version: 66.14
glider: 194
mission: 12
dive: 567
start: 2 26 118 19 54 29
data:
$ID,194
$MISSION,12
$DIVE,567
$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,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
$GPS1,260218,194813,4738.1187,-12255.3496,5,0.8,15,16.4,0.4,51.3,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.04
$_SM_ANGLEo,-68.3
$GPS2,260218,195351,4738.1514,-12255.2705,7,0.8,17,16.4,0.0,0.0,10,4.8
$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,212.5,1564,-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,8,-0.81,-244.4,206,2077,364,371,0.0,0.0,0,17,0.00,0.00,-6.32,0.000,16386,0.000,0.000,206,2077,537,530,544,0,0,0,0,0,0,26.39,28.83,26.40,8.06,41.25
$GC,20,-0.81,-244.4,206,2077,530,545,16.1,0.0,1,156,10.75,2.22,-115.32,0.000,19204,0.225,0.053,2890,685,3064,3142,2986,0,0,0,0,0,0,25.46,24.03,25.75,8.08,40.94
$GC,166,-0.58,-244.4,2889,685,3142,2986,19.7,-12.8,25,174,0.25,2.08,0.00,0.000,3078,0.161,0.025,2965,2080,3064,3142,2987,0,0,0,0,0,0,25.56,26.06,25.79,8.29,40.66
$GC,233,-0.48,-244.4,2964,2080,3141,2987,29.5,-15.0,32,243,0.10,2.15,0.00,0.000,2308,0.170,0.041,2999,3462,3065,3143,2987,0,0,0,0,0,0,25.94,25.96,25.99,8.28,40.43
$GC,277,-0.48,-244.4,2999,3462,3142,2987,35.3,-13.2,36,287,0.00,2.08,0.00,0.000,1030,0.000,0.023,2999,2076,3064,3142,2987,0,0,0,0,0,0,26.21,26.15,26.24,8.29,40.90
$GC,407,-0.48,-244.4,2999,2075,3142,2987,51.8,-12.6,49,416,0.00,2.15,0.00,0.000,516,0.000,0.040,2999,688,3064,3142,2987,0,0,0,0,0,0,26.55,26.08,26.55,8.29,41.17
$GC,442,-0.48,-244.4,2998,688,3142,2987,55.8,-12.5,52,450,0.00,2.08,0.00,0.000,1030,0.000,0.025,3000,2080,3064,3142,2987,0,0,0,0,0,0,26.24,26.15,26.27,8.29,41.41
$GC,570,-0.48,-244.4,2999,2080,3142,2986,70.6,-11.3,65,579,0.00,2.15,0.00,0.000,260,0.000,0.041,2999,3470,3064,3142,2987,0,0,0,0,0,0,26.60,26.08,26.60,8.30,41.21
$GC,613,-0.48,-244.4,2999,3470,3142,2987,74.9,-10.2,69,617,0.00,2.05,0.00,0.000,1030,0.000,0.023,2999,2077,3064,3142,2987,0,0,0,0,0,0,26.32,26.25,26.34,8.30,41.80
$GC,745,-0.48,-244.4,2999,2076,3142,2987,88.7,-10.6,82,749,0.00,2.15,0.00,0.000,516,0.000,0.040,2999,684,3064,3142,2987,0,0,0,0,0,0,26.64,26.15,26.65,8.31,41.77
$GC,790,-0.48,-244.4,2999,683,3141,2987,93.2,-10.8,86,798,0.00,2.08,0.00,0.000,1030,0.000,0.024,2999,2082,3064,3142,2987,0,0,0,0,0,0,26.32,26.25,26.35,8.31,41.92
$GC,922,-0.48,-244.4,2999,2082,3142,2986,105.8,-9.6,99,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2082,3064,3142,2987,0,0,0,0,0,0,26.65,26.66,26.66,8.31,42.40
$GC,1107,-0.48,-244.4,2999,2082,3142,2987,124.1,-9.5,118,1111,0.00,2.17,0.00,0.000,260,0.000,0.041,2999,3481,3064,3142,2986,0,0,0,0,0,0,26.70,26.15,26.70,8.32,42.47
$GC,1176,-0.53,-244.4,2999,3482,3142,2987,129.9,-8.5,124,1188,0.00,2.05,0.00,0.000,1030,0.000,0.022,2999,2081,3064,3142,2986,0,0,0,0,0,0,26.41,26.34,26.42,8.33,42.12
$GC,1366,-0.53,-244.4,2999,2081,3142,2986,147.5,-9.5,143,1371,0.00,2.15,0.00,0.000,516,0.000,0.039,2999,690,3064,3142,2986,0,0,0,0,0,0,26.72,26.22,26.73,8.33,42.12
$GC,1429,-0.53,-244.4,2999,689,3142,2987,153.7,-9.7,149,1433,0.00,2.08,0.00,0.000,1030,0.000,0.024,2999,2084,3064,3142,2986,0,0,0,0,0,0,26.40,26.32,26.43,8.34,42.51
$STATE,1619,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1619,begin apogee
$GC,1626,-0.22,0.0,2999,2084,3142,2987,171.9,-9.2,168,1832,0.20,0.00,199.25,0.755,10246,0.122,0.000,3077,2085,2063,2114,2013,0,0,0,0,0,0,26.08,24.70,24.02,8.33,42.00
$STATE,1833,end apogee,CONTROL_FINISHED_OK
$STATE,1833,begin climb
$GC,1838,0.81,244.4,3076,2085,2113,2013,181.4,0.0,189,2053,0.93,2.38,201.38,0.726,10756,0.096,0.040,3385,690,1066,1131,1002,0,0,0,0,0,0,24.84,24.41,23.74,8.26,39.99
$GC,2171,1.05,365.8,3384,690,1128,1002,162.9,6.6,222,2279,0.22,2.15,100.85,0.708,11270,0.050,0.024,3506,2107,571,616,527,0,0,0,0,0,0,25.44,25.44,23.99,8.19,40.27
$GC,2460,0.98,365.8,3506,2106,615,524,121.1,15.7,251,2470,0.10,2.22,0.00,0.000,4612,0.142,0.041,3472,698,569,615,524,0,0,0,0,0,0,25.60,25.64,25.65,8.14,40.43
$GC,2603,0.98,365.8,3472,698,613,524,102.3,12.4,265,2607,0.00,2.08,0.00,0.000,1030,0.000,0.024,3472,2076,569,614,524,0,0,0,0,0,0,26.01,25.94,26.03,8.14,40.58
$GC,2795,0.98,365.8,3471,2077,613,524,78.6,11.8,284,2799,0.00,2.20,0.00,0.000,516,0.000,0.042,3472,686,568,613,524,0,0,0,0,0,0,26.41,25.98,26.41,8.14,40.74
$GC,2897,0.98,365.8,3471,686,613,524,66.9,11.2,294,2907,0.00,2.10,0.00,0.000,1030,0.000,0.024,3472,2091,569,614,524,0,0,0,0,0,0,26.20,26.13,26.22,8.13,40.78
$GC,3028,0.98,365.8,3472,2092,613,524,52.9,10.8,307,3037,0.00,2.20,0.00,0.000,516,0.000,0.042,3472,688,568,613,524,0,0,0,0,0,0,26.52,26.08,26.53,8.13,41.06
$GC,3092,0.98,365.8,3471,689,613,523,46.2,10.7,313,3099,0.00,2.08,0.00,0.000,1030,0.000,0.024,3472,2093,568,613,524,0,0,0,0,0,0,26.27,26.20,26.29,8.13,40.94
$GC,3220,0.98,365.8,3472,2093,613,524,34.1,8.9,326,3229,0.00,2.20,0.00,0.000,516,0.000,0.042,3472,690,568,613,524,0,0,0,0,0,0,26.58,26.13,26.59,8.11,41.25
$GC,3303,0.98,365.8,3472,690,613,524,27.0,8.5,334,3312,0.00,2.08,0.00,0.000,1030,0.000,0.024,3472,2092,568,613,524,0,0,0,0,0,0,26.32,26.25,26.34,8.11,40.70
$GC,3437,1.12,452.4,3472,2092,613,524,16.0,7.6,352,3469,0.05,2.15,25.00,0.520,10500,0.147,0.039,3538,3470,371,376,367,0,0,0,0,0,0,26.42,25.48,25.06,8.10,41.57
$STATE,3586,end climb,NO_VERTICAL_VELOCITY
$STATE,3586,begin surface
$SM_CCo,3917,0.00,0.000,0,0,369,416.27
$SM_GC,16.30,8.90,2.12,0.00,0.044,0.023,0.000,205,2081,369,-9.14,1.58,416.27,0,0,0,0,0,0,26.11,26.21,26.20
$IRIDIUM_FIX,4738.33,-12256.21,260218,183813
$TT8_MAMPS,0.026215,0.281624
$HUMID,41.92
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.9,5.9
$ALTIM_BOTTOM_PING,130.7,50.7
$24V_AH,23.74,47.797
$10V_AH,10.12,17.454
$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,21.500,55.575,526.475,0.000,0.000,0.000,0.000,234.425,5.250,0.000,18.369,906.537,1621.265,606.100,989.865,151.161,0.000,1349.969,0.000,739.151,0.000,31.616,0.000
$DEVICE_MAMPS,224.910,52.785,755.055,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,256.062,501.801,506.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,28023,380
$CAP_FILE_SIZE,62587,0
$CFSIZE,2097872896,2034958336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,65.06,1
$GPS,260218,210101,4738.057,-12255.661,11,0.9,34,16.4,0.4,51.4,9,4.3