version: 66.14
glider: 194
mission: 12
dive: 472
start: 2 22 118 10 12 25
data:
$ID,194
$MISSION,12
$DIVE,472
$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,60
$R_STBD_OVSHOOT,54
$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
$GPS1,220218,100728,4738.5581,-12253.4912,9,0.9,17,16.4,0.0,212.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.39
$_SM_ANGLEo,-63.7
$GPS2,220218,101144,4738.5527,-12253.5000,7,0.9,18,16.4,0.0,238.9,10,4.7
$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,226.3,1811,-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,-244.4,215,2075,354,381,0.0,0.0,0,17,0.00,0.00,-6.45,0.000,16386,0.000,0.000,214,2075,540,529,551,0,0,0,0,0,0,26.33,28.83,26.34,8.05,39.99
$GC,20,-0.81,-244.4,215,2075,529,551,14.5,0.0,1,150,10.48,2.28,-113.12,0.000,18692,0.220,0.058,2885,3476,3063,3139,2988,0,0,0,0,0,0,25.49,24.13,25.78,8.06,40.82
$GC,370,-0.68,-244.4,2884,3476,3138,2989,59.3,-19.1,45,378,0.15,2.05,0.00,0.000,3078,0.145,0.024,2933,2092,3064,3139,2989,0,0,0,0,0,0,25.83,26.16,26.00,8.28,41.57
$GC,497,-0.61,-244.4,2932,2091,3140,2989,79.6,-14.8,58,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2091,3064,3139,2989,0,0,0,0,0,0,26.53,26.55,26.55,8.29,41.61
$GC,617,-0.53,-244.4,2933,2091,3139,2989,96.5,-14.3,70,626,0.12,2.15,0.00,0.000,2308,0.148,0.041,2978,3476,3064,3140,2989,0,0,0,0,0,0,26.04,26.10,26.10,8.30,42.36
$GC,682,-0.53,-244.4,2977,3476,3139,2989,104.0,-10.6,76,690,0.00,2.08,0.00,0.000,1030,0.000,0.023,2978,2078,3063,3139,2988,0,0,0,0,0,0,26.32,26.25,26.34,8.31,42.12
$GC,875,-0.53,-244.4,2977,2077,3140,2989,124.3,-10.5,95,884,0.00,2.17,0.00,0.000,260,0.000,0.043,2978,3473,3064,3140,2989,0,0,0,0,0,0,26.63,26.14,26.64,8.31,42.04
$GC,941,-0.53,-244.4,2977,3473,3139,2989,131.4,-10.0,101,950,0.00,2.08,0.00,0.000,1030,0.000,0.023,2978,2073,3064,3139,2989,0,0,0,0,0,0,26.36,26.29,26.39,8.32,42.40
$GC,1133,-0.53,-244.4,2977,2072,3140,2989,150.8,-10.6,120,1137,0.00,2.20,0.00,0.000,260,0.000,0.042,2978,3480,3064,3140,2989,0,0,0,0,0,0,26.67,26.18,26.67,8.32,41.84
$GC,1189,-0.53,-244.4,2977,3480,3139,2989,156.2,-9.8,125,1195,0.00,2.05,0.00,0.000,1030,0.000,0.022,2978,2081,3064,3139,2989,0,0,0,0,0,0,26.40,26.34,26.42,8.32,42.04
$STATE,1304,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1304,begin apogee
$GC,1310,-0.22,0.0,2978,2081,3139,2989,168.1,-10.1,137,1515,0.28,0.00,198.23,0.755,10246,0.116,0.000,3081,2080,2063,2112,2015,0,0,0,0,0,0,26.03,24.71,24.10,8.33,41.80
$STATE,1516,end apogee,CONTROL_FINISHED_OK
$STATE,1516,begin climb
$GC,1521,0.81,244.4,3080,2080,2112,2015,172.5,0.0,158,1732,0.93,2.35,200.10,0.725,11012,0.093,0.037,3389,3473,1066,1130,1002,0,0,0,0,0,0,24.84,24.40,23.80,8.25,40.11
$GC,1764,0.91,244.4,3388,3473,1130,1001,159.8,8.0,182,1771,0.10,2.17,0.00,0.000,3078,0.076,0.021,3458,2082,1066,1130,1002,0,0,0,0,0,0,24.87,24.88,24.92,8.18,39.25
$GC,1950,0.91,244.4,3458,2081,1130,1001,139.3,11.2,201,1959,0.00,2.20,0.00,0.000,516,0.000,0.041,3458,693,1065,1130,1001,0,0,0,0,0,0,25.91,25.54,25.92,8.18,40.90
$GC,2066,0.91,244.4,3458,694,1129,1001,126.5,11.4,212,2072,0.00,2.10,0.00,0.000,1030,0.000,0.024,3458,2088,1065,1129,1001,0,0,0,0,0,0,25.89,25.82,25.91,8.17,40.35
$GC,2252,0.91,244.4,3458,2089,1129,1001,105.3,10.8,231,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2088,1065,1129,1001,0,0,0,0,0,0,26.31,26.32,26.32,8.17,40.54
$GC,2432,0.91,244.4,3458,2088,1129,1001,86.7,10.4,249,2441,0.00,2.20,0.00,0.000,516,0.000,0.041,3459,685,1065,1129,1001,0,0,0,0,0,0,26.42,26.03,26.43,8.17,41.61
$GC,2488,0.91,244.4,3457,686,1129,1001,81.2,10.7,254,2495,0.00,2.10,0.00,0.000,1030,0.000,0.025,3458,2091,1065,1129,1002,0,0,0,0,0,0,26.20,26.13,26.22,8.17,41.25
$GC,2614,0.91,244.4,3458,2091,1129,1001,68.3,9.5,267,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2091,1065,1129,1001,0,0,0,0,0,0,26.50,26.51,26.51,8.17,41.14
$GC,2735,0.91,244.4,3458,2091,1129,1001,56.9,9.6,279,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2091,1065,1129,1002,0,0,0,0,0,0,26.54,26.55,26.55,8.16,41.61
$GC,2854,0.91,244.4,3458,2091,1129,1001,45.3,9.3,291,2863,0.00,2.12,0.00,0.000,260,0.000,0.039,3458,3478,1065,1129,1002,0,0,0,0,0,0,26.57,26.15,26.58,8.16,40.58
$GC,2886,0.91,244.4,3458,3478,1129,1002,42.4,9.2,294,2891,0.00,2.08,0.00,0.000,1030,0.000,0.023,3458,2087,1065,1129,1002,0,0,0,0,0,0,26.32,26.26,26.34,8.16,41.02
$GC,3019,1.00,337.6,3458,2087,1129,1002,32.0,7.4,307,3079,0.00,2.22,51.17,0.610,8708,0.000,0.042,3459,681,686,733,639,0,0,0,0,0,0,26.61,25.58,24.96,8.15,41.57
$GC,3125,1.05,337.6,3458,681,731,638,24.4,8.3,317,3132,0.00,2.12,0.00,0.000,1030,0.000,0.025,3458,2088,685,731,639,0,0,0,0,0,0,25.87,25.80,25.89,8.12,40.31
$GC,3259,1.20,483.9,3458,2087,731,637,15.1,5.9,337,3307,0.12,2.20,39.05,0.516,10500,0.070,0.037,3556,3468,371,359,383,0,0,0,0,0,0,26.04,25.48,24.89,8.11,40.27
$STATE,3419,end climb,NO_VERTICAL_VELOCITY
$STATE,3419,begin surface
$SM_CCo,3749,0.00,0.000,0,0,366,416.52
$SM_GC,14.49,8.95,2.17,0.00,0.042,0.026,0.000,217,2068,366,-9.12,1.02,416.52,0,0,0,0,0,0,25.97,26.00,26.05
$IRIDIUM_FIX,4736.40,-12251.79,220218,094345
$TT8_MAMPS,0.026215,0.280875
$HUMID,41.17
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,9.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.7,6.6
$ALTIM_BOTTOM_PING,135.5,42.1
$24V_AH,23.80,38.642
$10V_AH,10.16,14.681
$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,21.125,43.100,488.550,0.000,0.000,0.000,0.000,169.250,4.500,0.000,19.731,882.813,1588.840,557.398,875.121,133.210,0.000,1189.164,0.000,688.021,0.000,27.334,0.000
$DEVICE_MAMPS,220.320,58.140,755.055,0.000,0.000,0.000,0.000,71.145,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.520,484.720,489.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24496,367
$CAP_FILE_SIZE,56970,0
$CFSIZE,2097872896,2044297216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3039.19,0x2367b8,1,24
$CURRENT,0.033,196.77,1
$GPS,220218,111554,4738.398,-12254.179,9,0.9,19,16.4,0.6,207.7,9,4.9