version: 66.14
glider: 194
mission: 12
dive: 573
start: 2 27 118 2 41 54
data:
$ID,194
$MISSION,12
$DIVE,573
$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,58
$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
$GPS1,270218,023549,4737.6196,-12256.2314,5,0.8,21,16.4,0.3,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.18
$_SM_ANGLEo,-71.4
$GPS2,270218,024116,4737.6450,-12256.1650,6,0.8,24,16.4,0.3,60.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$TGT_LATLONG,4738.117,-12254.800
$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,49.6,1915,-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,-244.4,208,2081,351,384,0.0,0.0,0,17,0.00,0.00,-6.47,0.000,16386,0.000,0.000,208,2081,542,525,560,0,0,0,0,0,0,26.36,28.83,26.36,8.07,41.06
$GC,20,-0.81,-244.4,208,2081,525,560,16.2,0.0,1,142,10.93,2.22,-102.93,0.000,18948,0.230,0.050,2890,672,3061,3137,2986,0,0,0,0,0,0,25.43,25.37,25.72,8.09,41.06
$GC,333,-0.63,-244.4,2889,672,3138,2988,59.2,-19.6,39,341,0.17,2.10,0.00,0.000,3078,0.160,0.026,2944,2074,3062,3138,2987,0,0,0,0,0,0,25.70,26.10,25.89,8.30,40.90
$GC,460,-0.55,-244.4,2943,2074,3138,2988,80.0,-15.0,52,469,0.10,2.17,0.00,0.000,2308,0.162,0.041,2979,3480,3063,3138,2988,0,0,0,0,0,0,26.02,26.03,26.07,8.30,41.77
$GC,505,-0.55,-244.4,2978,3480,3138,2988,85.4,-12.2,56,512,0.00,2.10,0.00,0.000,1030,0.000,0.023,2978,2064,3063,3138,2988,0,0,0,0,0,0,26.28,26.21,26.30,8.30,41.41
$GC,636,-0.55,-244.4,2978,2063,3139,2988,100.2,-11.2,69,641,0.00,2.17,0.00,0.000,516,0.000,0.039,2979,680,3062,3138,2987,0,0,0,0,0,0,26.59,26.13,26.60,8.31,42.36
$GC,659,-0.55,-244.4,2978,680,3138,2988,103.5,-11.7,71,664,0.00,2.10,0.00,0.000,1030,0.000,0.026,2978,2087,3063,3138,2988,0,0,0,0,0,0,26.28,26.19,26.31,8.31,41.92
$GC,852,-0.55,-244.4,2978,2086,3138,2988,125.6,-11.0,90,856,0.00,2.15,0.00,0.000,260,0.000,0.042,2978,3472,3063,3138,2988,0,0,0,0,0,0,26.65,26.12,26.66,8.32,42.47
$GC,895,-0.55,-244.4,2978,3472,3138,2987,130.2,-11.0,94,899,0.00,2.08,0.00,0.000,1030,0.000,0.023,2979,2072,3062,3138,2987,0,0,0,0,0,0,26.36,26.29,26.39,8.32,42.36
$GC,1087,-0.55,-244.4,2978,2072,3138,2987,151.5,-11.2,113,1092,0.00,2.12,0.00,0.000,516,0.000,0.039,2978,687,3062,3138,2987,0,0,0,0,0,0,26.69,26.20,26.70,8.33,42.32
$GC,1130,-0.55,-244.4,2978,687,3138,2988,156.6,-11.7,117,1134,0.00,2.08,0.00,0.000,1030,0.000,0.024,2979,2078,3062,3138,2987,0,0,0,0,0,0,26.36,26.29,26.39,8.33,42.71
$STATE,1310,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1310,begin apogee
$GC,1317,-0.22,0.0,2979,2078,3138,2987,176.8,-11.1,135,1522,0.28,0.00,199.23,0.758,10246,0.119,0.000,3080,2078,2064,2114,2014,0,0,0,0,0,0,25.99,24.70,24.01,8.34,42.59
$STATE,1523,end apogee,CONTROL_FINISHED_OK
$STATE,1523,begin climb
$GC,1526,0.81,244.4,3080,2078,2113,2014,181.5,0.0,156,1737,0.90,2.35,201.80,0.730,10756,0.074,0.039,3393,691,1066,1130,1003,0,0,0,0,0,0,24.86,24.40,23.72,8.26,40.47
$GC,1860,1.01,343.3,3393,691,1127,1004,162.8,7.3,189,1949,0.17,2.15,82.22,0.711,11270,0.054,0.024,3495,2108,663,712,615,0,0,0,0,0,0,25.44,25.44,24.03,8.19,39.88
$GC,2137,1.01,343.3,3494,2108,712,612,125.6,14.5,217,2147,0.00,2.28,0.00,0.000,516,0.000,0.041,3497,691,662,712,612,0,0,0,0,0,0,26.07,25.68,26.07,8.15,40.47
$GC,2273,0.96,343.3,3496,691,711,613,106.9,13.7,230,2282,0.10,2.05,0.00,0.000,5126,0.119,0.024,3464,2071,661,710,612,0,0,0,0,0,0,25.72,25.93,25.79,8.15,41.10
$GC,2463,0.96,343.3,3463,2071,710,612,85.0,11.4,249,2471,0.00,2.17,0.00,0.000,516,0.000,0.042,3464,692,661,710,612,0,0,0,0,0,0,26.41,25.99,26.42,8.15,41.02
$GC,2567,0.96,343.3,3464,692,710,612,73.6,10.7,259,2574,0.00,2.08,0.00,0.000,1030,0.000,0.024,3465,2091,661,710,612,0,0,0,0,0,0,26.21,26.13,26.23,8.14,41.02
$GC,2695,0.96,343.3,3464,2092,710,612,59.9,10.3,272,2698,0.00,2.20,0.00,0.000,516,0.000,0.042,3465,690,661,710,612,0,0,0,0,0,0,26.52,26.08,26.53,8.14,41.06
$GC,2769,0.96,343.3,3464,690,710,612,52.8,9.8,279,2776,0.00,2.08,0.00,0.000,1030,0.000,0.024,3464,2095,661,710,612,0,0,0,0,0,0,26.28,26.20,26.30,8.13,41.02
$GC,2897,0.96,343.3,3464,2095,710,612,39.8,10.0,292,2906,0.00,2.22,0.00,0.000,516,0.000,0.042,3464,673,661,710,612,0,0,0,0,0,0,26.59,26.13,26.60,8.13,40.74
$GC,2972,1.01,343.3,3464,673,710,612,33.3,8.6,299,2979,0.00,2.10,0.00,0.000,1030,0.000,0.024,3465,2094,661,710,612,0,0,0,0,0,0,26.33,26.25,26.35,8.13,40.78
$GC,3100,1.17,449.5,3464,2094,710,612,23.3,7.1,312,3143,0.12,0.00,37.45,0.555,10246,0.070,0.000,3557,2094,372,364,380,0,0,0,0,0,0,26.39,25.62,24.98,8.12,41.53
$GC,3268,1.74,820.0,3557,2094,364,376,15.2,-0.3,340,3276,0.32,2.22,0.00,0.000,2564,0.057,0.041,3699,691,369,364,375,0,0,0,0,0,0,25.98,25.91,26.03,8.08,40.98
$STATE,3316,end climb,NO_VERTICAL_VELOCITY
$STATE,3316,begin surface
$SM_CCo,3647,0.00,0.000,0,0,368,416.27
$SM_GC,16.39,9.30,2.15,0.00,0.041,0.024,0.000,207,2094,368,-9.14,-1.53,416.27,0,0,0,0,0,0,26.08,26.17,26.16
$IRIDIUM_FIX,4743.80,-12041.90,270218,013051
$TT8_MAMPS,0.026215,0.310086
$HUMID,42.08
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,100.2,86.5
$24V_AH,23.72,48.404
$10V_AH,10.08,17.630
$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,22.400,47.350,520.700,0.000,0.000,0.000,0.000,218.075,1.500,0.000,25.863,844.944,1517.089,568.395,923.361,142.021,0.000,1254.503,0.000,696.807,0.000,10.457,0.000
$DEVICE_MAMPS,229.500,49.725,758.115,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.385,461.013,465.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24456,349
$CAP_FILE_SIZE,56973,0
$CFSIZE,2097872896,2034368512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095,39.62,1
$GPS,270218,034357,4737.821,-12255.386,33,0.9,35,16.4,0.0,0.0,9,4.6