version: 66.14
glider: 194
mission: 12
dive: 571
start: 2 27 118 0 34 33
data:
$ID,194
$MISSION,12
$DIVE,571
$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,62
$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
$GPS1,270218,002904,4737.8721,-12256.1367,14,0.9,40,16.4,0.4,55.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.15
$_SM_ANGLEo,-71.1
$GPS2,270218,003343,4737.9023,-12256.0771,7,0.9,13,16.4,0.0,165.6,10,4.8
$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,192.5,618,-16.5,-10.000,-20.14,2474
$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,-0.88,-163.2,204,2085,370,364,0.0,0.0,0,17,0.00,0.00,-5.97,0.000,16386,0.000,0.000,204,2085,528,523,533,0,0,0,0,0,0,26.42,28.83,26.44,8.07,41.25
$GC,20,-0.88,-163.2,204,2085,523,533,16.2,0.0,1,140,10.77,2.20,-99.05,0.000,18692,0.230,0.054,2864,3469,2732,2789,2676,0,0,0,0,0,0,25.48,24.05,25.78,8.08,41.25
$GC,178,-0.67,-163.2,2864,3469,2789,2677,24.2,-17.3,25,186,0.22,2.08,0.00,0.000,3078,0.161,0.023,2931,2073,2732,2789,2676,0,0,0,0,0,0,25.60,26.11,25.82,8.27,40.86
$GC,305,-0.59,-163.2,2930,2072,2789,2676,46.1,-15.9,38,307,0.10,0.00,0.00,0.000,2054,0.173,0.000,2961,2072,2732,2789,2676,0,0,0,0,0,0,26.01,26.15,26.10,8.26,40.90
$GC,426,-0.59,-163.2,2961,2072,2789,2676,61.9,-12.5,50,430,0.00,2.15,0.00,0.000,516,0.000,0.040,2961,686,2732,2789,2676,0,0,0,0,0,0,26.58,26.10,26.58,8.27,41.29
$GC,488,-0.59,-163.2,2960,686,2789,2676,70.3,-13.4,56,493,0.00,2.08,0.00,0.000,1030,0.000,0.025,2961,2070,2732,2789,2676,0,0,0,0,0,0,26.27,26.19,26.30,8.27,41.80
$GC,621,-0.59,-163.2,2960,2070,2789,2675,86.9,-12.1,69,630,0.00,2.17,0.00,0.000,260,0.000,0.041,2961,3474,2732,2789,2675,0,0,0,0,0,0,26.63,26.11,26.63,8.28,41.88
$GC,663,-0.59,-163.2,2961,3474,2789,2675,91.9,-11.7,73,672,0.00,2.08,0.00,0.000,1030,0.000,0.023,2961,2079,2732,2789,2675,0,0,0,0,0,0,26.34,26.27,26.36,8.28,42.24
$GC,793,-0.59,-163.2,2960,2079,2789,2675,106.9,-11.3,86,798,0.00,2.15,0.00,0.000,516,0.000,0.041,2961,690,2732,2789,2675,0,0,0,0,0,0,26.65,26.17,26.66,8.29,42.24
$GC,846,-0.59,-163.2,2961,690,2789,2675,113.4,-12.1,91,855,0.00,2.08,0.00,0.000,1030,0.000,0.024,2961,2085,2731,2789,2674,0,0,0,0,0,0,26.35,26.27,26.37,8.29,42.63
$GC,1036,-0.59,-163.2,2961,2085,2789,2674,135.6,-11.4,110,1045,0.00,2.15,0.00,0.000,260,0.000,0.041,2961,3473,2731,2789,2674,0,0,0,0,0,0,26.70,26.17,26.70,8.30,42.20
$GC,1068,-0.59,-163.2,2961,3473,2789,2674,139.4,-11.6,113,1072,0.00,2.08,0.00,0.000,1030,0.000,0.023,2961,2075,2731,2789,2674,0,0,0,0,0,0,26.39,26.32,26.42,8.30,42.63
$STATE,1118,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1118,begin apogee
$GC,1124,-0.22,0.0,2961,2075,2789,2674,145.2,-11.3,118,1271,0.32,0.00,136.52,0.747,10246,0.132,0.000,3075,2074,2064,2112,2016,0,0,0,0,0,0,25.85,24.87,24.18,8.31,41.77
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1275,0.88,163.2,3075,2074,2111,2016,153.9,0.0,133,1420,1.00,0.00,135.93,0.723,10502,0.095,0.000,3410,2074,1397,1470,1325,0,0,0,0,0,0,25.01,24.58,23.94,8.25,40.78
$GC,1602,1.04,233.6,3409,2074,1469,1321,135.5,7.1,166,1670,0.12,2.25,57.12,0.704,10756,0.071,0.041,3497,692,1110,1173,1047,0,0,0,0,0,0,25.77,24.75,24.27,8.20,40.74
$GC,1768,1.04,233.6,3496,692,1170,1047,116.5,12.2,182,1774,0.00,2.12,0.00,0.000,1030,0.000,0.024,3497,2092,1108,1169,1047,0,0,0,0,0,0,25.74,25.67,25.76,8.19,40.70
$GC,1956,1.04,233.6,3496,2092,1169,1046,92.5,12.5,201,1964,0.00,2.22,0.00,0.000,516,0.000,0.041,3497,692,1108,1170,1046,0,0,0,0,0,0,26.27,25.86,26.28,8.18,40.98
$GC,2030,1.04,233.6,3497,691,1169,1046,83.6,12.4,208,2037,0.00,2.10,0.00,0.000,1030,0.000,0.024,3497,2095,1107,1169,1046,0,0,0,0,0,0,26.08,26.02,26.10,8.18,41.02
$GC,2158,1.04,233.6,3497,2096,1169,1046,68.3,11.2,221,2167,0.00,2.22,0.00,0.000,516,0.000,0.041,3497,686,1107,1169,1046,0,0,0,0,0,0,26.43,26.00,26.44,8.16,41.73
$GC,2220,1.04,233.6,3497,686,1169,1046,61.2,11.1,227,2229,0.00,2.08,0.00,0.000,1030,0.000,0.024,3497,2084,1107,1169,1046,0,0,0,0,0,0,26.15,26.13,26.18,8.16,41.49
$GC,2350,1.04,233.6,3497,2084,1169,1046,47.0,10.8,240,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,2084,1107,1169,1046,0,0,0,0,0,0,26.52,26.53,26.53,8.17,41.53
$GC,2470,1.04,233.6,3497,2084,1169,1046,34.7,10.1,252,2480,0.00,2.20,0.00,0.000,516,0.000,0.041,3497,684,1107,1169,1046,0,0,0,0,0,0,26.56,26.10,26.57,8.16,40.94
$GC,2543,1.04,233.6,3497,684,1169,1046,28.2,9.2,259,2552,0.00,2.05,0.00,0.000,1030,0.000,0.024,3497,2090,1107,1169,1046,0,0,0,0,0,0,26.27,26.23,26.29,8.16,41.21
$GC,2675,1.09,283.9,3497,2090,1169,1046,16.9,7.9,275,2706,0.00,2.20,25.02,0.522,8452,0.000,0.038,3497,3473,904,965,844,0,0,0,0,0,0,26.62,25.77,25.07,8.15,41.69
$GC,2810,1.60,527.8,3497,3473,965,842,15.2,-0.1,300,2849,0.40,2.08,32.05,0.522,11266,0.055,0.024,3659,2072,644,693,596,0,0,0,0,0,0,26.02,26.07,26.11,8.12,41.06
$STATE,2850,end climb,NO_VERTICAL_VELOCITY
$STATE,2850,begin surface
$SM_CCo,2853,34.22,0.514,0,0,373,414.56
$SM_GC,16.27,9.30,0.00,0.00,0.043,0.000,0.000,207,2072,369,-9.14,-0.31,416.03,0,0,0,0,0,0,25.89,26.32,25.98
$IRIDIUM_FIX,4738.39,-12307.73,260218,233204
$TT8_MAMPS,0.026215,0.315329
$HUMID,41.21
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,100.1,54.7
$24V_AH,23.94,48.216
$10V_AH,10.11,17.573
$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,22.250,42.725,386.650,34.225,0.000,0.000,0.000,183.725,2.250,0.000,14.380,757.482,1373.221,528.223,739.114,132.768,0.000,1095.097,0.000,559.324,0.000,10.422,0.000
$DEVICE_MAMPS,229.500,53.550,747.405,514.080,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.913,403.939,408.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312188
$DATA_FILE_SIZE,20982,306
$CAP_FILE_SIZE,52850,0
$CFSIZE,2097872896,2034565120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138,49.31,1
$GPS,270218,012904,4737.761,-12256.138,5,0.9,13,16.4,0.0,0.0,9,4.7