version: 66.14
glider: 194
mission: 12
dive: 611
start: 2 28 118 15 57 45
data:
$ID,194
$MISSION,12
$DIVE,611
$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,46
$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
$GPS1,280218,155136,4737.9150,-12255.9150,7,1.1,17,16.4,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.54
$_SM_ANGLEo,-66.7
$GPS2,280218,155652,4737.9448,-12255.9033,8,1.0,17,16.4,0.5,33.2,10,4.9
$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,191.1,768,-13.2,-10.000,-17.23,3627
$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,9,-0.81,-240.2,204,2071,362,372,0.0,0.0,0,17,0.00,0.00,-5.82,0.000,16386,0.000,0.000,204,2072,519,513,526,0,0,0,0,0,0,26.41,28.83,26.42,8.06,41.21
$GC,20,-0.81,-240.2,204,2071,513,527,16.6,0.0,1,162,10.57,2.17,-123.15,0.000,19204,0.218,0.051,2889,683,3044,3123,2966,0,0,0,0,0,0,25.46,25.41,25.75,8.08,41.73
$GC,173,-0.94,-244.4,2888,683,3123,2967,17.3,-5.7,26,182,0.05,2.10,-0.60,0.000,21510,0.151,0.025,2851,2088,3062,3142,2982,0,0,0,0,0,0,26.00,26.07,26.10,8.29,40.94
$GC,251,-0.68,-244.4,2851,2088,3142,2982,35.3,-25.8,34,260,0.25,2.12,0.00,0.000,2308,0.160,0.041,2926,3467,3062,3142,2982,0,0,0,0,0,0,25.60,25.83,25.72,8.29,41.29
$GC,266,-0.42,-244.4,2926,3467,3142,2982,38.0,-26.7,35,275,0.28,2.08,0.00,0.000,3078,0.137,0.023,3015,2070,3062,3142,2982,0,0,0,0,0,0,25.65,26.15,25.86,8.29,41.02
$GC,394,-0.42,-244.4,3014,2068,3142,2982,56.8,-11.8,48,395,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2068,3062,3142,2982,0,0,0,0,0,0,26.56,26.57,26.57,8.29,41.33
$GC,514,-0.42,-244.4,3014,2068,3142,2982,71.1,-12.2,60,522,0.00,2.12,0.00,0.000,516,0.000,0.040,3015,693,3062,3142,2982,0,0,0,0,0,0,26.60,26.12,26.60,8.30,41.65
$GC,566,-0.42,-244.4,3014,693,3141,2982,77.3,-11.8,65,575,0.00,2.08,0.00,0.000,1030,0.000,0.025,3015,2075,3062,3142,2983,0,0,0,0,0,0,26.29,26.20,26.32,8.29,41.88
$GC,696,-0.42,-244.4,3014,2075,3142,2982,90.7,-10.2,78,705,0.00,2.17,0.00,0.000,260,0.000,0.042,3015,3480,3062,3142,2982,0,0,0,0,0,0,26.65,26.13,26.65,8.31,42.04
$GC,731,-0.42,-244.4,3014,3480,3142,2982,94.2,-10.6,81,739,0.00,2.08,0.00,0.000,1030,0.000,0.023,3015,2076,3062,3142,2982,0,0,0,0,0,0,26.34,26.28,26.36,8.31,42.08
$GC,859,-0.42,-244.4,3014,2075,3142,2982,108.0,-10.7,94,868,0.00,2.15,0.00,0.000,516,0.000,0.039,3015,687,3062,3142,2982,0,0,0,0,0,0,26.67,26.18,26.67,8.31,41.96
$GC,903,-0.42,-244.4,3014,687,3142,2982,112.8,-11.3,98,910,0.00,2.08,0.00,0.000,1030,0.000,0.024,3015,2088,3062,3142,2982,0,0,0,0,0,0,26.34,26.26,26.37,8.31,42.40
$GC,1091,-0.42,-244.4,3014,2088,3142,2982,132.4,-10.2,117,1100,0.00,2.15,0.00,0.000,260,0.000,0.041,3015,3479,3062,3142,2982,0,0,0,0,0,0,26.71,26.16,26.72,8.32,42.24
$GC,1123,-0.42,-244.4,3014,3479,3142,2982,135.5,-9.8,120,1133,0.00,2.08,0.00,0.000,1030,0.000,0.023,3014,2077,3062,3142,2982,0,0,0,0,0,0,26.40,26.34,26.43,8.32,42.55
$GC,1313,-0.42,-244.4,3014,2077,3141,2982,154.0,-10.3,139,1323,0.00,2.15,0.00,0.000,516,0.000,0.039,3015,679,3062,3142,2982,0,0,0,0,0,0,26.73,26.22,26.74,8.33,42.43
$GC,1359,-0.42,-244.4,3014,679,3142,2982,158.6,-10.9,143,1367,0.00,2.08,0.00,0.000,1030,0.000,0.024,3015,2079,3062,3142,2982,0,0,0,0,0,0,26.39,26.32,26.42,8.33,41.92
$STATE,1544,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1544,begin apogee
$GC,1550,-0.22,0.0,3014,2079,3142,2982,177.1,-9.3,162,1756,0.17,0.00,199.98,0.759,10246,0.123,0.000,3084,2079,2064,2114,2015,0,0,0,0,0,0,26.12,24.69,23.98,8.33,41.96
$STATE,1757,end apogee,CONTROL_FINISHED_OK
$STATE,1757,begin climb
$GC,1762,0.82,244.4,3084,2079,2113,2014,180.8,0.0,183,1977,0.93,2.35,201.45,0.726,10756,0.099,0.039,3389,694,1067,1132,1003,0,0,0,0,0,0,24.82,24.41,23.70,8.26,40.86
$GC,2112,1.06,355.8,3389,694,1128,1002,161.9,6.9,218,2213,0.20,2.10,92.55,0.711,11270,0.042,0.024,3502,2097,612,660,565,0,0,0,0,0,0,25.53,25.54,24.02,8.19,40.47
$GC,2404,1.06,355.8,3501,2097,660,562,127.7,11.7,247,2413,0.00,2.25,0.00,0.000,516,0.000,0.041,3502,686,611,660,562,0,0,0,0,0,0,26.10,25.71,26.11,8.15,40.70
$GC,2539,1.06,355.8,3501,685,658,562,111.5,12.1,260,2547,0.00,2.08,0.00,0.000,1030,0.000,0.024,3502,2074,610,658,562,0,0,0,0,0,0,26.00,25.97,26.03,8.15,41.02
$GC,2727,1.06,355.8,3501,2074,658,562,88.0,12.4,279,2730,0.00,2.17,0.00,0.000,516,0.000,0.041,3502,690,610,658,562,0,0,0,0,0,0,26.44,26.01,26.44,8.14,41.77
$GC,2809,1.06,355.8,3502,690,658,562,78.2,12.1,287,2813,0.00,2.10,0.00,0.000,1030,0.000,0.024,3502,2094,610,658,562,0,0,0,0,0,0,26.22,26.14,26.23,8.13,40.82
$GC,2941,1.06,355.8,3501,2094,658,562,62.6,11.5,300,2951,0.00,2.22,0.00,0.000,516,0.000,0.041,3502,683,610,658,562,0,0,0,0,0,0,26.53,26.08,26.54,8.14,41.14
$GC,3015,1.06,355.8,3502,682,658,562,54.3,11.6,307,3023,0.00,2.08,0.00,0.000,1030,0.000,0.024,3502,2089,610,658,562,0,0,0,0,0,0,26.25,26.21,26.27,8.13,41.45
$GC,3144,1.06,355.8,3502,2089,657,562,40.3,10.2,320,3154,0.00,2.20,0.00,0.000,516,0.000,0.042,3502,690,610,658,562,0,0,0,0,0,0,26.60,26.13,26.60,8.12,41.02
$GC,3239,1.06,355.8,3502,690,658,562,31.1,9.9,329,3246,0.00,2.05,0.00,0.000,1030,0.000,0.024,3502,2084,610,658,562,0,0,0,0,0,0,26.34,26.27,26.36,8.12,41.14
$GC,3368,1.06,355.8,3501,2084,658,562,19.6,9.1,342,3375,0.00,2.15,0.00,0.000,260,0.000,0.038,3502,3460,609,658,561,0,0,0,0,0,0,26.63,26.17,26.63,8.11,41.45
$GC,3476,1.69,729.6,3502,3461,658,562,15.8,-0.5,362,3514,0.50,2.05,30.30,0.522,11270,0.060,0.024,3700,2088,373,374,372,0,0,0,0,0,0,26.17,26.31,24.99,8.11,41.17
$STATE,3555,end climb,NO_VERTICAL_VELOCITY
$STATE,3555,begin surface
$SM_CCo,3883,0.00,0.000,0,0,369,416.03
$SM_GC,16.73,9.30,0.00,0.00,0.042,0.000,0.000,210,2087,369,-9.13,0.14,416.03,0,0,0,0,0,0,26.08,26.51,26.15
$IRIDIUM_FIX,4737.86,-12251.79,280218,143749
$TT8_MAMPS,0.026215,0.279377
$HUMID,41.57
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,100.5,86.2
$24V_AH,23.70,52.274
$10V_AH,10.08,18.634
$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,22.250,55.400,524.275,0.000,0.000,0.000,0.000,211.200,2.500,0.000,18.785,897.584,1628.018,617.018,939.959,151.199,0.000,1334.710,0.000,724.501,0.000,10.494,0.000
$DEVICE_MAMPS,218.025,51.255,758.880,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.434,496.203,501.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312148
$DATA_FILE_SIZE,28006,376
$CAP_FILE_SIZE,62407,0
$CFSIZE,2097872896,2030632960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.074,45.48,1
$GPS,280218,170333,4737.711,-12256.211,8,0.9,24,16.4,0.3,16.0,11,4.5