version: 66.14
glider: 194
mission: 12
dive: 606
start: 2 28 118 10 8 0
data:
$ID,194
$MISSION,12
$DIVE,606
$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,30
$R_STBD_OVSHOOT,68
$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
$GPS1,280218,100220,4738.4751,-12254.3389,7,0.9,14,16.4,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.57
$_SM_ANGLEo,-71.6
$GPS2,280218,100722,4738.4580,-12254.2979,9,0.9,15,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$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,221.2,889,-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,-244.4,208,2096,365,372,0.0,0.0,0,17,0.00,0.00,-6.30,0.000,16386,0.000,0.000,208,2096,538,529,547,0,0,0,0,0,0,26.42,28.83,26.43,8.08,41.77
$GC,20,-0.81,-244.4,208,2096,529,548,16.6,0.0,1,138,10.85,2.17,-99.93,0.000,18692,0.230,0.053,2887,3458,3063,3139,2988,0,0,0,0,0,0,25.45,24.04,25.75,8.09,41.33
$GC,183,-0.58,-244.4,2886,3458,3140,2989,30.9,-19.5,24,189,0.25,2.10,0.00,0.000,3078,0.152,0.024,2963,2053,3064,3140,2989,0,0,0,0,0,0,25.60,26.11,25.83,8.30,40.78
$GC,318,-0.45,-244.4,2963,2052,3141,2989,56.2,-17.4,37,327,0.10,2.20,0.00,0.000,2308,0.171,0.041,2998,3459,3065,3141,2989,0,0,0,0,0,0,25.99,26.03,26.04,8.30,41.06
$GC,363,-0.38,-244.4,2998,3459,3141,2989,62.7,-15.2,41,371,0.10,2.05,0.00,0.000,3078,0.147,0.023,3034,2079,3065,3141,2989,0,0,0,0,0,0,25.95,26.21,26.08,8.30,41.61
$GC,490,-0.38,-244.4,3034,2078,3141,2989,78.5,-14.1,54,491,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2078,3065,3141,2989,0,0,0,0,0,0,26.60,26.60,26.60,8.30,41.77
$GC,610,-0.38,-244.4,3034,2078,3141,2989,92.6,-11.2,66,615,0.00,2.15,0.00,0.000,516,0.000,0.040,3034,686,3064,3140,2989,0,0,0,0,0,0,26.63,26.15,26.63,8.31,42.16
$GC,677,-0.38,-244.4,3034,686,3141,2989,100.4,-12.9,72,682,0.00,2.08,0.00,0.000,1030,0.000,0.025,3035,2051,3065,3141,2989,0,0,0,0,0,0,26.28,26.25,26.32,8.31,42.47
$GC,870,-0.38,-244.4,3034,2050,3140,2989,122.1,-10.4,91,875,0.00,2.22,0.00,0.000,260,0.000,0.041,3035,3483,3065,3141,2989,0,0,0,0,0,0,26.68,26.15,26.68,8.31,42.00
$GC,917,-0.38,-244.4,3034,3483,3140,2989,126.3,-9.6,95,923,0.00,2.08,0.00,0.000,1030,0.000,0.022,3035,2073,3065,3141,2989,0,0,0,0,0,0,26.39,26.32,26.41,8.32,42.20
$GC,1103,-0.38,-244.4,3034,2072,3141,2989,145.7,-9.7,114,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2073,3065,3141,2989,0,0,0,0,0,0,26.71,26.72,26.72,8.32,42.47
$GC,1283,-0.38,-244.4,3034,2073,3140,2989,164.1,-10.1,132,1292,0.00,2.12,0.00,0.000,516,0.000,0.039,3035,687,3064,3140,2988,0,0,0,0,0,0,26.73,26.25,26.74,8.33,42.95
$GC,1335,-0.38,-244.4,3034,687,3140,2989,169.9,-10.9,137,1340,0.00,2.10,0.00,0.000,1030,0.000,0.024,3034,2098,3064,3140,2989,0,0,0,0,0,0,26.41,26.34,26.44,8.33,42.32
$STATE,1405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1405,begin apogee
$GC,1412,-0.22,0.0,3034,2098,3141,2989,177.2,-10.4,144,1618,0.10,0.00,200.60,0.759,10246,0.148,0.000,3077,2098,2063,2114,2013,0,0,0,0,0,0,26.22,24.69,23.99,8.33,42.40
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1624,0.81,244.4,3077,2098,2114,2013,179.9,0.0,165,1831,0.95,0.00,201.73,0.729,10758,0.099,0.000,3389,2098,1067,1133,1002,0,0,0,0,0,0,24.82,24.36,23.71,8.25,41.02
$GC,2012,1.12,357.4,3389,2098,1131,1001,161.0,6.9,204,2113,0.25,2.22,93.82,0.713,10500,0.064,0.037,3501,3473,606,654,558,0,0,0,0,0,0,25.62,24.83,24.07,8.18,41.45
$GC,2158,1.12,357.4,3501,3473,654,558,147.6,9.7,218,2163,0.00,2.15,0.00,0.000,1030,0.000,0.023,3501,2078,606,654,558,0,0,0,0,0,0,25.45,25.37,25.46,8.16,40.39
$GC,2351,1.12,357.4,3501,2077,654,556,127.0,10.4,237,2356,0.00,2.17,0.00,0.000,516,0.000,0.041,3502,693,605,654,556,0,0,0,0,0,0,26.20,25.80,26.20,8.14,41.80
$GC,2507,1.12,357.4,3501,693,653,556,110.6,10.5,252,2514,0.00,2.08,0.00,0.000,1030,0.000,0.024,3502,2091,604,652,556,0,0,0,0,0,0,26.11,26.04,26.13,8.14,41.77
$GC,2694,1.12,357.4,3501,2091,652,556,92.0,9.6,271,2703,0.00,2.20,0.00,0.000,516,0.000,0.041,3501,690,604,652,556,0,0,0,0,0,0,26.48,26.05,26.48,8.14,40.98
$GC,2800,1.12,357.4,3501,690,652,556,82.3,9.5,281,2806,0.00,2.08,0.00,0.000,1030,0.000,0.024,3502,2090,604,652,556,0,0,0,0,0,0,26.26,26.19,26.28,8.14,41.37
$GC,2926,1.12,357.4,3501,2090,653,556,69.9,9.6,294,2931,0.00,2.20,0.00,0.000,516,0.000,0.041,3502,693,604,652,556,0,0,0,0,0,0,26.56,26.12,26.57,8.14,41.88
$GC,2979,1.12,357.4,3501,693,652,556,64.8,10.1,299,2987,0.00,2.08,0.00,0.000,1030,0.000,0.024,3502,2089,604,652,556,0,0,0,0,0,0,26.31,26.25,26.33,8.13,41.53
$GC,3109,1.12,357.4,3502,2089,652,556,52.5,9.1,312,3113,0.00,2.20,0.00,0.000,516,0.000,0.041,3502,691,604,652,556,0,0,0,0,0,0,26.62,26.16,26.63,8.13,41.29
$GC,3163,1.12,357.4,3501,691,652,556,47.7,9.4,317,3171,0.00,2.05,0.00,0.000,1030,0.000,0.024,3502,2085,604,652,556,0,0,0,0,0,0,26.32,26.29,26.34,8.13,41.45
$GC,3292,1.18,357.4,3501,2085,652,556,36.0,9.5,330,3297,0.00,2.12,0.00,0.000,260,0.000,0.037,3502,3469,604,652,556,0,0,0,0,0,0,26.65,26.20,26.66,8.12,41.77
$GC,3359,1.24,357.4,3501,3470,652,556,29.4,10.2,336,3367,0.08,2.05,0.00,0.000,3078,0.096,0.022,3578,2081,604,652,556,0,0,0,0,0,0,26.27,26.33,26.34,8.12,42.16
$GC,3488,1.24,357.4,3578,2080,652,556,16.6,10.4,352,3495,0.00,2.17,0.00,0.000,516,0.000,0.041,3581,681,604,652,556,0,0,0,0,0,0,26.68,26.21,26.69,8.11,41.33
$STATE,3637,end climb,NO_VERTICAL_VELOCITY
$STATE,3637,begin surface
$SM_CCo,3641,29.65,0.526,0,0,373,414.56
$SM_GC,16.69,8.95,2.15,0.00,0.041,0.024,0.000,212,2075,369,-9.13,-1.84,416.03,0,0,0,0,0,0,26.06,26.17,26.15
$IRIDIUM_FIX,4738.72,-12249.11,280218,090425
$TT8_MAMPS,0.026215,0.274883
$HUMID,42.16
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,100.4,85.9
$24V_AH,23.71,51.763
$10V_AH,10.10,18.482
$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,21.625,51.200,496.150,29.650,0.000,0.000,0.000,202.225,2.000,0.000,16.284,938.459,1729.062,574.051,936.083,148.195,0.000,1262.046,0.000,728.562,0.000,10.487,0.000
$DEVICE_MAMPS,229.500,52.785,758.880,526.320,0.000,0.000,0.000,75.735,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.320,503.788,508.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312124
$DATA_FILE_SIZE,28114,381
$CAP_FILE_SIZE,61656,0
$CFSIZE,2097872896,2031124480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.066,3.08,1
$GPS,280218,111601,4738.300,-12254.918,7,0.8,38,16.4,0.0,0.0,10,4.4