version: 66.14
glider: 194
mission: 12
dive: 569
start: 2 26 118 22 23 30
data:
$ID,194
$MISSION,12
$DIVE,569
$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,39
$R_STBD_OVSHOOT,56
$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
$GPS1,260218,221749,4738.0356,-12255.9297,5,0.9,13,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.08
$_SM_ANGLEo,-68.4
$GPS2,260218,222252,4738.0649,-12255.8662,7,0.9,14,16.4,0.0,0.0,9,4.7
$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,198.9,989,-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,-244.4,211,2082,365,372,0.0,0.0,0,17,0.00,0.00,-6.28,0.000,16386,0.000,0.000,211,2082,537,530,544,0,0,0,0,0,0,26.40,28.83,26.41,8.06,40.90
$GC,20,-0.81,-244.4,211,2082,530,545,16.1,0.0,1,151,10.75,0.00,-114.53,0.000,18694,0.225,0.000,2888,2082,3063,3140,2987,0,0,0,0,0,0,25.47,24.41,25.76,8.08,40.70
$GC,219,-0.60,-244.4,2888,2082,3142,2988,29.4,-19.6,31,228,0.20,2.15,0.00,0.000,2308,0.159,0.040,2952,3463,3064,3141,2988,0,0,0,0,0,0,25.67,25.88,25.78,8.28,40.54
$GC,235,-0.40,-244.4,2951,3463,3141,2988,31.4,-20.9,32,242,0.20,2.08,0.00,0.000,3078,0.135,0.024,3018,2066,3064,3141,2987,0,0,0,0,0,0,25.73,26.11,25.91,8.29,40.86
$GC,362,-0.40,-244.4,3017,2067,3142,2988,48.5,-11.1,45,371,0.00,2.20,0.00,0.000,260,0.000,0.041,3018,3469,3065,3142,2988,0,0,0,0,0,0,26.54,26.02,26.55,8.29,41.33
$GC,394,-0.40,-244.4,3017,3469,3142,2988,51.8,-10.1,48,399,0.00,2.08,0.00,0.000,1030,0.000,0.023,3018,2078,3065,3142,2988,0,0,0,0,0,0,26.26,26.19,26.28,8.29,41.10
$GC,527,-0.40,-244.4,3017,2078,3142,2988,65.3,-9.8,61,531,0.00,2.15,0.00,0.000,516,0.000,0.040,3017,687,3064,3141,2988,0,0,0,0,0,0,26.60,26.10,26.60,8.30,42.00
$GC,571,-0.40,-244.4,3017,687,3142,2988,69.6,-10.4,65,578,0.00,2.08,0.00,0.000,1030,0.000,0.025,3017,2081,3065,3142,2988,0,0,0,0,0,0,26.29,26.21,26.32,8.30,42.00
$GC,699,-0.40,-244.4,3017,2081,3141,2988,81.9,-9.9,78,703,0.00,2.17,0.00,0.000,260,0.000,0.041,3017,3477,3064,3141,2988,0,0,0,0,0,0,26.63,26.10,26.64,8.31,42.08
$GC,765,-0.45,-244.4,3017,3477,3142,2988,87.5,-8.6,84,772,0.00,2.08,0.00,0.000,1030,0.000,0.023,3017,2071,3065,3142,2988,0,0,0,0,0,0,26.34,26.27,26.37,8.31,42.12
$GC,892,-0.45,-244.4,3017,2072,3142,2987,99.4,-9.4,97,895,0.00,2.12,0.00,0.000,516,0.000,0.040,3018,689,3065,3142,2988,0,0,0,0,0,0,26.67,26.17,26.67,8.31,41.88
$GC,938,-0.45,-244.4,3017,689,3142,2988,103.7,-9.6,101,945,0.00,2.08,0.00,0.000,1030,0.000,0.024,3017,2088,3065,3142,2988,0,0,0,0,0,0,26.35,26.27,26.38,8.31,42.24
$GC,1126,-0.45,-244.4,3017,2088,3142,2988,120.7,-8.8,120,1134,0.00,2.15,0.00,0.000,260,0.000,0.041,3018,3475,3064,3142,2987,0,0,0,0,0,0,26.70,26.16,26.71,8.31,42.43
$GC,1188,-0.52,-244.4,3017,3475,3142,2987,125.7,-8.0,126,1196,0.00,2.05,0.00,0.000,1030,0.000,0.023,3017,2078,3064,3142,2987,0,0,0,0,0,0,26.36,26.34,26.38,8.32,42.43
$GC,1378,-0.52,-244.4,3017,2078,3142,2987,141.3,-8.6,145,1386,0.00,2.17,0.00,0.000,516,0.000,0.040,3018,679,3064,3141,2987,0,0,0,0,0,0,26.73,26.22,26.74,8.33,42.28
$GC,1430,-0.52,-244.4,3017,679,3142,2987,146.4,-10.0,150,1434,0.00,2.10,0.00,0.000,1030,0.000,0.024,3018,2091,3064,3142,2987,0,0,0,0,0,0,26.41,26.33,26.44,8.33,41.88
$GC,1625,-0.78,-244.4,3017,2091,3142,2987,157.1,-0.3,169,1630,0.28,2.15,0.00,0.000,4356,0.064,0.037,2894,3483,3064,3142,2987,0,0,0,0,0,0,26.32,26.21,26.35,8.34,42.36
$STATE,1715,end dive,NO_VERTICAL_VELOCITY
$STATE,1716,begin apogee
$GC,1726,-0.22,0.0,2893,2067,3142,2987,157.1,0.0,178,1930,0.45,0.00,199.07,0.742,10246,0.060,0.000,3073,2066,2064,2116,2013,0,0,0,0,0,0,26.25,24.72,24.04,8.33,42.08
$STATE,1933,end apogee,CONTROL_FINISHED_OK
$STATE,1933,begin climb
$GC,1935,0.81,244.4,3073,2066,2115,2012,157.1,0.0,199,2149,0.93,2.33,200.43,0.711,10756,0.050,0.041,3421,700,1066,1130,1002,0,0,0,0,0,0,24.95,24.44,23.77,8.26,40.07
$GC,2235,0.81,244.4,3421,700,1127,1001,139.1,8.5,229,2244,0.00,2.15,0.00,0.000,1030,0.000,0.024,3421,2092,1064,1127,1001,0,0,0,0,0,0,25.38,25.31,25.39,8.19,39.95
$GC,2423,0.89,325.3,3421,2093,1127,1001,123.7,7.8,248,2496,0.00,2.30,66.85,0.694,8708,0.000,0.041,3421,694,736,791,681,0,0,0,0,0,0,26.13,24.77,24.30,8.19,41.41
$GC,2601,1.04,404.3,3421,694,790,682,109.0,7.8,265,2673,0.12,2.12,65.12,0.679,11270,0.071,0.024,3501,2096,415,426,405,0,0,0,0,0,0,25.66,25.68,24.27,8.17,40.51
$GC,2862,1.04,404.3,3500,2097,425,402,74.6,13.1,291,2871,0.00,2.25,0.00,0.000,516,0.000,0.044,3502,687,413,425,402,0,0,0,0,0,0,26.13,25.74,26.14,8.13,40.35
$GC,3006,1.04,404.3,3501,687,425,402,55.5,13.2,305,3014,0.00,2.08,0.00,0.000,1030,0.000,0.024,3502,2077,413,425,401,0,0,0,0,0,0,26.03,26.00,26.04,8.12,40.58
$GC,3134,1.04,404.3,3501,2078,425,401,39.0,11.8,318,3138,0.00,2.20,0.00,0.000,516,0.000,0.043,3506,694,413,425,401,0,0,0,0,0,0,26.41,25.98,26.41,8.11,41.17
$GC,3189,1.04,404.3,3506,694,425,401,32.9,11.6,323,3196,0.00,2.08,0.00,0.000,1030,0.000,0.024,3507,2090,413,425,401,0,0,0,0,0,0,26.17,26.11,26.20,8.11,40.66
$GC,3319,1.04,404.3,3506,2090,424,400,18.5,10.7,337,3326,0.00,2.20,0.00,0.000,516,0.000,0.042,3507,693,413,425,401,0,0,0,0,0,0,26.50,26.06,26.51,8.10,40.51
$GC,3531,1.63,775.7,3506,693,425,400,15.2,-0.3,378,3544,0.40,2.05,5.00,0.404,11270,0.058,0.024,3669,2085,372,375,370,0,0,0,0,0,0,26.14,26.23,24.82,8.09,41.14
$GC,3610,2.19,1136.2,3668,2085,375,369,15.2,0.0,392,3618,0.40,2.20,0.00,0.000,2564,0.052,0.041,3849,688,372,375,369,0,0,0,0,0,0,26.20,26.10,26.23,8.08,41.69
$STATE,3623,end climb,NO_VERTICAL_VELOCITY
$STATE,3623,begin surface
$SM_CCo,3954,0.00,0.000,0,0,370,415.78
$SM_GC,16.15,9.70,2.12,0.00,0.044,0.024,0.000,207,2080,370,-9.14,-1.92,415.78,0,0,0,0,0,0,26.14,26.28,26.23
$IRIDIUM_FIX,4739.20,-12253.53,260218,210236
$TT8_MAMPS,0.026215,0.281624
$HUMID,41.29
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,100.5,87.1
$24V_AH,23.77,48.021
$10V_AH,10.12,17.520
$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,23.425,60.025,536.475,0.000,0.000,0.000,0.000,201.125,2.000,0.000,15.249,947.230,1602.749,598.979,968.622,157.870,0.000,1322.209,0.000,765.299,0.000,10.494,0.000
$DEVICE_MAMPS,224.910,43.605,742.050,0.000,0.000,0.000,0.000,83.385,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.971,520.459,525.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,28031,394
$CAP_FILE_SIZE,64865,0
$CFSIZE,2097872896,2034761728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,48.31,1
$GPS,260218,233025,4738.010,-12256.101,5,0.8,20,16.4,0.4,45.7,10,4.9