version: 66.14
glider: 194
mission: 12
dive: 578
start: 2 27 118 8 11 10
data:
$ID,194
$MISSION,12
$DIVE,578
$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,54
$R_STBD_OVSHOOT,65
$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
$GPS1,270218,080545,4738.1899,-12253.9336,5,0.8,15,16.4,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.26
$_SM_ANGLEo,-71.5
$GPS2,270218,081033,4738.1982,-12253.9004,7,0.7,16,16.4,0.0,0.0,11,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$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,21.5,1045,-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,9,-0.81,-244.4,207,2100,375,365,0.0,0.0,0,17,0.00,0.00,-5.85,0.000,16386,0.000,0.000,207,2100,528,525,531,0,0,0,0,0,0,26.46,28.83,26.47,8.06,41.25
$GC,20,-0.81,-244.4,207,2100,526,531,16.3,0.0,1,147,10.85,2.28,-107.55,0.000,19204,0.229,0.051,2888,684,3063,3138,2989,0,0,0,0,0,0,25.49,24.04,25.79,8.08,40.90
$GC,299,-0.64,-244.4,2887,684,3139,2989,50.0,-18.1,37,307,0.17,2.08,0.00,0.000,3078,0.158,0.026,2942,2066,3064,3139,2989,0,0,0,0,0,0,25.72,26.14,25.93,8.29,40.98
$GC,426,-0.55,-244.4,2941,2066,3139,2989,70.5,-15.2,50,432,0.10,2.22,0.00,0.000,2308,0.163,0.042,2977,3484,3063,3138,2989,0,0,0,0,0,0,26.07,26.06,26.11,8.30,41.14
$GC,533,-0.55,-244.4,2976,3484,3139,2989,82.6,-10.8,60,539,0.00,2.08,0.00,0.000,1030,0.000,0.023,2977,2081,3064,3139,2989,0,0,0,0,0,0,26.32,26.26,26.35,8.30,41.73
$GC,660,-0.55,-244.4,2976,2080,3139,2990,97.3,-11.3,73,669,0.00,2.15,0.00,0.000,516,0.000,0.040,2977,687,3064,3139,2989,0,0,0,0,0,0,26.65,26.16,26.65,8.31,42.08
$GC,704,-0.55,-244.4,2976,687,3139,2989,102.5,-11.8,77,708,0.00,2.08,0.00,0.000,1030,0.000,0.025,2977,2087,3064,3139,2989,0,0,0,0,0,0,26.33,26.25,26.36,8.31,41.92
$GC,897,-0.55,-244.4,2976,2087,3139,2989,124.3,-11.7,96,900,0.00,2.15,0.00,0.000,260,0.000,0.042,2977,3482,3064,3139,2989,0,0,0,0,0,0,26.69,26.15,26.70,8.32,42.43
$GC,948,-0.55,-244.4,2976,3482,3139,2989,130.0,-10.6,101,953,0.00,2.08,0.00,0.000,1030,0.000,0.023,2977,2081,3064,3139,2989,0,0,0,0,0,0,26.39,26.32,26.42,8.33,42.55
$GC,1141,-0.55,-244.4,2976,2081,3139,2989,152.5,-11.5,120,1146,0.00,2.15,0.00,0.000,516,0.000,0.039,2977,682,3064,3139,2989,0,0,0,0,0,0,26.72,26.22,26.73,8.33,42.59
$GC,1167,-0.55,-244.4,2976,682,3139,2989,155.1,-11.6,122,1174,0.00,2.08,0.00,0.000,1030,0.000,0.025,2977,2082,3064,3139,2989,0,0,0,0,0,0,26.39,26.30,26.41,8.33,42.12
$GC,1354,-0.55,-244.4,2976,2082,3139,2989,176.3,-11.4,141,1358,0.00,2.15,0.00,0.000,260,0.000,0.041,2977,3480,3064,3139,2989,0,0,0,0,0,0,26.74,26.19,26.74,8.34,42.47
$STATE,1374,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1374,begin apogee
$GC,1383,-0.22,0.0,2976,2079,3139,2989,178.7,-11.2,143,1587,0.28,0.00,199.62,0.762,10246,0.116,0.000,3079,2079,2064,2113,2015,0,0,0,0,0,0,26.02,24.69,24.00,8.34,42.36
$STATE,1588,end apogee,CONTROL_FINISHED_OK
$STATE,1588,begin climb
$GC,1591,0.81,244.4,3079,2079,2113,2015,182.1,0.0,164,1808,0.93,2.33,202.10,0.729,10756,0.086,0.037,3392,693,1066,1131,1002,0,0,0,0,0,0,24.82,24.16,23.72,8.26,40.66
$GC,1896,1.03,352.8,3391,692,1130,1001,166.3,7.0,194,1992,0.17,2.15,89.78,0.710,11270,0.054,0.024,3492,2099,624,672,577,0,0,0,0,0,0,25.32,25.32,23.94,8.19,40.03
$GC,2172,1.03,352.8,3492,2099,671,576,130.2,13.4,222,2180,0.00,2.25,0.00,0.000,516,0.000,0.041,3494,690,624,672,576,0,0,0,0,0,0,26.02,25.65,26.03,8.15,40.86
$GC,2284,0.97,352.8,3493,690,671,576,115.3,13.6,233,2288,0.00,2.08,0.00,0.000,1030,0.000,0.024,3494,2079,623,671,576,0,0,0,0,0,0,25.97,25.90,25.99,8.15,41.37
$GC,2477,0.97,352.8,3493,2079,670,576,89.3,13.3,252,2481,0.00,2.20,0.00,0.000,516,0.000,0.041,3497,693,623,670,576,0,0,0,0,0,0,26.39,25.96,26.39,8.15,41.14
$GC,2571,0.97,352.8,3496,692,671,576,76.8,13.3,261,2580,0.10,2.08,0.00,0.000,5126,0.135,0.024,3465,2084,623,670,576,0,0,0,0,0,0,25.91,26.11,26.03,8.14,41.37
$GC,2701,0.97,352.8,3464,2084,670,576,62.4,10.8,274,2705,0.00,2.20,0.00,0.000,516,0.000,0.041,3464,692,623,670,576,0,0,0,0,0,0,26.51,26.06,26.51,8.13,40.98
$GC,2755,0.97,352.8,3464,692,670,576,56.9,10.4,279,2764,0.00,2.03,0.00,0.000,1030,0.000,0.024,3465,2081,623,670,576,0,0,0,0,0,0,26.22,26.19,26.25,8.13,40.78
$GC,2883,0.97,352.8,3464,2082,671,576,42.9,10.5,292,2888,0.00,2.20,0.00,0.000,516,0.000,0.041,3464,686,623,670,576,0,0,0,0,0,0,26.57,26.12,26.58,8.13,41.61
$GC,2956,0.97,352.8,3464,687,670,576,36.1,9.0,299,2965,0.00,2.10,0.00,0.000,1030,0.000,0.024,3465,2100,623,670,576,0,0,0,0,0,0,26.32,26.24,26.34,8.12,41.17
$GC,3087,1.03,352.8,3464,2100,670,576,25.4,8.3,312,3091,0.00,2.22,0.00,0.000,516,0.000,0.041,3465,687,623,670,576,0,0,0,0,0,0,26.62,26.15,26.63,8.11,41.69
$GC,3134,1.18,449.6,3464,687,670,576,22.2,7.3,316,3173,0.12,2.08,32.65,0.546,11270,0.070,0.024,3555,2102,372,369,375,0,0,0,0,0,0,26.26,26.29,25.00,8.11,41.14
$GC,3238,1.76,812.6,3555,2102,370,373,15.3,-0.1,333,3246,0.35,2.22,0.00,0.000,2564,0.052,0.038,3714,693,371,370,373,0,0,0,0,0,0,25.98,25.91,26.03,8.08,40.62
$STATE,3341,end climb,NO_VERTICAL_VELOCITY
$STATE,3341,begin surface
$SM_CCo,3672,0.00,0.000,0,0,370,416.03
$SM_GC,16.42,9.35,2.12,0.00,0.041,0.025,0.000,204,2062,370,-9.15,-2.01,416.03,0,0,0,0,0,0,26.07,26.17,26.15
$IRIDIUM_FIX,4739.20,-12253.53,270218,070034
$TT8_MAMPS,0.026215,0.309337
$HUMID,42.24
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,101.0,87.3
$24V_AH,23.72,48.856
$10V_AH,10.08,17.774
$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,22.425,55.850,524.150,0.000,0.000,0.000,0.000,187.450,2.250,0.000,17.324,857.601,1516.281,583.953,887.303,135.549,0.000,1238.305,0.000,695.415,0.000,10.483,0.000
$DEVICE_MAMPS,228.735,51.255,761.940,0.000,0.000,0.000,0.000,71.910,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.071,466.221,470.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24632,353
$CAP_FILE_SIZE,58955,0
$CFSIZE,2097872896,2033876992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2479.50,0x2139aa,1,24
$CURRENT,0.017,224.52,1
$GPS,270218,091332,4738.412,-12253.422,5,0.9,29,16.4,0.3,0.0,9,4.6