version: 66.14
glider: 194
mission: 12
dive: 613
start: 2 28 118 17 53 56
data:
$ID,194
$MISSION,12
$DIVE,613
$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
$GPS1,280218,174850,4737.6558,-12256.2910,4,0.8,21,16.4,0.2,2.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.55
$_SM_ANGLEo,-65.9
$GPS2,280218,175317,4737.6797,-12256.2803,6,0.8,22,16.4,0.0,18.6,10,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$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,62.6,2017,-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,-244.4,211,2094,349,384,0.0,0.0,0,17,0.00,0.00,-5.72,0.000,16386,0.000,0.000,210,2094,518,502,535,0,0,0,0,0,0,26.37,28.83,26.38,8.06,40.94
$GC,20,-0.81,-244.4,211,2094,502,535,16.7,0.0,1,161,10.75,2.22,-122.53,0.000,18692,0.226,0.054,2889,3477,3063,3140,2986,0,0,0,0,0,0,25.44,24.02,25.74,8.08,41.06
$GC,327,-0.66,-244.4,2888,3477,3141,2988,48.2,-18.3,43,332,0.15,2.10,0.00,0.000,3078,0.151,0.024,2936,2077,3064,3141,2988,0,0,0,0,0,0,25.78,26.15,25.95,8.29,40.78
$GC,461,-0.56,-244.4,2936,2076,3141,2988,69.7,-16.1,56,463,0.12,0.00,0.00,0.000,2054,0.155,0.000,2976,2076,3064,3141,2988,0,0,0,0,0,0,26.01,26.17,26.11,8.30,42.12
$GC,581,-0.56,-244.4,2975,2076,3141,2988,86.3,-13.1,68,589,0.00,2.17,0.00,0.000,516,0.000,0.040,2976,678,3064,3141,2988,0,0,0,0,0,0,26.60,26.13,26.61,8.30,42.75
$GC,605,-0.56,-244.4,2975,677,3141,2988,89.2,-13.1,70,612,0.00,2.10,0.00,0.000,1030,0.000,0.026,2976,2083,3064,3140,2988,0,0,0,0,0,0,26.29,26.20,26.31,8.31,41.92
$GC,733,-0.56,-244.4,2975,2083,3141,2987,105.0,-12.2,83,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2083,3064,3141,2987,0,0,0,0,0,0,26.64,26.65,26.65,8.31,42.24
$GC,913,-0.56,-244.4,2975,2083,3141,2987,126.1,-11.8,101,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2083,3064,3141,2987,0,0,0,0,0,0,26.67,26.68,26.68,8.32,42.91
$GC,1093,-0.56,-244.4,2975,2083,3141,2988,148.1,-12.0,119,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2083,3064,3141,2987,0,0,0,0,0,0,26.70,26.71,26.71,8.33,42.71
$GC,1273,-0.56,-244.4,2975,2082,3141,2987,169.3,-12.3,137,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2083,3064,3141,2987,0,0,0,0,0,0,26.72,26.74,26.73,8.34,42.83
$STATE,1341,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1341,begin apogee
$GC,1347,-0.22,0.0,2976,2083,3141,2987,177.4,-11.8,144,1552,0.28,0.00,199.68,0.761,10246,0.117,0.000,3078,2083,2063,2114,2013,0,0,0,0,0,0,25.99,24.68,23.96,8.33,42.59
$STATE,1554,end apogee,CONTROL_FINISHED_OK
$STATE,1554,begin climb
$GC,1556,0.81,244.4,3078,2083,2113,2013,183.5,0.0,165,1769,0.93,2.33,201.82,0.732,10756,0.090,0.038,3388,692,1067,1131,1004,0,0,0,0,0,0,24.82,24.15,23.68,8.25,40.94
$GC,1906,1.04,351.2,3387,692,1127,1004,163.5,7.0,199,2006,0.17,2.12,88.45,0.712,11270,0.055,0.024,3498,2098,632,680,585,0,0,0,0,0,0,25.53,25.53,24.03,8.19,40.39
$GC,2185,1.04,351.2,3498,2097,679,582,128.5,13.2,227,2195,0.00,2.25,0.00,0.000,516,0.000,0.041,3499,685,630,679,582,0,0,0,0,0,0,26.09,25.71,26.10,8.15,40.58
$GC,2281,1.04,351.2,3498,685,677,583,115.9,13.8,236,2287,0.00,2.08,0.00,0.000,1030,0.000,0.025,3499,2070,630,677,583,0,0,0,0,0,0,25.99,25.92,26.01,8.15,41.69
$GC,2469,1.04,351.2,3498,2070,677,583,91.3,12.7,255,2477,0.00,2.15,0.00,0.000,516,0.000,0.042,3499,694,630,678,583,0,0,0,0,0,0,26.41,25.98,26.41,8.15,42.04
$GC,2573,1.04,351.2,3499,694,678,583,78.5,12.8,265,2580,0.00,2.08,0.00,0.000,1030,0.000,0.025,3499,2090,629,677,582,0,0,0,0,0,0,26.20,26.13,26.22,8.14,41.92
$GC,2701,1.04,351.2,3498,2090,677,583,62.6,11.7,278,2704,0.00,2.20,0.00,0.000,516,0.000,0.042,3499,690,629,677,582,0,0,0,0,0,0,26.53,26.08,26.53,8.14,41.33
$GC,2773,1.04,351.2,3499,690,677,583,54.3,11.2,285,2781,0.00,2.05,0.00,0.000,1030,0.000,0.024,3499,2077,629,677,582,0,0,0,0,0,0,26.24,26.21,26.26,8.14,41.37
$GC,2903,1.04,351.2,3499,2077,677,583,39.1,12.1,298,2913,0.00,2.17,0.00,0.000,516,0.000,0.042,3499,687,630,677,583,0,0,0,0,0,0,26.59,26.13,26.60,8.13,41.45
$GC,2938,1.04,351.2,3499,687,677,583,35.4,11.4,301,2945,0.00,2.08,0.00,0.000,1030,0.000,0.024,3499,2088,630,677,583,0,0,0,0,0,0,26.32,26.24,26.34,8.13,41.57
$GC,3066,1.04,351.2,3499,2088,677,583,22.1,10.2,314,3075,0.00,2.20,0.00,0.000,516,0.000,0.042,3499,691,630,677,583,0,0,0,0,0,0,26.63,26.15,26.63,8.12,41.21
$GC,3102,1.04,351.2,3499,691,677,583,19.4,8.5,317,3109,0.00,2.10,0.00,0.000,1030,0.000,0.024,3499,2088,630,677,583,0,0,0,0,0,0,26.30,26.28,26.38,8.12,41.14
$GC,3173,1.58,693.5,3499,2088,677,582,15.7,0.5,330,3215,0.35,2.17,32.58,0.520,10500,0.060,0.039,3648,3469,372,369,375,0,0,0,0,0,0,26.24,25.70,24.96,8.11,41.29
$STATE,3293,end climb,NO_VERTICAL_VELOCITY
$STATE,3293,begin surface
$SM_CCo,3624,0.00,0.000,0,0,368,416.03
$SM_GC,16.82,9.15,2.15,0.00,0.041,0.024,0.000,206,2071,368,-9.14,1.33,416.03,0,0,0,0,0,0,26.06,26.16,26.15
$IRIDIUM_FIX,4735.54,-12254.47,280218,170510
$TT8_MAMPS,0.026215,0.281624
$HUMID,41.80
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,100.1,86.6
$24V_AH,23.68,52.464
$10V_AH,10.09,18.684
$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,21.900,38.725,522.525,0.000,0.000,0.000,0.000,167.450,2.000,0.000,23.497,821.414,1535.070,588.827,843.312,129.102,0.000,1209.061,0.000,662.885,0.000,10.482,0.000
$DEVICE_MAMPS,225.675,54.315,761.175,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.607,464.607,469.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24483,352
$CAP_FILE_SIZE,53884,0
$CFSIZE,2097872896,2030436352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,15.94,1
$GPS,280218,185532,4737.750,-12255.552,12,0.8,31,16.4,0.0,39.7,10,3.9