version: 66.14
glider: 194
mission: 12
dive: 340
start: 2 16 118 0 49 51
data:
$ID,194
$MISSION,12
$DIVE,340
$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,51
$R_STBD_OVSHOOT,66
$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
$GPS1,160218,004349,4738.0791,-12255.2441,6,0.8,36,16.4,0.4,48.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.12
$_SM_ANGLEo,-73.6
$GPS2,160218,004913,4738.1250,-12255.1787,6,0.8,14,16.4,0.0,0.0,10,4.2
$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,219.7,1618,-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,-244.4,206,2100,363,372,0.0,0.0,0,17,0.00,0.00,-5.97,0.000,16386,0.000,0.000,206,2100,540,530,550,0,0,0,0,0,0,26.32,28.83,26.33,8.06,39.76
$GC,20,-0.81,-244.4,206,2100,530,551,12.2,0.0,1,123,11.07,0.00,-87.40,0.000,19206,0.243,0.000,2886,2102,3063,3140,2987,0,0,0,0,0,0,25.48,24.58,25.83,8.08,40.35
$GC,192,-0.69,-244.4,2885,2102,3141,2988,27.3,-17.1,27,201,0.10,2.10,0.00,0.000,2308,0.166,0.041,2922,3463,3064,3141,2988,0,0,0,0,0,0,25.92,26.01,25.99,8.29,39.36
$GC,248,-0.69,-244.4,2921,3462,3141,2988,34.7,-13.4,32,255,0.00,2.05,0.00,0.000,1030,0.000,0.023,2922,2077,3064,3141,2988,0,0,0,0,0,0,26.20,26.13,26.22,8.29,39.88
$GC,374,-0.69,-244.4,2921,2077,3141,2988,50.1,-11.9,45,379,0.00,2.17,0.00,0.000,516,0.000,0.040,2922,694,3064,3141,2988,0,0,0,0,0,0,26.48,26.12,26.49,8.29,40.94
$GC,410,-0.69,-244.4,2921,694,3141,2988,54.0,-11.8,48,417,0.00,2.05,0.00,0.000,1030,0.000,0.026,2922,2070,3064,3141,2988,0,0,0,0,0,0,26.25,26.17,26.27,8.29,41.10
$GC,537,-0.69,-244.4,2921,2070,3141,2988,68.5,-11.0,61,546,0.00,2.17,0.00,0.000,260,0.000,0.043,2922,3482,3064,3141,2988,0,0,0,0,0,0,26.54,26.15,26.55,8.30,41.25
$GC,589,-0.69,-244.4,2921,3482,3141,2988,73.5,-9.8,66,593,0.00,2.08,0.00,0.000,1030,0.000,0.023,2922,2081,3064,3140,2988,0,0,0,0,0,0,26.33,26.26,26.34,8.30,40.19
$GC,721,-0.69,-244.4,2921,2081,3141,2988,86.6,-9.5,79,730,0.00,2.15,0.00,0.000,516,0.000,0.040,2922,680,3064,3141,2987,0,0,0,0,0,0,26.60,26.22,26.60,8.31,41.21
$GC,763,-0.69,-244.4,2921,680,3141,2988,90.9,-10.0,83,772,0.00,2.10,0.00,0.000,1030,0.000,0.026,2922,2090,3064,3141,2988,0,0,0,0,0,0,26.35,26.27,26.37,8.32,41.14
$GC,893,-0.69,-244.4,2921,2091,3141,2988,103.1,-9.2,96,898,0.00,2.15,0.00,0.000,260,0.000,0.042,2922,3479,3064,3141,2988,0,0,0,0,0,0,26.63,26.22,26.64,8.32,41.06
$GC,967,-0.69,-244.4,2921,3479,3141,2988,109.3,-8.2,103,976,0.00,2.05,0.00,0.000,1030,0.000,0.023,2921,2079,3064,3141,2988,0,0,0,0,0,0,26.37,26.36,26.40,8.32,40.94
$GC,1156,-0.69,-244.4,2921,2078,3141,2988,127.0,-9.5,122,1165,0.00,2.15,0.00,0.000,516,0.000,0.039,2922,686,3064,3141,2988,0,0,0,0,0,0,26.68,26.30,26.68,8.32,40.98
$GC,1188,-0.69,-244.4,2921,686,3141,2988,130.0,-9.4,125,1192,0.00,2.08,0.00,0.000,1030,0.000,0.025,2922,2084,3064,3141,2988,0,0,0,0,0,0,26.43,26.34,26.45,8.33,40.90
$GC,1380,-0.69,-244.4,2921,2084,3141,2988,148.1,-9.3,144,1385,0.00,2.15,0.00,0.000,260,0.000,0.042,2922,3477,3064,3141,2988,0,0,0,0,0,0,26.71,26.29,26.72,8.33,41.25
$GC,1423,-0.69,-244.4,2921,3477,3141,2988,151.8,-8.8,148,1428,0.00,2.05,0.00,0.000,1030,0.000,0.022,2922,2080,3064,3141,2988,0,0,0,0,0,0,26.47,26.41,26.49,8.33,40.94
$GC,1616,-0.69,-244.4,2921,2079,3141,2988,169.6,-9.1,167,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2079,3064,3141,2988,0,0,0,0,0,0,26.74,26.74,26.74,8.34,41.49
$GC,1797,-0.88,-244.4,2920,2079,3141,2987,175.5,-0.1,185,1806,0.10,2.10,0.00,0.000,4612,0.091,0.038,2851,691,3064,3141,2987,0,0,0,0,0,0,26.49,26.37,26.51,8.34,41.06
$STATE,1837,end dive,NO_VERTICAL_VELOCITY
$STATE,1837,begin apogee
$GC,1846,-0.22,0.0,2851,2089,3141,2988,175.5,0.0,189,2049,0.65,0.00,197.07,0.749,10246,0.075,0.000,3092,2089,2063,2113,2014,0,0,0,0,0,0,26.29,24.79,24.25,8.33,41.37
$STATE,2052,end apogee,CONTROL_FINISHED_OK
$STATE,2052,begin climb
$GC,2055,0.81,244.4,3092,2089,2114,2014,175.3,0.0,210,2262,0.82,0.00,200.15,0.719,10502,0.065,0.000,3392,2088,1066,1127,1006,0,0,0,0,0,0,24.95,24.51,24.00,8.26,39.17
$GC,2441,0.81,244.4,3392,2088,1127,1004,140.0,11.2,249,2450,0.00,2.22,0.00,0.000,516,0.000,0.040,3392,695,1066,1128,1004,0,0,0,0,0,0,25.79,25.48,25.80,8.18,39.44
$GC,2533,0.81,244.4,3392,695,1127,1004,129.4,11.7,258,2543,0.00,2.10,0.00,0.000,1030,0.000,0.024,3392,2084,1065,1127,1004,0,0,0,0,0,0,25.79,25.72,25.80,8.18,40.07
$GC,2723,0.81,244.4,3391,2084,1127,1004,106.6,11.6,277,2727,0.00,2.20,0.00,0.000,516,0.000,0.041,3392,686,1065,1127,1003,0,0,0,0,0,0,26.23,25.89,26.25,8.18,40.43
$GC,2785,0.81,244.4,3391,686,1127,1004,99.5,11.5,283,2789,0.00,2.12,0.00,0.000,1030,0.000,0.024,3392,2087,1065,1127,1004,0,0,0,0,0,0,26.04,26.01,26.08,8.18,39.84
$GC,2918,0.81,244.4,3391,2087,1127,1003,84.5,11.5,296,2926,0.00,2.20,0.00,0.000,516,0.000,0.041,3392,687,1065,1127,1004,0,0,0,0,0,0,26.38,26.03,26.39,8.18,40.23
$GC,2962,0.81,244.4,3391,687,1127,1004,79.8,11.2,300,2969,0.00,2.08,0.00,0.000,1030,0.000,0.024,3392,2086,1065,1127,1004,0,0,0,0,0,0,26.18,26.11,26.20,8.18,40.11
$GC,3089,0.81,244.4,3392,2086,1127,1004,65.6,11.2,313,3099,0.00,2.20,0.00,0.000,516,0.000,0.041,3396,687,1065,1127,1004,0,0,0,0,0,0,26.46,26.10,26.47,8.17,40.15
$GC,3135,0.81,244.4,3395,687,1127,1005,60.8,11.2,317,3143,0.00,2.08,0.00,0.000,1030,0.000,0.024,3396,2091,1065,1126,1005,0,0,0,0,0,0,26.25,26.19,26.27,8.17,40.39
$GC,3263,0.81,244.4,3395,2091,1127,1004,47.1,10.5,330,3272,0.00,2.17,0.00,0.000,516,0.000,0.041,3400,693,1066,1127,1005,0,0,0,0,0,0,26.53,26.16,26.53,8.17,39.76
$GC,3315,0.81,244.4,3399,693,1127,1005,41.6,10.7,335,3325,0.00,2.08,0.00,0.000,1030,0.000,0.024,3400,2093,1066,1127,1005,0,0,0,0,0,0,26.32,26.25,26.33,8.17,39.91
$GC,3446,0.81,244.4,3400,2093,1127,1005,28.1,10.2,348,3454,0.00,2.17,0.00,0.000,516,0.000,0.042,3400,696,1065,1126,1005,0,0,0,0,0,0,26.58,26.21,26.59,8.16,40.70
$GC,3468,0.81,244.4,3400,696,1126,1005,25.9,9.5,350,3476,0.00,2.03,0.00,0.000,1030,0.000,0.024,3400,2080,1066,1127,1005,0,0,0,0,0,0,26.32,26.29,26.34,8.16,40.43
$GC,3600,0.95,381.3,3399,2080,1126,1005,16.5,6.2,368,3681,0.10,2.22,69.88,0.544,10756,0.083,0.041,3486,685,506,524,488,0,0,0,0,0,0,26.39,25.53,25.02,8.15,39.52
$GC,3737,1.35,713.0,3486,683,524,487,10.8,0.8,391,3762,0.20,2.10,16.35,0.490,11270,0.053,0.024,3598,2098,372,365,379,0,0,0,0,0,0,25.79,25.79,25.01,8.10,39.80
$GC,3828,1.72,1078.3,3597,2097,365,377,10.7,-0.1,407,3835,0.20,2.12,0.00,0.000,2308,0.051,0.035,3720,3461,371,365,377,0,0,0,0,0,0,25.84,25.74,25.85,8.08,39.32
$STATE,3856,end climb,NO_VERTICAL_VELOCITY
$STATE,3856,begin surface
$SM_CCo,4187,0.00,0.000,0,0,369,416.03
$SM_GC,11.82,9.73,2.12,0.00,0.061,0.023,0.000,216,2075,369,-9.13,1.44,416.03,0,0,0,0,0,0,25.97,26.08,26.06
$IRIDIUM_FIX,4737.86,-12251.79,150218,232922
$TT8_MAMPS,0.026215,0.316078
$HUMID,40.66
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,8.8
$ALTIM_BOTTOM_PING,100.4,91.0
$24V_AH,24.00,26.395
$10V_AH,10.22,10.721
$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,22.975,67.950,483.450,0.000,0.000,0.000,0.000,227.600,2.250,0.000,15.974,998.692,1815.128,582.990,980.453,154.329,0.000,1321.036,0.000,752.181,0.000,10.461,0.000
$DEVICE_MAMPS,243.270,42.840,748.935,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,278.415,544.518,549.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312204
$DATA_FILE_SIZE,27964,412
$CAP_FILE_SIZE,68268,0
$CFSIZE,2097872896,2057240576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,61.40,1
$GPS,160218,020031,4737.969,-12255.659,8,0.8,12,16.4,0.0,0.0,10,4.7