version: 66.14
glider: 194
mission: 12
dive: 339
start: 2 15 118 23 37 2
data:
$ID,194
$MISSION,12
$DIVE,339
$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,60
$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
$GPS1,150218,232752,4738.1445,-12254.7979,8,0.8,13,16.4,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.38
$_SM_ANGLEo,-73.4
$GPS2,150218,233624,4738.1880,-12254.6826,7,0.8,16,16.4,0.3,66.4,10,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW3
$TGT_LATLONG,4737.577,-12256.188
$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,220.4,2194,-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,-244.4,208,2074,359,373,0.0,0.0,0,16,0.00,0.00,-5.55,0.000,16386,0.000,0.000,209,2074,529,517,541,0,0,0,0,0,0,26.19,28.83,26.20,8.06,39.88
$GC,19,-0.81,-244.4,209,2074,517,541,12.4,0.0,1,122,11.23,2.25,-83.68,0.000,19204,0.246,0.055,2885,3470,3065,3141,2989,0,0,0,0,0,0,25.39,24.29,25.72,8.08,39.28
$GC,138,-0.62,-244.4,2885,3470,3141,2989,19.4,-13.7,20,145,0.20,2.08,0.00,0.000,3078,0.135,0.024,2950,2078,3065,3141,2989,0,0,0,0,0,0,25.70,25.98,25.88,8.29,39.48
$GC,204,-0.62,-244.4,2950,2077,3142,2988,28.7,-13.0,27,213,0.00,2.15,0.00,0.000,516,0.000,0.040,2950,690,3065,3142,2989,0,0,0,0,0,0,26.32,25.96,26.33,8.29,39.44
$GC,240,-0.62,-244.4,2950,690,3142,2989,32.6,-12.7,30,247,0.00,2.08,0.00,0.000,1030,0.000,0.026,2950,2068,3065,3142,2989,0,0,0,0,0,0,26.10,26.03,26.13,8.29,39.88
$GC,366,-0.62,-244.4,2950,2068,3141,2989,46.5,-10.2,43,375,0.00,2.22,0.00,0.000,260,0.000,0.042,2950,3491,3065,3141,2989,0,0,0,0,0,0,26.42,26.03,26.43,8.30,40.51
$GC,418,-0.62,-244.4,2950,3491,3142,2989,51.7,-10.0,48,423,0.00,2.10,0.00,0.000,1030,0.000,0.023,2950,2080,3065,3142,2989,0,0,0,0,0,0,26.22,26.15,26.23,8.30,39.60
$GC,551,-0.62,-244.4,2950,2079,3141,2989,64.4,-9.3,61,555,0.00,2.17,0.00,0.000,516,0.000,0.040,2950,682,3065,3142,2989,0,0,0,0,0,0,26.50,26.13,26.51,8.30,39.80
$GC,576,-0.62,-244.4,2950,682,3141,2989,66.4,-9.6,63,583,0.00,2.10,0.00,0.000,1030,0.000,0.026,2950,2090,3065,3142,2989,0,0,0,0,0,0,26.26,26.18,26.28,8.30,40.35
$GC,703,-0.62,-244.4,2950,2090,3141,2989,78.0,-8.9,76,707,0.00,2.15,0.00,0.000,260,0.000,0.041,2950,3477,3065,3142,2989,0,0,0,0,0,0,26.55,26.15,26.56,8.31,40.58
$GC,738,-0.68,-244.4,2950,3477,3141,2989,80.7,-8.3,79,745,0.00,2.05,0.00,0.000,1030,0.000,0.023,2950,2078,3065,3142,2989,0,0,0,0,0,0,26.33,26.26,26.34,8.31,40.98
$GC,866,-0.73,-244.4,2950,2078,3141,2989,91.6,-8.2,92,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2078,3065,3141,2989,0,0,0,0,0,0,26.59,26.60,26.60,8.31,40.43
$GC,986,-0.79,-244.4,2950,2078,3142,2989,101.5,-8.5,104,988,0.10,0.00,0.00,0.000,4102,0.089,0.000,2886,2078,3065,3142,2989,0,0,0,0,0,0,26.38,26.43,26.41,8.31,40.90
$GC,1168,-0.79,-244.4,2885,2078,3141,2988,122.5,-12.1,122,1177,0.00,2.15,0.00,0.000,260,0.000,0.041,2885,3474,3064,3141,2988,0,0,0,0,0,0,26.66,26.28,26.67,8.32,41.45
$GC,1212,-0.79,-244.4,2885,3474,3141,2989,127.7,-11.5,126,1221,0.00,2.05,0.00,0.000,1030,0.000,0.023,2885,2084,3065,3141,2989,0,0,0,0,0,0,26.42,26.36,26.44,8.33,40.39
$GC,1402,-0.79,-244.4,2885,2083,3141,2989,150.0,-11.3,145,1411,0.00,2.15,0.00,0.000,516,0.000,0.039,2885,688,3065,3142,2989,0,0,0,0,0,0,26.70,26.31,26.70,8.32,41.14
$GC,1444,-0.79,-244.4,2884,688,3141,2989,154.9,-11.9,149,1453,0.00,2.08,0.00,0.000,1030,0.000,0.026,2885,2089,3065,3142,2989,0,0,0,0,0,0,26.43,26.35,26.46,8.33,40.51
$STATE,1582,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1582,begin apogee
$GC,1588,-0.22,0.0,2885,2089,3141,2989,171.0,-11.5,163,1794,0.55,0.00,196.27,0.750,10246,0.110,0.000,3078,2089,2063,2113,2014,0,0,0,0,0,0,26.12,24.78,24.23,8.33,41.49
$STATE,1795,end apogee,CONTROL_FINISHED_OK
$STATE,1795,begin climb
$GC,1799,0.81,244.4,3078,2089,2113,2014,175.4,0.0,184,2008,0.90,2.35,199.88,0.720,10756,0.044,0.039,3424,690,1066,1126,1006,0,0,0,0,0,0,25.01,24.37,23.98,8.26,39.72
$GC,2102,0.72,244.4,3423,690,1126,1008,145.3,14.8,214,2111,0.10,2.15,0.00,0.000,5126,0.122,0.024,3392,2090,1066,1126,1007,0,0,0,0,0,0,25.12,25.27,25.19,8.19,39.32
$GC,2292,0.72,244.4,3392,2090,1126,1007,123.7,11.0,233,2300,0.00,2.22,0.00,0.000,516,0.000,0.041,3393,690,1065,1125,1006,0,0,0,0,0,0,26.01,25.68,26.01,8.18,39.60
$GC,2383,0.72,244.4,3391,690,1126,1007,113.0,11.4,242,2388,0.00,2.10,0.00,0.000,1030,0.000,0.024,3392,2082,1066,1126,1007,0,0,0,0,0,0,25.93,25.86,25.94,8.18,39.36
$GC,2576,0.72,244.4,3392,2082,1126,1007,91.6,10.8,261,2580,0.00,2.20,0.00,0.000,516,0.000,0.041,3392,690,1066,1125,1007,0,0,0,0,0,0,26.32,25.96,26.32,8.18,40.11
$GC,2630,0.72,244.4,3392,690,1126,1007,85.8,11.2,266,2638,0.00,2.05,0.00,0.000,1030,0.000,0.024,3392,2075,1066,1126,1007,0,0,0,0,0,0,26.10,26.07,26.12,8.17,40.11
$GC,2759,0.72,244.4,3391,2075,1126,1007,71.3,10.7,279,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2075,1066,1126,1007,0,0,0,0,0,0,26.42,26.44,26.43,8.18,40.07
$GC,2879,0.72,244.4,3392,2075,1126,1007,58.4,11.0,291,2883,0.00,2.17,0.00,0.000,516,0.000,0.041,3392,690,1066,1126,1007,0,0,0,0,0,0,26.48,26.12,26.48,8.17,40.39
$GC,2952,0.72,244.4,3392,690,1126,1008,50.9,10.4,298,2961,0.00,2.05,0.00,0.000,1030,0.000,0.024,3392,2082,1067,1126,1008,0,0,0,0,0,0,26.25,26.22,26.27,8.17,40.74
$GC,3081,0.72,244.4,3391,2082,1126,1007,38.3,9.7,311,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2082,1066,1126,1007,0,0,0,0,0,0,26.55,26.55,26.55,8.16,40.51
$GC,3201,0.72,244.4,3392,2082,1126,1007,27.1,9.0,323,3205,0.00,2.17,0.00,0.000,516,0.000,0.041,3392,690,1066,1126,1007,0,0,0,0,0,0,26.58,26.21,26.59,8.15,40.11
$GC,3254,0.81,329.9,3391,690,1126,1008,22.9,7.6,328,3305,0.00,2.08,45.05,0.571,9222,0.000,0.024,3392,2095,717,769,666,0,0,0,0,0,0,26.36,26.29,25.16,8.15,40.82
$GC,3431,1.12,526.6,3391,2094,769,665,12.2,4.5,357,3481,0.25,2.25,42.42,0.519,10756,0.050,0.040,3529,691,372,369,376,0,0,0,0,0,0,26.02,25.30,24.96,8.11,39.88
$STATE,3599,end climb,NO_VERTICAL_VELOCITY
$STATE,3600,begin surface
$SM_CCo,3930,0.00,0.000,0,0,369,416.03
$SM_GC,12.10,8.90,2.15,0.00,0.044,0.024,0.000,207,2099,369,-9.14,-1.50,416.03,0,0,0,0,0,0,26.01,26.09,26.08
$IRIDIUM_FIX,4736.01,-12258.89,150218,222413
$TT8_MAMPS,0.026215,0.271138
$HUMID,40.19
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,8.5
$ALTIM_BOTTOM_PING,140.8,39.6
$24V_AH,23.98,26.295
$10V_AH,10.22,10.688
$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,22.225,55.725,483.625,0.000,0.000,0.000,0.000,414.800,4.000,0.000,17.303,955.604,1679.336,538.815,1084.005,206.152,0.000,1439.387,0.000,715.207,0.000,28.982,0.000
$DEVICE_MAMPS,245.565,55.080,749.700,0.000,0.000,0.000,0.000,85.680,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.830,512.943,518.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312304
$DATA_FILE_SIZE,27996,388
$CAP_FILE_SIZE,65804,0
$CFSIZE,2097872896,2057338880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078,71.86,1
$GPS,160218,004349,4738.079,-12255.244,6,0.8,36,16.4,0.4,48.0,10,4.6