version: 66.14
glider: 194
mission: 12
dive: 341
start: 2 16 118 2 6 27
data:
$ID,194
$MISSION,12
$DIVE,341
$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,71
$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
$GPS1,160218,020031,4737.9692,-12255.6592,8,0.8,12,16.4,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.29
$_SM_ANGLEo,-74.7
$GPS2,160218,020550,4737.9985,-12255.6016,6,0.9,15,16.4,0.0,0.0,9,4.6
$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,210.7,1071,-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,6,begin dive
$GC,9,-0.81,-244.4,215,2072,362,374,0.0,0.0,0,17,0.00,0.00,-5.72,0.000,16386,0.000,0.000,215,2072,532,519,545,0,0,0,0,0,0,26.31,28.83,26.32,8.06,39.88
$GC,20,-0.81,-244.4,215,2072,519,546,12.3,0.0,1,123,11.23,2.17,-83.47,0.000,18692,0.249,0.054,2883,3457,3063,3139,2988,0,0,0,0,0,0,25.44,25.37,25.81,8.08,39.88
$GC,153,-0.66,-244.4,2882,3457,3139,2988,22.7,-16.4,22,162,0.15,2.05,0.00,0.000,3078,0.129,0.023,2934,2075,3064,3140,2988,0,0,0,0,0,0,25.82,26.06,25.90,8.29,39.80
$GC,282,-0.66,-244.4,2933,2075,3141,2988,39.4,-11.5,35,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2075,3064,3140,2989,0,0,0,0,0,0,26.44,26.44,26.45,8.29,40.15
$GC,402,-0.66,-244.4,2933,2075,3141,2989,52.7,-10.9,47,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2075,3064,3140,2988,0,0,0,0,0,0,26.49,26.51,26.51,8.29,40.47
$GC,522,-0.66,-244.4,2933,2074,3140,2988,65.1,-10.0,59,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2075,3064,3140,2988,0,0,0,0,0,0,26.54,26.55,26.55,8.30,41.17
$GC,642,-0.66,-244.4,2933,2074,3140,2988,77.1,-9.7,71,647,0.00,2.15,0.00,0.000,260,0.000,0.041,2934,3454,3064,3141,2988,0,0,0,0,0,0,26.58,26.17,26.58,8.31,40.86
$GC,678,-0.66,-244.4,2933,3455,3140,2989,80.0,-8.8,74,684,0.00,2.03,0.00,0.000,1030,0.000,0.023,2933,2077,3064,3140,2988,0,0,0,0,0,0,26.35,26.28,26.36,8.31,40.90
$GC,805,-0.66,-244.4,2933,2077,3140,2988,91.4,-8.9,87,809,0.00,2.15,0.00,0.000,516,0.000,0.040,2934,687,3064,3140,2989,0,0,0,0,0,0,26.62,26.24,26.63,8.31,41.14
$GC,840,-0.66,-244.4,2933,688,3140,2988,94.5,-9.5,90,847,0.00,2.03,0.00,0.000,1030,0.000,0.025,2934,2058,3064,3140,2988,0,0,0,0,0,0,26.37,26.29,26.39,8.31,41.17
$GC,968,-0.66,-244.4,2934,2059,3140,2988,106.4,-9.0,103,972,0.00,2.20,0.00,0.000,260,0.000,0.041,2934,3481,3064,3140,2988,0,0,0,0,0,0,26.65,26.24,26.65,8.31,41.06
$GC,1051,-0.72,-244.4,2933,3481,3140,2988,113.5,-8.2,111,1055,0.00,2.08,0.00,0.000,1030,0.000,0.023,2934,2073,3064,3140,2988,0,0,0,0,0,0,26.42,26.36,26.44,8.32,41.61
$GC,1248,-0.72,-244.4,2933,2073,3140,2988,130.2,-8.5,130,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2073,3064,3140,2988,0,0,0,0,0,0,26.68,26.70,26.69,8.33,40.98
$GC,1434,-0.72,-244.4,2933,2073,3140,2988,146.1,-8.8,149,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2073,3064,3140,2988,0,0,0,0,0,0,26.72,26.72,26.72,8.33,41.77
$GC,1614,-0.72,-244.4,2933,2073,3140,2988,161.8,-8.9,167,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2073,3064,3140,2988,0,0,0,0,0,0,26.74,26.75,26.74,8.33,41.10
$STATE,1692,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1692,begin apogee
$GC,1698,-0.22,0.0,2934,2073,3140,2988,168.7,-8.8,175,1903,0.38,0.00,196.52,0.748,10246,0.099,0.000,3077,2073,2064,2113,2015,0,0,0,0,0,0,26.22,24.63,24.25,8.33,41.53
$STATE,1904,end apogee,CONTROL_FINISHED_OK
$STATE,1904,begin climb
$GC,1909,0.81,244.4,3077,2073,2113,2014,174.8,0.0,196,2120,0.90,2.33,200.38,0.718,10756,0.075,0.041,3393,691,1066,1127,1006,0,0,0,0,0,0,24.95,24.56,24.01,8.26,39.64
$GC,2180,0.81,244.4,3392,691,1126,1006,151.7,12.3,223,2187,0.00,2.17,0.00,0.000,1030,0.000,0.024,3394,2097,1066,1126,1006,0,0,0,0,0,0,25.21,25.15,25.22,8.19,38.69
$GC,2369,0.81,244.4,3393,2098,1125,1005,129.1,11.6,242,2377,0.00,2.22,0.00,0.000,516,0.000,0.041,3397,695,1065,1126,1005,0,0,0,0,0,0,25.96,25.64,25.97,8.18,40.31
$GC,2451,0.81,244.4,3396,696,1126,1005,119.2,12.3,250,2460,0.00,2.08,0.00,0.000,1030,0.000,0.024,3397,2080,1065,1126,1005,0,0,0,0,0,0,25.84,25.83,25.87,8.18,40.07
$GC,2641,0.81,244.4,3396,2080,1125,1005,97.3,11.2,269,2650,0.00,2.17,0.00,0.000,516,0.000,0.041,3400,694,1065,1126,1005,0,0,0,0,0,0,26.29,25.94,26.30,8.19,40.27
$GC,2696,0.81,244.4,3400,694,1126,1005,91.0,12.0,274,2703,0.00,2.08,0.00,0.000,1030,0.000,0.024,3400,2092,1065,1125,1005,0,0,0,0,0,0,26.12,26.05,26.13,8.18,40.07
$GC,2824,0.81,244.4,3400,2092,1126,1005,75.9,11.1,287,2827,0.00,2.20,0.00,0.000,516,0.000,0.041,3400,693,1065,1126,1005,0,0,0,0,0,0,26.41,26.06,26.41,8.17,40.19
$GC,2868,0.81,244.4,3399,691,1126,1006,71.0,11.3,291,2875,0.00,2.08,0.00,0.000,1030,0.000,0.024,3400,2090,1065,1126,1005,0,0,0,0,0,0,26.21,26.14,26.22,8.18,40.23
$GC,2996,0.81,244.4,3400,2090,1125,1005,56.1,11.5,304,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2090,1065,1126,1005,0,0,0,0,0,0,26.48,26.50,26.49,8.17,40.35
$GC,3116,0.81,244.4,3399,2090,1125,1006,43.4,10.9,316,3119,0.00,2.17,0.00,0.000,516,0.000,0.042,3400,692,1066,1126,1006,0,0,0,0,0,0,26.53,26.16,26.53,8.16,39.88
$GC,3208,0.81,244.4,3400,691,1126,1006,33.8,10.0,325,3216,0.00,2.03,0.00,0.000,1030,0.000,0.024,3400,2086,1066,1126,1006,0,0,0,0,0,0,26.29,26.27,26.31,8.16,40.58
$GC,3337,0.81,244.4,3400,2086,1126,1006,21.8,8.4,338,3347,0.00,2.12,0.00,0.000,260,0.000,0.038,3400,3473,1066,1126,1006,0,0,0,0,0,0,26.60,26.23,26.60,8.15,40.82
$GC,3353,0.89,322.3,3400,3472,1126,1006,21.2,7.8,339,3403,0.05,2.05,40.88,0.559,11270,0.134,0.023,3471,2078,746,798,695,0,0,0,0,0,0,26.23,26.31,25.21,8.15,39.99
$GC,3466,1.13,567.4,3471,2078,799,695,11.1,3.2,358,3519,0.08,0.00,46.12,0.515,10758,0.100,0.000,3546,2078,372,357,387,0,0,0,0,0,0,26.02,25.27,24.96,8.12,39.64
$GC,3586,1.50,935.9,3545,2078,357,384,11.0,-0.2,379,3593,0.15,2.20,0.00,0.000,2308,0.058,0.034,3655,3481,370,357,384,0,0,0,0,0,0,25.80,25.70,25.82,8.08,39.56
$STATE,3604,end climb,NO_VERTICAL_VELOCITY
$STATE,3604,begin surface
$SM_CCo,3934,0.00,0.000,0,0,368,416.03
$SM_GC,11.75,9.52,2.15,0.00,0.059,0.023,0.000,212,2077,368,-9.14,1.58,416.03,0,0,0,0,0,0,25.95,26.05,26.03
$IRIDIUM_FIX,4737.86,-12251.79,160218,004527
$TT8_MAMPS,0.026964,0.280126
$HUMID,40.07
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.00
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.3,7.6
$ALTIM_BOTTOM_PING,150.5,27.6
$24V_AH,24.01,26.496
$10V_AH,10.24,10.751
$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,22.450,46.900,483.900,0.000,0.000,0.000,0.000,219.525,5.500,0.000,16.677,928.662,1741.351,552.591,903.540,145.324,0.000,1226.652,0.000,677.358,0.000,31.047,0.000
$DEVICE_MAMPS,249.390,54.315,748.170,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.181,504.883,509.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312200
$DATA_FILE_SIZE,28146,382
$CAP_FILE_SIZE,61919,0
$CFSIZE,2097872896,2057175040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,53.96,1
$GPS,160218,031309,4737.792,-12256.012,9,0.9,27,16.4,0.3,61.9,9,4.9