0.000,260,0.000,0.042,2993,3474,3064,3142,2987,0,0,0,0,0,0,26.63,26.10,26.64,8.30,42.24
$GC,741,-0.48,-244.4,2993,3475,3142,2987,93.0,-9.8,82,748,0.00,2.08,0.00,0.000,1030,0.000,0.023,2993,2073,3064,3142,2987,0,0,0,0,0,0,26.34,26.27,26.36,8.31,42.16
$GC,868,-0.48,-244.4,2993,2072,3142,2987,106.0,-10.4,95,877,0.00,2.15,0.00,0.000,516,0.000,0.040,2994,688,3064,3142,2986,0,0,0,0,0,0,26.66,26.17,26.66,8.32,42.40
$GC,932,-0.48,-244.4,2993,687,3142,2987,112.5,-10.4,101,939,0.00,2.08,0.00,0.000,1030,0.000,0.025,2993,2087,3064,3142,2987,0,0,0,0,0,0,26.35,26.27,26.37,8.31,42.12
$GC,1120,-0.48,-244.4,2993,2087,3142,2987,131.7,-10.3,120,1124,0.00,2.15,0.00,0.000,260,0.000,0.041,2994,3476,3064,3142,2987,0,0,0,0,0,0,26.70,26.16,26.71,8.33,42.20
$GC,1172,-0.48,-244.4,2993,3476,3142,2986,136.9,-9.6,125,1176,0.00,2.08,0.00,0.000,1030,0.000,0.023,2993,2075,3064,3142,2986,0,0,0,0,0,0,26.40,26.34,26.43,8.32,42.32
$GC,1365,-0.48,-244.4,2993,2075,3142,2986,156.2,-10.2,144,1369,0.00,2.15,0.00,0.000,516,0.000,0.039,2993,687,3064,3142,2986,0,0,0,0,0,0,26.73,26.23,26.74,8.33,42.16
$GC,1437,-0.48,-244.4,2993,688,3141,2986,163.9,-10.7,151,1446,0.00,2.08,0.00,0.000,1030,0.000,0.024,2993,2084,3064,3142,2986,0,0,0,0,0,0,26.41,26.32,26.43,8.33,42.63
$STATE,1595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1595,begin apogee
$GC,1601,-0.22,0.0,2993,2084,3142,2986,180.2,-9.8,167,1807,0.20,0.00,199.55,0.756,10246,0.085,0.000,3084,2083,2063,2114,2012,0,0,0,0,0,0,26.27,24.69,24.01,8.33,41.92
$STATE,1808,end apogee,CONTROL_FINISHED_OK
$STATE,1808,begin climb
$GC,1813,0.81,244.4,3084,2083,2114,2012,180.3,0.0,188,2023,0.90,2.30,201.48,0.724,11012,0.093,0.036,3386,3475,1066,1131,1001,0,0,0,0,0,0,24.84,24.18,23.72,8.25,40.62
$GC,2062,1.04,330.3,3385,3475,1131,1002,167.5,7.6,213,2142,0.20,2.20,72.03,0.704,11270,0.050,0.021,3494,2073,716,769,664,0,0,0,0,0,0,24.98,24.97,23.87,8.18,39.76
$GC,2322,0.98,330.3,3493,2073,769,662,133.1,14.6,239,2331,0.00,2.20,0.00,0.000,516,0.000,0.042,3497,696,715,769,662,0,0,0,0,0,0,25.96,25.58,25.96,8.15,39.99
$GC,2507,0.92,330.3,3496,696,768,662,106.2,14.3,257,2514,0.15,2.08,0.00,0.000,5126,0.123,0.024,3448,2089,715,768,662,0,0,0,0,0,0,25.70,25.94,25.84,8.15,40.70
$GC,2696,0.92,330.3,3447,2090,768,662,86.2,9.9,276,2704,0.00,2.20,0.00,0.000,516,0.000,0.041,3448,695,714,767,662,0,0,0,0,0,0,26.41,25.98,26.41,8.15,41.10
$GC,2808,0.92,330.3,3447,695,768,662,75.2,9.5,287,2812,0.00,2.08,0.00,0.000,1030,0.000,0.024,3448,2088,715,768,662,0,0,0,0,0,0,26.20,26.13,26.22,8.14,40.98
$GC,2940,0.92,330.3,3448,2088,768,662,62.6,9.7,300,2949,0.00,2.20,0.00,0.000,516,0.000,0.041,3448,671,714,767,662,0,0,0,0,0,0,26.52,26.08,26.53,8.14,41.17
$GC,3005,0.92,330.3,3448,670,768,662,56.7,9.5,306,3012,0.00,2.10,0.00,0.000,1030,0.000,0.024,3448,2092,715,768,662,0,0,0,0,0,0,26.27,26.20,26.29,8.14,41.14
$GC,3132,0.92,330.3,3447,2092,768,662,45.6,8.0,319,3136,0.00,2.22,0.00,0.000,516,0.000,0.041,3448,680,715,768,662,0,0,0,0,0,0,26.58,26.13,26.59,8.13,41.37
$GC,3175,1.08,430.4,3447,680,767,662,42.5,7.2,323,3235,0.08,2.08,50.00,0.645,11270,0.102,0.024,3514,2088,373,369,377,0,0,0,0,0,0,26.18,26.25,24.77,8.13,40.74
$GC,3354,1.08,430.4,3513,2088,369,374,21.9,11.7,341,3359,0.00,2.22,0.00,0.000,516,0.000,0.041,3514,689,371,369,374,0,0,0,0,0,0,26.21,25.80,26.22,8.09,40.31
$STATE,3566,end climb,NO_VERTICAL_VELOCITY
$STATE,3566,begin surface
$SM_CCo,3897,0.00,0.000,0,0,369,416.03
$SM_GC,16.24,8.80,2.12,0.00,0.041,0.024,0.000,207,2074,369,-9.14,-2.04,416.03,0,0,0,0,0,0,26.08,26.17,26.16
$IRIDIUM_FIX,4736.40,-12251.79,260218,172510
$TT8_MAMPS,0.026215,0.281624
$HUMID,41.29
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,105.0,91.2
$24V_AH,23.72,47.684
$10V_AH,10.12,17.422
$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,21.475,51.500,523.050,0.000,0.000,0.000,0.000,213.625,2.500,0.000,15.465,917.000,1628.989,581.196,954.331,148.508,0.000,1291.597,0.000,737.987,0.000,15.040,0.000
$DEVICE_MAMPS,227.205,42.840,755.820,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.478,503.404,508.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,27911,381
$CAP_FILE_SIZE,60528,0
$CFSIZE,2097872896,2035056640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,59.30,1
$GPS,260218,194813,4738.119,-12255.350,5,0.8,15,16.4,0.4,51.3,11,4.7