version: 66.14
glider: 194
mission: 12
dive: 344
start: 2 16 118 5 30 13
data:
$ID,194
$MISSION,12
$DIVE,344
$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,50
$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
$GPS1,160218,052406,4737.6934,-12256.1631,8,1.2,21,16.4,0.3,51.6,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.23
$_SM_ANGLEo,-74.5
$GPS2,160218,052926,4737.7300,-12256.0967,8,1.2,25,16.4,0.3,51.6,8,4.9
$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,204.0,306,-21.2,-10.000,-24.39,1561
$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,-1.02,-102.6,207,2084,347,390,0.0,0.0,0,17,0.00,0.00,-6.05,0.000,16386,0.000,0.000,206,2084,541,520,563,0,0,0,0,0,0,26.36,28.83,26.38,8.06,40.19
$GC,20,-1.02,-102.6,206,2084,520,563,12.3,0.0,1,106,10.90,2.22,-67.75,0.000,18692,0.248,0.054,2814,3476,2486,2526,2446,0,0,0,0,0,0,25.49,24.39,25.86,8.08,39.84
$GC,121,-0.84,-102.6,2813,3477,2526,2447,18.4,-13.4,17,130,0.22,2.08,0.00,0.000,3078,0.161,0.023,2881,2074,2487,2527,2447,0,0,0,0,0,0,25.74,26.09,25.95,8.25,39.91
$GC,198,-0.84,-102.6,2881,2073,2527,2446,30.5,-15.4,25,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2073,2485,2526,2445,0,0,0,0,0,0,26.43,26.44,26.43,8.25,39.95
$GC,318,-0.84,-102.6,2880,2073,2527,2444,46.1,-13.4,37,323,0.00,2.15,0.00,0.000,516,0.000,0.039,2881,690,2485,2527,2443,0,0,0,0,0,0,26.48,26.12,26.49,8.25,39.95
$GC,384,-0.84,-102.6,2881,690,2527,2442,54.3,-12.8,43,391,0.00,2.05,0.00,0.000,1030,0.000,0.025,2881,2074,2484,2526,2442,0,0,0,0,0,0,26.27,26.20,26.29,8.25,41.10
$GC,511,-0.84,-102.6,2880,2074,2527,2442,68.8,-10.7,56,520,0.00,2.17,0.00,0.000,260,0.000,0.041,2881,3476,2484,2527,2442,0,0,0,0,0,0,26.55,26.16,26.56,8.25,40.62
$GC,614,-0.84,-102.6,2881,3476,2527,2442,80.0,-10.6,66,623,0.00,2.05,0.00,0.000,1030,0.000,0.023,2881,2081,2484,2526,2442,0,0,0,0,0,0,26.31,26.27,26.33,8.26,41.49
$GC,743,-0.84,-102.6,2880,2080,2526,2441,93.9,-11.1,79,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2080,2483,2526,2441,0,0,0,0,0,0,26.61,26.63,26.62,8.26,40.90
$GC,863,-0.89,-102.6,2880,2080,2527,2441,107.2,-10.9,91,868,0.00,2.15,0.00,0.000,516,0.000,0.040,2880,689,2483,2527,2440,0,0,0,0,0,0,26.64,26.27,26.65,8.27,40.86
$GC,919,-0.89,-102.6,2880,689,2527,2440,114.0,-13.3,96,926,0.00,2.05,0.00,0.000,1030,0.000,0.025,2881,2085,2483,2527,2440,0,0,0,0,0,0,26.39,26.32,26.42,8.27,41.29
$GC,1106,-0.95,-102.6,2880,2085,2527,2440,133.9,-9.9,115,1110,0.00,2.12,0.00,0.000,4356,0.000,0.041,2881,3477,2483,2527,2440,0,0,0,0,0,0,26.69,26.27,26.70,8.28,41.06
$GC,1139,-1.02,-102.6,2880,3477,2526,2440,137.3,-10.1,118,1144,0.10,2.05,0.00,0.000,5126,0.084,0.023,2813,2082,2483,2527,2440,0,0,0,0,0,0,26.33,26.38,26.40,8.28,40.94
$GC,1332,-1.02,-102.6,2812,2081,2526,2440,162.8,-13.2,137,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2081,2483,2527,2439,0,0,0,0,0,0,26.72,26.72,26.72,8.29,40.98
$GC,1513,-1.32,-244.4,2812,2081,2527,2440,175.2,0.2,155,1515,0.17,0.00,0.00,0.000,4102,0.060,0.000,2713,2080,2483,2527,2439,0,0,0,0,0,0,26.48,26.53,26.51,8.28,41.37
$STATE,1581,end dive,NO_VERTICAL_VELOCITY
$STATE,1581,begin apogee
$GC,1587,-0.22,0.0,2713,2081,2526,2440,175.2,0.0,162,1683,1.05,0.00,87.22,0.757,10246,0.098,0.000,3078,2081,2063,2108,2018,0,0,0,0,0,0,26.16,25.01,24.60,8.28,41.02
$STATE,1684,end apogee,CONTROL_FINISHED_OK
$STATE,1684,begin climb
$GC,1687,1.16,244.4,3078,2081,2108,2019,175.2,0.0,172,1898,1.23,2.30,200.90,0.731,10500,0.082,0.037,3503,3464,1066,1125,1008,0,0,0,0,0,0,25.27,24.68,24.13,8.25,40.98
$GC,1919,1.22,244.4,3503,3464,1125,1008,162.4,11.1,195,1927,0.00,2.12,0.00,0.000,3078,0.000,0.022,3512,2094,1066,1124,1008,0,0,0,0,0,0,25.11,25.04,25.12,8.18,39.36
$GC,2107,1.22,244.4,3512,2094,1124,1006,134.1,16.9,214,2116,0.00,2.22,0.00,0.000,2564,0.000,0.041,3513,685,1065,1124,1006,0,0,0,0,0,0,25.95,25.61,25.95,8.18,39.84
$GC,2222,1.22,244.4,3512,685,1124,1006,114.8,17.0,225,2229,0.00,2.10,0.00,0.000,1030,0.000,0.024,3513,2088,1065,1124,1006,0,0,0,0,0,0,25.91,25.85,25.94,8.18,40.54
$GC,2410,1.22,244.4,3513,2088,1124,1006,82.7,16.9,244,2419,0.00,2.20,0.00,0.000,516,0.000,0.041,3513,686,1065,1124,1006,0,0,0,0,0,0,26.32,25.96,26.32,8.18,40.54
$GC,2512,1.22,244.4,3512,686,1124,1006,66.0,15.9,254,2521,0.00,2.08,0.00,0.000,1030,0.000,0.025,3513,2088,1065,1124,1006,0,0,0,0,0,0,26.12,26.08,26.15,8.18,40.11
$GC,2642,1.22,244.4,3513,2088,1124,1006,45.1,16.5,267,2646,0.00,2.20,0.00,0.000,516,0.000,0.041,3523,678,1065,1124,1006,0,0,0,0,0,0,26.45,26.08,26.46,8.17,40.98
$GC,2674,1.22,244.4,3522,677,1124,1006,39.9,15.9,270,2683,0.00,2.08,0.00,0.000,1030,0.000,0.024,3522,2085,1065,1124,1006,0,0,0,0,0,0,26.20,26.17,26.22,8.18,40.78
$GC,2804,1.22,244.4,3522,2085,1123,1007,21.0,12.6,283,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2085,1065,1124,1006,0,0,0,0,0,0,26.51,26.53,26.52,8.17,40.54
$GC,2927,1.51,443.3,3522,2085,1124,1006,13.7,-3.0,306,3022,0.22,2.28,86.88,0.541,11012,0.047,0.039,3677,674,371,344,399,0,0,0,0,0,0,26.33,25.20,24.87,8.16,40.19
$STATE,3194,end climb,NO_VERTICAL_VELOCITY
$STATE,3195,begin surface
$SM_CCo,3525,0.00,0.000,0,0,367,416.52
$SM_GC,12.81,9.45,2.17,0.00,0.053,0.024,0.000,211,2101,367,-9.13,-1.50,416.52,0,0,0,0,0,0,26.00,26.10,26.08
$IRIDIUM_FIX,4739.20,-12253.53,160218,042246
$TT8_MAMPS,0.025466,0.285369
$HUMID,40.54
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,8.7
$ALTIM_BOTTOM_PING,100.6,91.1
$24V_AH,24.13,26.738
$10V_AH,10.24,10.836
$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,23.350,42.850,375.000,0.000,0.000,0.000,0.000,214.325,1.750,0.000,26.278,894.698,1555.466,443.305,854.641,128.762,0.000,1063.158,0.000,631.267,0.000,10.467,0.000
$DEVICE_MAMPS,247.860,54.315,757.350,0.000,0.000,0.000,0.000,68.085,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.919,470.933,475.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312160
$DATA_FILE_SIZE,24495,356
$CAP_FILE_SIZE,55528,0
$CFSIZE,2097872896,2056880128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,52.04,1
$GPS,160218,063028,4737.655,-12256.257,8,0.9,49,16.4,0.3,44.8,9,8.7