version: 66.14
glider: 194
mission: 12
dive: 570
start: 2 26 118 23 36 19
data:
$ID,194
$MISSION,12
$DIVE,570
$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,53
$R_STBD_OVSHOOT,60
$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
$GPS1,260218,233025,4738.0098,-12256.1006,5,0.8,20,16.4,0.4,45.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.13
$_SM_ANGLEo,-70.3
$GPS2,260218,233541,4738.0508,-12256.0410,7,0.8,22,16.4,0.3,46.6,11,5.0
$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,188.3,896,-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,-244.4,206,2082,371,368,0.0,0.0,0,17,0.00,0.00,-6.43,0.000,16386,0.000,0.000,206,2083,543,537,549,0,0,0,0,0,0,26.45,28.83,26.46,8.07,41.17
$GC,20,-0.81,-244.4,206,2083,537,550,16.1,0.0,1,152,10.80,2.22,-114.68,0.000,18692,0.227,0.054,2885,3468,3063,3140,2987,0,0,0,0,0,0,25.46,24.03,25.77,8.09,40.58
$GC,172,-0.59,-244.4,2885,3469,3141,2988,20.5,-13.1,26,177,0.20,2.10,0.00,0.000,3078,0.148,0.023,2958,2075,3064,3141,2988,0,0,0,0,0,0,25.60,26.13,25.82,8.30,40.47
$GC,306,-0.50,-244.4,2957,2075,3141,2988,42.4,-16.7,39,316,0.10,2.12,0.00,0.000,2564,0.167,0.038,2993,692,3064,3141,2988,0,0,0,0,0,0,26.01,26.07,26.06,8.29,41.17
$GC,349,-0.50,-244.4,2992,692,3142,2988,48.5,-13.9,43,359,0.00,2.08,0.00,0.000,1030,0.000,0.025,2993,2067,3065,3142,2988,0,0,0,0,0,0,26.25,26.16,26.27,8.30,41.41
$GC,480,-0.50,-244.4,2992,2067,3141,2988,63.8,-11.8,56,489,0.00,2.20,0.00,0.000,260,0.000,0.041,2993,3484,3064,3141,2988,0,0,0,0,0,0,26.60,26.06,26.60,8.30,41.77
$GC,525,-0.50,-244.4,2992,3484,3141,2988,68.5,-10.9,60,531,0.00,2.08,0.00,0.000,1030,0.000,0.023,2993,2083,3064,3141,2988,0,0,0,0,0,0,26.32,26.25,26.34,8.30,41.92
$GC,652,-0.50,-244.4,2992,2083,3141,2988,83.0,-10.8,73,661,0.00,2.17,0.00,0.000,516,0.000,0.040,2993,688,3064,3141,2988,0,0,0,0,0,0,26.64,26.15,26.65,8.31,41.69
$GC,695,-0.50,-244.4,2992,687,3141,2988,88.0,-11.9,77,704,0.00,2.10,0.00,0.000,1030,0.000,0.025,2993,2089,3064,3141,2988,0,0,0,0,0,0,26.32,26.24,26.34,8.31,41.77
$GC,825,-0.50,-244.4,2992,2089,3141,2988,101.7,-10.2,90,829,0.00,2.15,0.00,0.000,260,0.000,0.041,2993,3483,3064,3141,2987,0,0,0,0,0,0,26.67,26.13,26.67,8.32,42.36
$GC,880,-0.50,-244.4,2992,3483,3141,2987,107.0,-9.9,95,888,0.00,2.08,0.00,0.000,1030,0.000,0.023,2993,2077,3064,3141,2988,0,0,0,0,0,0,26.37,26.31,26.40,8.32,42.00
$GC,1067,-0.50,-244.4,2993,2077,3141,2988,126.6,-10.0,114,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2077,3064,3141,2987,0,0,0,0,0,0,26.70,26.72,26.71,8.32,42.12
$STATE,1125,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1125,begin apogee
$GC,1131,-0.22,0.0,2993,2077,3141,2988,132.8,-10.2,120,1337,0.22,0.00,198.68,0.739,10246,0.119,0.000,3078,2077,2063,2113,2014,0,0,0,0,0,0,26.02,24.72,24.05,8.32,42.04
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1338,begin climb
$GC,1342,0.81,244.4,3078,2077,2113,2014,143.9,0.0,141,1553,0.95,2.35,199.98,0.709,11012,0.103,0.041,3388,688,1066,1131,1002,0,0,0,0,0,0,24.84,24.46,23.80,8.25,40.70
$GC,1582,1.02,363.9,3387,688,1130,1002,132.3,6.7,165,1692,0.17,2.17,98.75,0.686,11270,0.040,0.024,3485,2085,579,624,534,0,0,0,0,0,0,24.96,24.96,23.88,8.19,40.07
$GC,1872,1.02,363.9,3485,2086,624,532,97.5,12.5,194,1881,0.00,2.25,0.00,0.000,516,0.000,0.042,3486,688,577,623,532,0,0,0,0,0,0,25.96,25.58,25.97,8.14,40.78
$GC,2009,1.02,363.9,3485,687,623,532,80.4,12.0,207,2016,0.00,2.10,0.00,0.000,1030,0.000,0.024,3486,2087,577,623,532,0,0,0,0,0,0,25.97,25.89,25.98,8.13,41.37
$GC,2134,1.02,363.9,3485,2087,623,532,63.9,12.4,220,2143,0.00,2.22,0.00,0.000,516,0.000,0.042,3486,689,577,623,532,0,0,0,0,0,0,26.34,25.91,26.34,8.13,40.82
$GC,2189,1.02,363.9,3485,690,623,532,57.7,12.2,225,2196,0.00,2.08,0.00,0.000,1030,0.000,0.024,3486,2082,577,623,532,0,0,0,0,0,0,26.12,26.05,26.14,8.13,40.54
$GC,2317,1.02,363.9,3485,2083,623,533,42.6,11.1,238,2325,0.00,2.20,0.00,0.000,516,0.000,0.042,3486,685,578,623,533,0,0,0,0,0,0,26.45,26.02,26.46,8.12,40.78
$GC,2388,1.02,363.9,3485,686,623,532,35.0,10.4,245,2393,0.00,2.10,0.00,0.000,1030,0.000,0.024,3486,2092,578,623,533,0,0,0,0,0,0,26.22,26.15,26.25,8.12,41.29
$GC,2521,1.02,363.9,3485,2092,622,533,22.6,9.0,258,2530,0.00,2.22,0.00,0.000,516,0.000,0.042,3486,679,577,623,532,0,0,0,0,0,0,26.53,26.08,26.54,8.11,40.82
$GC,2603,1.09,363.9,3485,679,623,533,15.7,8.2,270,2610,0.00,2.08,0.00,0.000,1030,0.000,0.024,3486,2084,578,623,533,0,0,0,0,0,0,26.29,26.22,26.32,8.11,41.06
$GC,2674,1.65,718.6,3485,2084,623,533,15.2,0.2,283,2711,0.45,2.22,26.20,0.519,10756,0.051,0.041,3680,695,372,378,366,0,0,0,0,0,0,26.22,25.75,25.05,8.10,40.86
$STATE,2754,end climb,NO_VERTICAL_VELOCITY
$STATE,2754,begin surface
$SM_CCo,3084,0.00,0.000,0,0,369,416.03
$SM_GC,16.28,9.30,2.12,0.00,0.043,0.024,0.000,204,2082,369,-9.15,-1.84,416.03,0,0,0,0,0,0,26.07,26.17,26.15
$IRIDIUM_FIX,4739.67,-12257.95,260218,221927
$TT8_MAMPS,0.026215,0.274134
$HUMID,41.88
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,100.7,42.0
$24V_AH,23.80,48.130
$10V_AH,10.12,17.547
$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,22.200,47.425,523.600,0.000,0.000,0.000,0.000,207.050,3.250,0.000,23.326,681.698,1224.935,596.357,782.231,134.742,0.000,1225.651,0.000,570.695,0.000,10.372,0.000
$DEVICE_MAMPS,227.205,54.315,738.990,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.982,391.309,395.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21076,297
$CAP_FILE_SIZE,52204,0
$CFSIZE,2097872896,2034663424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,52.86,1
$GPS,270218,002904,4737.872,-12256.137,14,0.9,40,16.4,0.4,55.0,10,5.0