version: 66.14
glider: 194
mission: 12
dive: 608
start: 2 28 118 12 23 6
data:
$ID,194
$MISSION,12
$DIVE,608
$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,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
$GPS1,280218,121741,4738.0708,-12254.8516,7,0.9,14,16.4,0.0,0.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.62
$_SM_ANGLEo,-70.4
$GPS2,280218,122228,4738.0874,-12254.8330,6,0.9,16,16.4,0.0,0.0,8,4.7
$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,223.9,1938,-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,-244.4,211,2085,347,387,0.0,0.0,0,17,0.00,0.00,-6.18,0.000,16386,0.000,0.000,211,2085,532,513,551,0,0,0,0,0,0,26.36,28.83,26.36,8.06,41.29
$GC,20,-0.81,-244.4,211,2085,513,551,16.7,0.0,1,156,10.85,2.22,-114.53,0.000,18948,0.229,0.051,2887,688,3063,3139,2988,0,0,0,0,0,0,25.41,24.00,25.71,8.08,41.02
$GC,196,-0.57,-244.4,2886,687,3140,2989,28.5,-22.4,28,205,0.25,2.08,0.00,0.000,3078,0.155,0.026,2963,2072,3064,3140,2989,0,0,0,0,0,0,25.53,26.05,25.67,8.29,40.35
$GC,326,-0.48,-244.4,2962,2073,3141,2989,50.3,-15.4,41,332,0.10,2.22,0.00,0.000,2308,0.164,0.043,2995,3476,3065,3141,2989,0,0,0,0,0,0,26.01,26.00,26.10,8.29,41.25
$GC,401,-0.48,-244.4,2994,3476,3141,2989,59.8,-11.5,48,409,0.00,2.08,0.00,0.000,1030,0.000,0.023,2995,2083,3065,3141,2989,0,0,0,0,0,0,26.25,26.19,26.27,8.29,41.84
$GC,531,-0.48,-244.4,2994,2083,3141,2989,76.0,-12.9,61,535,0.00,2.17,0.00,0.000,516,0.000,0.041,2995,690,3065,3141,2989,0,0,0,0,0,0,26.58,26.10,26.59,8.30,41.96
$GC,573,-0.48,-244.4,2994,690,3141,2989,81.7,-13.3,65,578,0.00,2.10,0.00,0.000,1030,0.000,0.026,2995,2095,3065,3141,2989,0,0,0,0,0,0,26.27,26.18,26.30,8.30,41.96
$GC,706,-0.48,-244.4,2994,2095,3141,2989,97.9,-12.3,78,710,0.00,2.12,0.00,0.000,260,0.000,0.042,2994,3470,3065,3141,2989,0,0,0,0,0,0,26.63,26.10,26.64,8.31,41.88
$GC,775,-0.48,-244.4,2994,3470,3141,2989,105.7,-11.6,84,782,0.00,2.05,0.00,0.000,1030,0.000,0.023,2995,2084,3064,3141,2988,0,0,0,0,0,0,26.34,26.27,26.36,8.31,42.71
$GC,962,-0.48,-244.4,2994,2083,3141,2989,128.5,-12.2,103,966,0.00,2.17,0.00,0.000,516,0.000,0.041,2995,687,3065,3141,2989,0,0,0,0,0,0,26.67,26.18,26.69,8.32,42.63
$GC,1044,-0.48,-244.4,2994,687,3141,2989,137.5,-10.5,111,1048,0.00,2.08,0.00,0.000,1030,0.000,0.026,2995,2081,3065,3141,2989,0,0,0,0,0,0,26.36,26.27,26.39,8.32,42.83
$GC,1236,-0.48,-244.4,2994,2082,3141,2989,158.8,-11.6,130,1240,0.00,2.15,0.00,0.000,260,0.000,0.042,2995,3475,3064,3140,2989,0,0,0,0,0,0,26.72,26.17,26.72,8.33,42.75
$GC,1292,-0.48,-244.4,2994,3475,3141,2989,164.3,-10.5,135,1299,0.00,2.05,0.00,0.000,1030,0.000,0.023,2995,2080,3065,3141,2989,0,0,0,0,0,0,26.42,26.34,26.44,8.33,42.36
$STATE,1406,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1406,begin apogee
$GC,1413,-0.22,0.0,2994,2080,3141,2989,177.5,-10.8,147,1618,0.22,0.00,199.82,0.758,10246,0.119,0.000,3079,2079,2063,2114,2012,0,0,0,0,0,0,26.04,24.68,23.99,8.33,42.43
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1624,0.81,244.4,3080,2079,2114,2012,181.7,0.0,168,1834,0.90,0.00,202.73,0.728,10502,0.084,0.000,3389,2079,1066,1129,1004,0,0,0,0,0,0,24.85,24.35,23.70,8.25,40.86
$GC,2013,1.06,391.6,3388,2079,1127,1001,162.7,5.9,207,2145,0.17,2.33,121.57,0.712,10756,0.062,0.041,3498,694,466,486,447,0,0,0,0,0,0,25.69,24.76,24.01,8.18,40.82
$GC,2278,1.06,391.6,3497,693,485,446,129.7,13.1,233,2282,0.00,2.10,0.00,0.000,1030,0.000,0.025,3497,2086,465,485,445,0,0,0,0,0,0,25.75,25.67,25.76,8.14,40.98
$GC,2470,1.06,391.6,3497,2085,484,444,104.7,13.3,252,2474,0.00,2.22,0.00,0.000,516,0.000,0.042,3498,683,464,484,444,0,0,0,0,0,0,26.29,25.87,26.29,8.13,40.90
$GC,2562,1.06,391.6,3497,682,484,444,93.1,12.7,261,2566,0.00,2.10,0.00,0.000,1030,0.000,0.025,3498,2083,464,485,444,0,0,0,0,0,0,26.12,26.04,26.13,8.13,40.86
$GC,2694,1.06,391.6,3497,2084,484,443,76.9,11.9,274,2703,0.00,2.17,0.00,0.000,516,0.000,0.042,3498,695,463,484,443,0,0,0,0,0,0,26.46,26.02,26.46,8.12,41.37
$GC,2760,1.06,391.6,3497,694,484,443,69.5,12.1,280,2766,0.00,2.08,0.00,0.000,1030,0.000,0.025,3497,2090,464,485,443,0,0,0,0,0,0,26.22,26.15,26.24,8.12,41.14
$GC,2886,1.06,391.6,3497,2090,484,443,54.6,11.1,293,2891,0.00,2.22,0.00,0.000,516,0.000,0.043,3498,685,464,485,443,0,0,0,0,0,0,26.53,26.08,26.54,8.11,41.37
$GC,2959,1.06,391.6,3497,684,484,443,46.8,10.5,300,2968,0.00,2.10,0.00,0.000,1030,0.000,0.025,3498,2097,463,484,443,0,0,0,0,0,0,26.29,26.22,26.32,8.12,41.33
$GC,3089,1.06,391.6,3497,2097,484,443,33.5,10.6,313,3094,0.00,2.12,0.00,0.000,260,0.000,0.037,3498,3477,464,485,443,0,0,0,0,0,0,26.60,26.15,26.60,8.10,40.86
$GC,3122,1.06,391.6,3497,3477,484,443,29.9,11.0,316,3131,0.00,2.08,0.00,0.000,1030,0.000,0.023,3498,2086,464,485,443,0,0,0,0,0,0,26.34,26.27,26.36,8.10,41.33
$GC,3256,1.20,464.7,3497,2085,485,443,18.6,8.0,330,3275,0.05,2.20,11.52,0.496,10756,0.145,0.042,3567,686,373,374,373,0,0,0,0,0,0,26.43,25.39,24.94,8.10,41.45
$STATE,3422,end climb,NO_VERTICAL_VELOCITY
$STATE,3422,begin surface
$SM_CCo,3752,0.00,0.000,0,0,370,415.54
$SM_GC,16.74,8.88,2.12,0.00,0.040,0.024,0.000,205,2088,370,-9.14,-1.95,415.54,0,0,0,0,0,0,26.17,26.27,26.26
$IRIDIUM_FIX,4735.54,-12254.47,280218,111738
$TT8_MAMPS,0.026964,0.275632
$HUMID,41.77
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,100.6,86.5
$24V_AH,23.70,51.940
$10V_AH,10.09,18.540
$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,21.425,51.350,535.650,0.000,0.000,0.000,0.000,186.700,1.750,0.000,17.263,872.796,1571.922,588.075,889.846,138.518,0.000,1248.371,0.000,697.444,0.000,10.491,0.000
$DEVICE_MAMPS,228.735,51.255,758.115,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,244.151,478.193,482.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,24646,362
$CAP_FILE_SIZE,57818,0
$CFSIZE,2097872896,2030927872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080,36.18,1
$GPS,280218,132635,4738.110,-12255.309,7,0.8,16,16.4,0.0,0.0,10,4.8