version: 66.14
glider: 194
mission: 12
dive: 576
start: 2 27 118 5 55 43
data:
$ID,194
$MISSION,12
$DIVE,576
$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,51
$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
$GPS1,270218,055010,4738.0591,-12254.9150,5,0.9,19,16.4,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.23
$_SM_ANGLEo,-71.1
$GPS2,270218,055506,4738.0547,-12254.8867,6,0.9,17,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$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,37.4,2152,-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,6,begin dive
$GC,9,-0.81,-244.4,213,2084,350,392,0.0,0.0,0,17,0.00,0.00,-5.75,0.000,16386,0.000,0.000,213,2084,528,506,551,0,0,0,0,0,0,26.34,28.83,26.35,8.06,40.74
$GC,20,-0.81,-244.4,213,2084,506,551,16.2,0.0,1,140,10.88,2.20,-101.82,0.000,18948,0.230,0.052,2885,691,3061,3134,2989,0,0,0,0,0,0,25.44,25.34,25.72,8.08,40.86
$GC,265,-0.64,-244.4,2884,691,3134,2990,47.3,-19.2,33,270,0.20,2.10,0.00,0.000,3078,0.155,0.027,2946,2081,3062,3134,2990,0,0,0,0,0,0,25.63,26.07,25.84,8.29,40.31
$GC,399,-0.55,-244.4,2945,2081,3134,2990,68.3,-14.4,46,407,0.00,2.20,0.00,0.000,260,0.000,0.044,2946,3481,3062,3134,2990,0,0,0,0,0,0,26.53,26.01,26.53,8.30,41.45
$GC,461,-0.50,-244.4,2945,3480,3134,2989,76.9,-13.7,52,470,0.12,2.05,0.00,0.000,3078,0.125,0.023,2990,2089,3062,3134,2990,0,0,0,0,0,0,25.86,26.19,25.94,8.30,42.40
$GC,591,-0.50,-244.4,2989,2088,3134,2990,91.6,-10.9,65,595,0.00,2.17,0.00,0.000,516,0.000,0.039,2990,683,3062,3134,2990,0,0,0,0,0,0,26.59,26.10,26.60,8.30,41.92
$GC,653,-0.50,-244.4,2989,683,3134,2990,98.6,-10.9,71,658,0.00,2.10,0.00,0.000,1030,0.000,0.025,2990,2081,3062,3134,2990,0,0,0,0,0,0,26.29,26.21,26.32,8.30,42.43
$GC,786,-0.50,-244.4,2990,2081,3134,2990,112.7,-10.9,84,795,0.00,2.15,0.00,0.000,260,0.000,0.041,2989,3479,3062,3134,2990,0,0,0,0,0,0,26.63,26.10,26.64,8.31,41.80
$GC,848,-0.50,-244.4,2990,3479,3134,2990,119.3,-10.4,90,856,0.00,2.08,0.00,0.000,1030,0.000,0.023,2990,2079,3062,3134,2990,0,0,0,0,0,0,26.35,26.28,26.37,8.31,41.77
$GC,1038,-0.50,-244.4,2989,2080,3134,2990,138.7,-10.2,109,1047,0.00,2.15,0.00,0.000,516,0.000,0.039,2990,683,3062,3134,2990,0,0,0,0,0,0,26.68,26.19,26.69,8.33,42.43
$GC,1070,-0.50,-244.4,2989,683,3134,2990,141.9,-10.1,112,1074,0.00,2.10,0.00,0.000,1030,0.000,0.024,2990,2090,3062,3134,2990,0,0,0,0,0,0,26.36,26.27,26.39,8.33,42.95
$GC,1262,-0.50,-244.4,2989,2090,3134,2990,160.8,-9.6,131,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2090,3062,3134,2990,0,0,0,0,0,0,26.71,26.72,26.72,8.33,42.40
$STATE,1440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1440,begin apogee
$GC,1447,-0.22,0.0,2989,2090,3134,2990,178.2,-8.8,149,1652,0.17,0.00,198.00,0.754,10246,0.080,0.000,3076,2090,2064,2111,2017,0,0,0,0,0,0,26.31,24.49,24.03,8.34,42.43
$STATE,1653,end apogee,CONTROL_FINISHED_OK
$STATE,1653,begin climb
$GC,1656,0.81,244.4,3076,2090,2111,2017,178.2,0.0,170,1868,0.93,2.35,202.02,0.725,10756,0.081,0.037,3392,690,1066,1128,1004,0,0,0,0,0,0,24.87,24.19,23.73,8.25,40.35
$GC,1957,1.13,337.8,3392,690,1128,1005,165.1,7.4,199,2042,0.28,2.15,77.40,0.708,11270,0.055,0.024,3515,2097,686,734,638,0,0,0,0,0,0,25.27,25.31,23.97,8.19,39.95
$GC,2223,1.07,337.8,3513,2097,734,639,130.7,14.4,226,2232,0.00,2.22,0.00,0.000,516,0.000,0.041,3519,688,686,734,639,0,0,0,0,0,0,26.03,25.65,26.04,8.16,40.39
$GC,2375,1.00,337.8,3519,689,734,638,108.4,14.8,241,2385,0.12,2.08,0.00,0.000,5126,0.119,0.024,3479,2078,686,734,638,0,0,0,0,0,0,25.69,25.95,25.78,8.15,40.86
$GC,2567,1.00,337.8,3478,2078,734,638,85.0,11.5,260,2576,0.00,2.17,0.00,0.000,516,0.000,0.041,3481,693,686,734,638,0,0,0,0,0,0,26.41,25.97,26.42,8.15,40.78
$GC,2671,1.00,337.8,3480,693,734,639,72.4,11.8,270,2680,0.00,2.05,0.00,0.000,1030,0.000,0.024,3481,2081,686,734,638,0,0,0,0,0,0,26.17,26.14,26.19,8.15,41.14
$GC,2800,1.00,337.8,3480,2080,734,638,58.0,11.1,283,2808,0.00,2.17,0.00,0.000,516,0.000,0.041,3484,693,686,734,638,0,0,0,0,0,0,26.52,26.08,26.53,8.14,40.58
$GC,2852,1.00,337.8,3484,693,734,638,52.2,11.0,288,2861,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2085,686,734,638,0,0,0,0,0,0,26.27,26.20,26.29,8.13,41.02
$GC,2982,1.00,337.8,3484,2085,734,639,38.2,10.4,301,2991,0.00,2.15,0.00,0.000,516,0.000,0.042,3484,694,686,734,638,0,0,0,0,0,0,26.58,26.13,26.59,8.13,40.98
$GC,3065,1.00,337.8,3484,694,734,639,30.4,9.1,309,3069,0.00,2.08,0.00,0.000,1030,0.000,0.024,3484,2097,686,734,638,0,0,0,0,0,0,26.32,26.26,26.35,8.13,41.17
$GC,3200,1.07,410.0,3484,2097,734,639,19.7,8.0,322,3244,0.00,2.28,37.88,0.535,8708,0.000,0.041,3484,691,390,392,389,0,0,0,0,0,0,26.62,25.68,24.99,8.12,41.41
$STATE,3397,end climb,NO_VERTICAL_VELOCITY
$STATE,3397,begin surface
$SM_CCo,3401,2.10,0.142,0,0,373,414.56
$SM_GC,16.35,8.73,2.12,0.00,0.041,0.024,0.000,209,2077,372,-9.13,-1.95,415.29,0,0,0,0,0,0,26.06,26.17,26.14
$IRIDIUM_FIX,4736.87,-12256.21,270218,045115
$TT8_MAMPS,0.026215,0.348285
$HUMID,41.25
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,101.0,87.0
$24V_AH,23.73,48.632
$10V_AH,10.02,17.715
$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,21.425,47.200,515.300,2.100,0.000,0.000,0.000,195.175,1.750,0.000,18.934,860.605,1571.801,578.662,904.030,136.722,0.000,1245.420,0.000,701.400,0.000,10.493,0.000
$DEVICE_MAMPS,229.500,52.020,754.290,141.525,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,242.039,474.137,478.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24525,359
$CAP_FILE_SIZE,56813,0
$CFSIZE,2097872896,2034073600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104,237.56,1
$GPS,270218,065859,4738.124,-12254.441,5,0.9,21,16.4,0.0,0.0,9,4.9