version: 66.14
glider: 194
mission: 12
dive: 595
start: 2 27 118 23 12 56
data:
$ID,194
$MISSION,12
$DIVE,595
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,90
$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,61
$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
$GPS1,270218,230709,4739.4238,-12252.4238,5,0.7,20,16.4,0.6,38.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.45
$_SM_ANGLEo,-71.7
$GPS2,270218,231220,4739.4814,-12252.3379,11,0.8,38,16.4,0.5,46.8,10,4.3
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,4739.481,-12236.305
$TGT_RADIUS,1852.000
$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,73.6,20000,-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,-244.4,207,2073,368,368,0.0,0.0,0,16,0.00,0.00,-6.20,0.000,16386,0.000,0.000,207,2073,533,526,540,0,0,0,0,0,0,26.44,28.83,26.44,8.06,41.49
$GC,20,-0.81,-244.4,207,2073,526,540,16.4,0.0,1,151,10.85,0.00,-116.30,0.000,19206,0.231,0.000,2885,2072,3062,3138,2987,0,0,0,0,0,0,25.44,24.39,25.76,8.08,41.33
$GC,214,-0.55,-244.4,2885,2072,3139,2988,34.7,-28.0,31,224,0.28,2.15,0.00,0.000,2308,0.161,0.041,2971,3462,3064,3140,2988,0,0,0,0,0,0,25.63,25.86,25.75,8.29,40.86
$GC,319,-0.44,-244.4,2971,3461,3140,2988,52.8,-17.2,41,328,0.10,2.03,0.00,0.000,3078,0.145,0.023,3005,2088,3064,3140,2988,0,0,0,0,0,0,25.86,26.19,25.94,8.29,41.14
$GC,447,-0.36,-244.4,3005,2087,3140,2988,72.3,-14.7,54,451,0.00,2.17,0.00,0.000,516,0.000,0.039,3005,690,3064,3140,2988,0,0,0,0,0,0,26.58,26.12,26.59,8.29,41.88
$GC,503,-0.30,-244.4,3005,689,3140,2988,80.3,-15.3,59,510,0.15,2.08,0.00,0.000,3078,0.139,0.025,3058,2081,3064,3140,2988,0,0,0,0,0,0,25.90,26.20,26.06,8.30,41.69
$GC,629,-0.30,-244.4,3057,2081,3140,2988,95.7,-10.8,72,630,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2081,3064,3140,2988,0,0,0,0,0,0,26.63,26.64,26.64,8.30,41.88
$GC,749,-0.30,-244.4,3057,2081,3140,2988,107.4,-9.4,84,758,0.00,2.15,0.00,0.000,260,0.000,0.041,3057,3476,3064,3140,2988,0,0,0,0,0,0,26.65,26.14,26.66,8.31,42.16
$GC,771,-0.30,-244.4,3057,3476,3140,2988,109.4,-9.3,86,780,0.00,2.08,0.00,0.000,1030,0.000,0.023,3057,2075,3064,3141,2988,0,0,0,0,0,0,26.37,26.30,26.39,8.31,42.04
$GC,961,-0.30,-244.4,3057,2075,3140,2988,127.0,-9.3,105,970,0.00,2.12,0.00,0.000,516,0.000,0.040,3057,691,3064,3140,2988,0,0,0,0,0,0,26.69,26.22,26.70,8.32,42.08
$GC,1053,-0.30,-244.4,3057,691,3140,2988,136.2,-9.9,114,1062,0.00,2.08,0.00,0.000,1030,0.000,0.025,3057,2077,3064,3140,2988,0,0,0,0,0,0,26.38,26.29,26.41,8.32,42.55
$STATE,1161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1161,begin apogee
$GC,1167,-0.22,0.0,3057,2078,3140,2988,146.0,-8.6,125,1372,0.00,0.00,200.07,0.749,8198,0.000,0.000,3058,2078,2064,2114,2014,0,0,0,0,0,0,26.67,24.68,23.99,8.33,42.12
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1376,0.81,244.4,3057,2078,2114,2014,155.4,0.0,146,1587,1.00,2.35,201.55,0.717,10756,0.094,0.038,3391,687,1067,1133,1001,0,0,0,0,0,0,24.81,24.35,23.71,8.25,40.43
$GC,1643,1.26,393.7,3390,687,1130,1001,144.2,5.9,172,1781,0.45,2.17,124.70,0.698,11270,0.069,0.024,3554,2098,456,479,434,0,0,0,0,0,0,24.99,25.11,23.82,8.18,39.88
$GC,1960,1.26,393.7,3554,2098,480,432,104.7,14.0,204,1969,0.00,2.22,0.00,0.000,516,0.000,0.041,3555,700,455,479,432,0,0,0,0,0,0,25.98,25.60,25.98,8.13,40.54
$GC,2005,1.26,393.7,3554,699,479,432,98.9,13.9,208,2012,0.00,2.08,0.00,0.000,1030,0.000,0.024,3555,2076,455,479,432,0,0,0,0,0,0,25.84,25.78,25.86,8.13,40.82
$GC,2132,1.26,393.7,3554,2076,479,432,81.1,13.5,221,2141,0.00,2.20,0.00,0.000,516,0.000,0.041,3555,690,455,479,432,0,0,0,0,0,0,26.26,25.86,26.27,8.12,40.86
$GC,2174,1.26,393.7,3555,690,479,432,75.6,13.0,225,2183,0.00,2.10,0.00,0.000,1030,0.000,0.024,3556,2084,455,479,432,0,0,0,0,0,0,26.06,25.98,26.07,8.12,41.02
$GC,2304,1.26,393.7,3555,2084,479,432,59.0,12.3,238,2313,0.00,2.20,0.00,0.000,516,0.000,0.041,3555,691,455,479,432,0,0,0,0,0,0,26.40,25.98,26.41,8.11,41.10
$GC,2379,1.26,393.7,3555,691,479,432,49.9,12.4,245,2386,0.00,2.08,0.00,0.000,1030,0.000,0.024,3555,2089,455,479,432,0,0,0,0,0,0,26.19,26.11,26.21,8.10,41.37
$GC,2506,1.26,393.7,3555,2090,479,431,33.7,12.5,258,2515,0.00,2.17,0.00,0.000,516,0.000,0.041,3555,698,455,478,432,0,0,0,0,0,0,26.51,26.08,26.51,8.10,41.10
$GC,2528,1.26,393.7,3555,698,479,432,31.4,11.5,260,2537,0.00,2.08,0.00,0.000,1030,0.000,0.024,3555,2093,455,479,432,0,0,0,0,0,0,26.25,26.18,26.27,8.10,41.80
$GC,2659,1.26,393.7,3555,2093,479,432,19.2,9.7,274,2665,0.00,2.12,0.00,0.000,260,0.000,0.037,3555,3477,455,479,432,0,0,0,0,0,0,26.55,26.13,26.56,8.10,41.41
$GC,2693,1.26,393.7,3555,3477,479,431,15.8,10.3,280,2700,0.00,2.05,0.00,0.000,1030,0.000,0.022,3555,2086,455,479,431,0,0,0,0,0,0,26.32,26.26,26.34,8.09,41.10
$GC,2764,1.85,765.1,3555,2085,479,431,15.5,-0.3,293,2783,0.43,2.15,10.48,0.485,10500,0.052,0.039,3735,3476,374,382,366,0,0,0,0,0,0,26.22,25.73,24.91,8.09,41.25
$STATE,2843,end climb,NO_VERTICAL_VELOCITY
$STATE,2844,begin surface
$SM_CCo,3174,0.00,0.000,0,0,372,415.29
$SM_GC,16.36,9.43,2.15,0.00,0.046,0.025,0.000,205,2065,372,-9.14,1.44,415.29,0,0,0,0,0,0,26.15,26.20,26.22
$IRIDIUM_FIX,4740.06,-12250.84,270218,220950
$TT8_MAMPS,0.026964,0.274883
$HUMID,42.00
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,101.0,54.1
$24V_AH,23.71,50.555
$10V_AH,10.10,18.182
$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,22.675,46.975,536.800,0.000,0.000,0.000,0.000,189.425,3.000,0.000,39.629,663.632,1300.164,599.048,812.782,130.904,0.000,1232.195,0.000,595.146,0.000,10.404,0.000
$DEVICE_MAMPS,231.030,41.310,748.935,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.213,405.815,409.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312172
$DATA_FILE_SIZE,21031,308
$CAP_FILE_SIZE,53599,0
$CFSIZE,2097872896,2032205824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280218,000645,4739.674,-12251.580,4,0.8,14,16.4,0.0,42.1,10,4.6