version: 66.14
glider: 194
mission: 12
dive: 614
start: 2 28 118 19 1 31
data:
$ID,194
$MISSION,12
$DIVE,614
$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,53
$R_STBD_OVSHOOT,59
$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,15
$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
$GPS1,280218,185532,4737.7500,-12255.5518,12,0.8,31,16.4,0.0,39.7,10,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.63
$_SM_ANGLEo,-66.8
$GPS2,280218,190043,4737.7822,-12255.5234,8,0.8,15,16.4,0.0,358.6,9,4.3
$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,49.7,1096,-18.0,-10.000,-21.51,2109
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.92,-138.9,206,2069,365,370,0.0,0.0,0,17,0.00,0.00,-5.55,0.000,16386,0.000,0.000,205,2069,513,506,521,0,0,0,0,0,0,26.42,28.83,26.43,8.07,41.45
$GC,20,-0.92,-138.9,206,2069,505,521,16.7,0.0,1,139,10.45,2.25,-101.80,0.000,18692,0.219,0.053,2854,3470,2633,2692,2574,0,0,0,0,0,0,25.45,24.00,25.75,8.08,40.90
$GC,379,-0.78,-138.9,2853,3470,2691,2575,60.1,-18.8,47,386,0.15,2.05,0.00,0.000,3078,0.164,0.023,2899,2085,2633,2692,2575,0,0,0,0,0,0,25.75,26.20,25.94,8.26,41.53
$GC,506,-0.69,-138.9,2898,2084,2691,2574,82.1,-16.9,60,511,0.10,2.17,0.00,0.000,2564,0.177,0.037,2933,679,2632,2691,2573,0,0,0,0,0,0,26.03,26.13,26.08,8.27,42.00
$GC,542,-0.62,-138.9,2933,679,2692,2573,87.6,-16.2,63,549,0.00,2.08,0.00,0.000,1030,0.000,0.025,2933,2072,2632,2691,2573,0,0,0,0,0,0,26.28,26.20,26.31,8.27,42.00
$GC,670,-0.62,-138.9,2932,2073,2691,2573,105.8,-13.8,76,674,0.00,2.15,0.00,0.000,516,0.000,0.039,2933,686,2632,2691,2573,0,0,0,0,0,0,26.62,26.15,26.63,8.28,42.36
$GC,718,-0.62,-138.9,2932,686,2691,2573,112.5,-14.5,80,725,0.00,2.10,0.00,0.000,1030,0.000,0.025,2933,2099,2632,2692,2573,0,0,0,0,0,0,26.32,26.22,26.34,8.28,41.69
$GC,905,-0.62,-138.9,2933,2100,2691,2572,137.6,-12.7,99,909,0.00,2.12,0.00,0.000,260,0.000,0.042,2933,3479,2631,2691,2572,0,0,0,0,0,0,26.68,26.14,26.69,8.29,42.32
$GC,938,-0.62,-138.9,2932,3479,2691,2572,141.6,-12.5,102,946,0.00,2.08,0.00,0.000,1030,0.000,0.023,2933,2076,2631,2691,2572,0,0,0,0,0,0,26.39,26.32,26.41,8.29,42.59
$GC,1128,-0.62,-138.9,2932,2076,2691,2572,165.5,-12.9,121,1131,0.00,2.12,0.00,0.000,516,0.000,0.039,2933,690,2631,2691,2572,0,0,0,0,0,0,26.72,26.22,26.72,8.29,42.63
$GC,1200,-0.62,-138.9,2932,689,2691,2572,174.9,-13.1,128,1204,0.00,2.08,0.00,0.000,1030,0.000,0.025,2933,2087,2631,2691,2572,0,0,0,0,0,0,26.38,26.29,26.41,8.30,42.47
$STATE,1240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1240,begin apogee
$GC,1246,-0.22,0.0,2933,2087,2691,2571,180.3,-13.0,132,1372,0.43,0.00,118.12,0.770,10246,0.130,0.000,3078,2087,2064,2113,2015,0,0,0,0,0,0,25.82,24.64,24.15,8.30,42.55
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1376,0.92,138.9,3078,2087,2113,2014,183.3,0.0,145,1502,1.00,0.00,117.12,0.741,10246,0.080,0.000,3426,2087,1496,1566,1426,0,0,0,0,0,0,25.10,24.60,23.92,8.26,41.21
$GC,1684,1.09,212.6,3425,2087,1565,1424,166.9,6.4,176,1752,0.12,2.28,59.97,0.724,10756,0.073,0.041,3514,687,1196,1261,1131,0,0,0,0,0,0,25.81,25.00,24.21,8.22,41.14
$GC,1848,1.09,212.6,3513,687,1258,1130,147.8,12.7,192,1855,0.00,2.12,0.00,0.000,1030,0.000,0.024,3514,2090,1194,1259,1130,0,0,0,0,0,0,25.75,25.67,25.77,8.20,41.53
$GC,2036,1.09,212.6,3513,2090,1258,1129,124.0,12.7,211,2045,0.00,2.20,0.00,0.000,516,0.000,0.041,3523,694,1193,1258,1129,0,0,0,0,0,0,26.29,25.88,26.30,8.20,41.14
$GC,2108,1.09,212.6,3523,695,1258,1129,114.4,13.4,218,2118,0.00,2.08,0.00,0.000,1030,0.000,0.024,3523,2083,1193,1258,1129,0,0,0,0,0,0,26.09,26.02,26.12,8.20,41.33
$GC,2298,1.09,212.6,3523,2083,1258,1129,90.0,12.0,237,2308,0.00,2.20,0.00,0.000,516,0.000,0.041,3533,677,1193,1258,1129,0,0,0,0,0,0,26.48,26.03,26.48,8.19,42.00
$GC,2372,1.09,212.6,3532,677,1259,1129,80.8,13.0,244,2381,0.08,2.08,0.00,0.000,5126,0.134,0.024,3509,2081,1193,1258,1128,0,0,0,0,0,0,25.93,26.20,25.99,8.19,41.41
$GC,2501,1.09,212.6,3509,2082,1258,1129,66.3,11.0,257,2511,0.00,2.20,0.00,0.000,516,0.000,0.041,3516,677,1193,1258,1129,0,0,0,0,0,0,26.56,26.10,26.57,8.18,41.49
$GC,2546,1.09,212.6,3515,677,1258,1128,61.3,11.7,261,2554,0.00,2.08,0.00,0.000,1030,0.000,0.024,3516,2081,1193,1258,1129,0,0,0,0,0,0,26.29,26.21,26.32,8.18,41.41
$GC,2674,1.09,212.6,3516,2081,1258,1129,46.0,11.3,274,2683,0.00,2.12,0.00,0.000,260,0.000,0.037,3516,3472,1193,1258,1129,0,0,0,0,0,0,26.61,26.14,26.62,8.18,41.77
$GC,2689,1.09,212.6,3515,3472,1258,1129,45.0,11.0,275,2696,0.00,2.05,0.00,0.000,1030,0.000,0.022,3525,2082,1194,1259,1129,0,0,0,0,0,0,26.33,26.27,26.35,8.17,41.61
$GC,2817,1.09,212.6,3524,2082,1258,1129,31.8,9.0,288,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2082,1193,1258,1129,0,0,0,0,0,0,26.64,26.65,26.65,8.17,41.69
$GC,2937,1.09,212.6,3524,2082,1258,1129,21.8,8.5,300,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2082,1193,1258,1129,0,0,0,0,0,0,26.67,26.67,26.67,8.16,41.25
$GC,3060,1.60,412.4,3524,2082,1257,1128,15.8,0.3,321,3172,0.28,2.28,100.40,0.525,10500,0.059,0.039,3652,3470,380,354,406,0,0,0,0,0,0,26.32,25.27,24.63,8.16,41.92
$STATE,3179,end climb,NO_VERTICAL_VELOCITY
$STATE,3179,begin surface
$SM_CCo,3183,0.80,0.079,0,0,373,414.56
$SM_GC,16.75,9.27,2.17,0.00,0.044,0.025,0.000,212,2063,370,-9.13,1.24,416.03,0,0,0,0,0,0,25.89,25.99,25.97
$IRIDIUM_FIX,4735.54,-12254.47,280218,175018
$TT8_MAMPS,0.026215,0.282373
$HUMID,41.80
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,110.6,96.7
$24V_AH,23.92,52.546
$10V_AH,10.09,18.712
$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,21.875,47.050,395.625,0.800,0.000,0.000,0.000,213.100,2.750,0.000,17.021,837.382,1531.868,502.145,845.845,139.262,0.000,1131.183,0.000,630.537,0.000,16.656,0.000
$DEVICE_MAMPS,218.790,52.785,769.590,78.795,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,229.934,450.389,455.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24603,341
$CAP_FILE_SIZE,56208,0
$CFSIZE,2097872896,2030338048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,28.16,1
$GPS,280218,200103,4737.909,-12254.945,4,0.9,17,16.4,0.3,56.7,9,5.0