version: 66.14
glider: 194
mission: 12
dive: 557
start: 2 26 118 8 34 41
data:
$ID,194
$MISSION,12
$DIVE,557
$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,38
$R_STBD_OVSHOOT,62
$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
$GPS1,260218,082531,4738.9556,-12253.2012,5,0.9,24,16.4,0.0,0.0,9,4.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.76
$_SM_ANGLEo,-70.1
$GPS2,260218,083403,4738.9536,-12253.1611,7,0.8,13,16.4,0.0,271.9,10,4.5
$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,225.3,2565,-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,-244.4,205,2094,356,376,0.0,0.0,0,16,0.00,0.00,-5.68,0.000,16386,0.000,0.000,204,2095,516,503,529,0,0,0,0,0,0,26.34,28.83,26.35,8.06,40.43
$GC,19,-0.81,-244.4,205,2094,503,529,15.8,0.0,1,145,10.80,0.00,-109.28,0.000,18694,0.226,0.000,2884,2095,3064,3140,2989,0,0,0,0,0,0,25.44,24.32,25.72,8.07,40.78
$GC,213,-0.59,-244.4,2884,2096,3141,2989,33.7,-23.0,29,218,0.22,2.25,0.00,0.000,2564,0.156,0.039,2956,676,3065,3142,2989,0,0,0,0,0,0,25.63,25.84,25.74,8.28,40.74
$GC,269,-0.50,-244.4,2955,676,3141,2989,43.7,-17.2,34,277,0.10,2.10,0.00,0.000,3078,0.158,0.026,2988,2073,3065,3142,2989,0,0,0,0,0,0,25.81,26.06,25.96,8.28,40.54
$GC,397,-0.50,-244.4,2988,2072,3141,2989,60.8,-13.0,47,401,0.00,2.20,0.00,0.000,260,0.000,0.043,2988,3475,3065,3141,2989,0,0,0,0,0,0,26.52,26.01,26.53,8.29,41.41
$GC,462,-0.50,-244.4,2988,3475,3141,2989,68.7,-11.9,53,469,0.00,2.10,0.00,0.000,1030,0.000,0.024,2988,2062,3065,3141,2989,0,0,0,0,0,0,26.25,26.18,26.27,8.29,41.29
$GC,590,-0.50,-244.4,2988,2061,3141,2989,84.2,-11.8,66,598,0.00,2.15,0.00,0.000,516,0.000,0.040,2988,685,3065,3141,2989,0,0,0,0,0,0,26.58,26.11,26.59,8.30,41.69
$GC,631,-0.50,-244.4,2988,685,3141,2989,89.0,-11.6,70,640,0.00,2.10,0.00,0.000,1030,0.000,0.025,2988,2081,3065,3141,2989,0,0,0,0,0,0,26.28,26.20,26.31,8.30,41.73
$GC,762,-0.50,-244.4,2988,2082,3141,2989,103.5,-11.3,83,766,0.00,2.17,0.00,0.000,260,0.000,0.041,2988,3479,3065,3141,2989,0,0,0,0,0,0,26.63,26.10,26.63,8.31,42.08
$GC,848,-0.50,-244.4,2988,3479,3141,2988,112.1,-9.7,91,854,0.00,2.08,0.00,0.000,1030,0.000,0.023,2988,2072,3065,3141,2989,0,0,0,0,0,0,26.34,26.27,26.36,8.31,42.08
$GC,1034,-0.50,-244.4,2988,2071,3141,2989,131.8,-10.8,110,1039,0.00,2.12,0.00,0.000,516,0.000,0.039,2988,688,3065,3141,2989,0,0,0,0,0,0,26.67,26.19,26.68,8.32,42.20
$GC,1087,-0.50,-244.4,2988,688,3141,2989,137.8,-11.3,115,1096,0.00,2.10,0.00,0.000,1030,0.000,0.025,2988,2093,3065,3141,2989,0,0,0,0,0,0,26.36,26.27,26.39,8.32,42.12
$GC,1277,-0.50,-244.4,2988,2093,3141,2989,157.7,-10.7,134,1286,0.00,2.15,0.00,0.000,260,0.000,0.041,2988,3490,3065,3141,2989,0,0,0,0,0,0,26.71,26.17,26.72,8.32,42.43
$GC,1312,-0.50,-244.4,2988,3490,3141,2989,161.0,-10.6,137,1319,0.00,2.08,0.00,0.000,1030,0.000,0.023,2988,2079,3065,3141,2989,0,0,0,0,0,0,26.41,26.34,26.43,8.33,42.00
$GC,1502,-0.74,-244.4,2988,2079,3142,2989,170.8,0.1,156,1506,0.12,2.15,0.00,0.000,4612,0.085,0.037,2922,689,3065,3141,2989,0,0,0,0,0,0,26.41,26.24,26.44,8.33,42.12
$STATE,1564,end dive,NO_VERTICAL_VELOCITY
$STATE,1564,begin apogee
$GC,1573,-0.22,0.0,2922,2096,3141,2989,170.9,0.0,162,1776,0.43,0.00,199.40,0.754,10246,0.065,0.000,3089,2096,2063,2113,2014,0,0,0,0,0,0,26.22,24.69,24.03,8.33,42.59
$STATE,1779,end apogee,CONTROL_FINISHED_OK
$STATE,1779,begin climb
$GC,1782,0.81,244.4,3088,2096,2113,2014,170.8,0.0,183,1998,0.90,2.33,200.60,0.722,10500,0.097,0.036,3388,3475,1066,1132,1001,0,0,0,0,0,0,24.81,24.39,23.72,8.26,40.54
$GC,2088,1.02,340.8,3387,3475,1131,1000,154.7,7.3,213,2175,0.20,2.15,80.15,0.704,11270,0.051,0.022,3496,2077,675,726,624,0,0,0,0,0,0,25.29,25.29,23.96,8.18,39.68
$GC,2363,1.02,340.8,3495,2077,725,622,119.2,13.3,241,2373,0.00,2.22,0.00,0.000,260,0.000,0.036,3496,3484,673,725,622,0,0,0,0,0,0,26.02,25.65,26.03,8.15,40.27
$GC,2458,1.02,340.8,3495,3484,724,622,106.7,13.2,250,2465,0.00,2.12,0.00,0.000,1030,0.000,0.024,3503,2064,673,725,621,0,0,0,0,0,0,25.92,25.83,25.94,8.15,40.90
$GC,2647,1.02,340.8,3502,2064,725,621,80.9,13.7,269,2655,0.00,2.15,0.00,0.000,516,0.000,0.042,3512,697,673,724,622,0,0,0,0,0,0,26.36,25.95,26.36,8.14,40.70
$GC,2800,1.02,340.8,3512,697,724,622,60.1,12.9,284,2810,0.10,2.05,0.00,0.000,5126,0.139,0.024,3481,2088,673,724,622,0,0,0,0,0,0,25.90,26.12,26.03,8.14,41.33
$GC,2929,1.02,340.8,3480,2088,724,622,46.0,10.5,297,2938,0.00,2.17,0.00,0.000,516,0.000,0.042,3484,698,673,724,622,0,0,0,0,0,0,26.51,26.08,26.51,8.13,41.61
$GC,2964,1.02,340.8,3484,698,724,622,42.6,10.5,300,2971,0.00,2.05,0.00,0.000,1030,0.000,0.024,3484,2086,673,724,622,0,0,0,0,0,0,26.25,26.19,26.28,8.13,41.06
$GC,3092,1.02,340.8,3484,2086,724,622,30.5,9.4,313,3100,0.00,2.17,0.00,0.000,516,0.000,0.041,3485,697,673,724,622,0,0,0,0,0,0,26.56,26.12,26.57,8.12,40.66
$GC,3204,1.02,340.8,3484,697,724,622,20.8,8.6,324,3214,0.00,2.05,0.00,0.000,1030,0.000,0.024,3484,2080,673,724,622,0,0,0,0,0,0,26.32,26.25,26.34,8.11,40.70
$GC,3338,1.57,693.0,3484,2080,724,622,14.8,0.2,348,3382,0.38,2.20,37.85,0.526,10500,0.049,0.036,3653,3472,373,371,375,0,0,0,0,0,0,26.28,25.68,25.01,8.10,40.98
$STATE,3413,end climb,NO_VERTICAL_VELOCITY
$STATE,3413,begin surface
$SM_CCo,3744,0.00,0.000,0,0,369,415.78
$SM_GC,15.90,9.27,2.15,0.00,0.045,0.025,0.000,205,2092,369,-9.15,1.50,415.78,0,0,0,0,0,0,26.00,26.11,26.09
$IRIDIUM_FIX,4741.99,-12255.26,260218,082703
$TT8_MAMPS,0.026215,0.289863
$HUMID,41.17
$INTERNAL_PRESSURE,8.01037
$TCM_TEMP,9.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,100.1,86.6
$24V_AH,23.72,46.733
$10V_AH,10.10,17.154
$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,22.525,55.725,518.000,0.000,0.000,0.000,0.000,355.225,2.000,0.000,14.490,867.006,1599.020,587.778,1069.460,154.974,0.000,1436.925,0.000,719.789,0.000,15.619,0.000
$DEVICE_MAMPS,225.675,42.840,754.290,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,242.870,476.552,481.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312180
$DATA_FILE_SIZE,24450,361
$CAP_FILE_SIZE,63789,0
$CFSIZE,2097872896,2035941376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1505.01,0x2139a2,0,24
$CURRENT,0.024,108.98,1
$GPS,260218,093800,4738.820,-12253.527,5,0.8,14,16.4,0.3,74.6,10,4.6