version: 66.14
glider: 194
mission: 12
dive: 345
start: 2 16 118 6 40 10
data:
$ID,194
$MISSION,12
$DIVE,345
$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,42
$R_STBD_OVSHOOT,67
$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
$GPS1,160218,063028,4737.6553,-12256.2568,8,0.9,49,16.4,0.3,44.8,9,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.41
$_SM_ANGLEo,-74.4
$GPS2,160218,063931,4737.7134,-12256.1777,10,0.9,30,16.4,0.3,49.1,9,3.9
$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,194.5,253,-27.2,-10.000,-30.00,962
$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,-1.25,-63.1,210,2103,342,391,0.0,0.0,0,17,0.00,0.00,-5.93,0.000,16386,0.000,0.000,210,2103,539,516,562,0,0,0,0,0,0,26.29,28.83,26.29,8.07,39.76
$GC,20,-1.25,-63.1,210,2103,516,561,12.5,0.0,1,100,10.73,2.17,-61.58,0.000,18692,0.251,0.054,2742,3464,2325,2357,2293,0,0,0,0,0,0,25.43,24.32,25.79,8.09,40.03
$GC,126,-1.12,-63.1,2741,3464,2358,2293,20.8,-16.7,18,134,0.12,2.10,0.00,0.000,3078,0.181,0.023,2791,2062,2325,2358,2293,0,0,0,0,0,0,25.63,26.03,25.86,8.23,39.84
$GC,253,-1.12,-63.1,2790,2062,2358,2290,40.4,-10.8,31,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2063,2323,2357,2290,0,0,0,0,0,0,26.41,26.41,26.41,8.24,40.31
$GC,373,-1.12,-63.1,2790,2062,2358,2288,55.7,-12.5,43,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2062,2323,2358,2288,0,0,0,0,0,0,26.47,26.48,26.48,8.23,40.74
$GC,493,-1.12,-63.1,2790,2062,2358,2286,72.0,-13.5,55,501,0.00,2.20,0.00,0.000,260,0.000,0.041,2791,3471,2322,2358,2286,0,0,0,0,0,0,26.52,26.13,26.53,8.24,40.31
$GC,535,-1.12,-63.1,2790,3471,2358,2286,77.7,-13.7,59,543,0.00,2.05,0.00,0.000,1030,0.000,0.023,2791,2082,2322,2358,2286,0,0,0,0,0,0,26.30,26.23,26.32,8.25,40.82
$GC,665,-1.12,-63.1,2790,2082,2358,2285,95.3,-13.4,72,669,0.00,2.15,0.00,0.000,260,0.000,0.041,2792,3463,2320,2357,2284,0,0,0,0,0,0,26.57,26.17,26.58,8.25,40.74
$GC,708,-1.12,-63.1,2790,3463,2357,2285,101.0,-13.8,76,713,0.00,2.08,0.00,0.000,1030,0.000,0.023,2791,2076,2321,2357,2285,0,0,0,0,0,0,26.31,26.29,26.34,8.25,40.31
$GC,901,-1.12,-63.1,2790,2076,2357,2283,126.4,-12.9,95,906,0.00,2.15,0.00,0.000,516,0.000,0.038,2791,683,2320,2357,2283,0,0,0,0,0,0,26.63,26.25,26.63,8.26,41.21
$GC,988,-1.12,-63.1,2790,683,2357,2282,138.4,-13.6,103,992,0.00,2.05,0.00,0.000,1030,0.000,0.025,2791,2081,2320,2358,2282,0,0,0,0,0,0,26.39,26.30,26.41,8.26,40.98
$GC,1181,-1.12,-63.1,2791,2081,2357,2282,163.0,-12.6,122,1185,0.00,2.15,0.00,0.000,260,0.000,0.041,2791,3474,2319,2357,2281,0,0,0,0,0,0,26.67,26.27,26.68,8.27,41.17
$STATE,1211,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1211,begin apogee
$GC,1220,-0.22,0.0,2790,2080,2357,2282,167.2,-12.6,125,1283,0.90,0.00,55.10,0.760,10246,0.148,0.000,3077,2080,2064,2105,2024,0,0,0,0,0,0,25.93,25.28,24.86,8.27,40.70
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1287,1.25,63.1,3077,2080,2105,2024,170.7,0.0,132,1353,1.27,2.22,55.83,0.741,10756,0.078,0.037,3542,689,1805,1851,1760,0,0,0,0,0,0,25.54,25.03,24.45,8.25,40.82
$GC,1402,1.19,63.1,3541,689,1851,1759,162.6,10.0,143,1409,0.00,2.12,0.00,0.000,1030,0.000,0.024,3542,2088,1804,1850,1759,0,0,0,0,0,0,25.53,25.47,25.55,8.23,39.60
$GC,1589,1.14,63.1,3542,2088,1850,1757,138.6,12.8,162,1598,0.00,2.12,0.00,0.000,260,0.000,0.036,3542,3466,1804,1850,1758,0,0,0,0,0,0,26.13,25.79,26.14,8.23,40.54
$GC,1635,1.06,63.1,3541,3465,1850,1758,132.5,14.3,166,1643,0.20,2.05,0.00,0.000,5126,0.163,0.021,3496,2082,1804,1850,1758,0,0,0,0,0,0,25.57,25.91,25.78,8.23,40.03
$GC,1821,1.06,63.1,3495,2082,1850,1757,111.6,10.9,185,1831,0.00,2.15,0.00,0.000,516,0.000,0.038,3504,694,1803,1850,1757,0,0,0,0,0,0,26.35,26.01,26.36,8.23,40.35
$GC,1964,1.06,63.1,3503,694,1850,1757,96.5,10.6,199,1968,0.00,2.08,0.00,0.000,1030,0.000,0.024,3504,2093,1803,1850,1757,0,0,0,0,0,0,26.20,26.14,26.22,8.23,40.47
$GC,2097,1.06,63.1,3503,2093,1850,1757,82.7,10.0,212,2100,0.00,2.17,0.00,0.000,516,0.000,0.038,3515,689,1803,1850,1757,0,0,0,0,0,0,26.50,26.13,26.51,8.23,41.14
$GC,2108,1.06,63.1,3514,688,1850,1757,81.5,10.1,213,2117,0.00,2.08,0.00,0.000,1030,0.000,0.024,3515,2086,1803,1850,1757,0,0,0,0,0,0,26.27,26.20,26.28,8.23,40.23
$GC,2239,1.06,63.1,3514,2086,1850,1757,68.1,10.2,226,2248,0.00,2.10,0.00,0.000,260,0.000,0.037,3514,3467,1803,1850,1757,0,0,0,0,0,0,26.55,26.18,26.55,8.23,40.35
$GC,2283,1.06,63.1,3514,3467,1850,1757,63.6,10.7,230,2291,0.10,2.03,0.00,0.000,5126,0.181,0.022,3498,2080,1803,1849,1757,0,0,0,0,0,0,25.96,26.26,26.13,8.23,39.99
$GC,2411,1.06,63.1,3498,2080,1850,1757,51.5,8.5,243,2421,0.00,2.15,0.00,0.000,516,0.000,0.039,3507,691,1803,1850,1757,0,0,0,0,0,0,26.59,26.22,26.60,8.23,40.58
$GC,2456,1.06,63.1,3506,691,1850,1757,48.0,8.1,247,2464,0.00,2.05,0.00,0.000,1030,0.000,0.024,3507,2090,1803,1850,1757,0,0,0,0,0,0,26.36,26.29,26.39,8.23,40.86
$GC,2585,1.09,90.7,3506,2090,1850,1756,38.1,7.1,260,2603,0.00,0.00,16.00,0.631,8198,0.000,0.000,3506,2090,1694,1744,1644,0,0,0,0,0,0,26.63,25.96,25.36,8.22,40.54
$GC,2724,1.12,118.4,3506,2090,1743,1643,27.1,7.1,274,2743,0.00,0.00,14.95,0.575,8454,0.000,0.000,3507,2090,1579,1632,1526,0,0,0,0,0,0,26.49,25.86,25.29,8.21,40.43
$GC,2864,1.24,188.9,3506,2090,1631,1524,20.5,2.5,288,2908,0.08,2.10,36.03,0.565,10500,0.100,0.036,3595,3474,1293,1348,1239,0,0,0,0,0,0,26.20,25.63,25.07,8.19,40.15
$GC,3206,1.34,283.7,3594,3474,1347,1233,15.7,-0.1,350,3261,0.00,2.05,47.78,0.545,9222,0.000,0.022,3605,2081,905,952,858,0,0,0,0,0,0,26.15,26.09,24.98,8.16,40.86
$GC,3327,1.50,373.9,3604,2081,952,857,13.5,0.4,371,3381,0.00,2.20,45.85,0.529,8964,0.000,0.035,3605,3475,536,549,523,0,0,0,0,0,0,26.04,25.32,24.82,8.13,39.32
$STATE,3617,end climb,NO_VERTICAL_VELOCITY
$STATE,3617,begin surface
$SM_CCo,3620,20.58,0.512,0,0,373,414.56
$SM_GC,12.83,9.18,2.15,0.00,0.046,0.023,0.000,209,2080,370,-9.15,1.47,415.78,0,0,0,0,0,0,25.94,26.03,26.02
$IRIDIUM_FIX,4738.33,-12256.21,160218,063158
$TT8_MAMPS,0.026215,0.280875
$HUMID,40.54
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,10.20
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.6,8.3
$ALTIM_BOTTOM_PING,150.3,25.7
$24V_AH,24.32,26.800
$10V_AH,10.22,10.870
$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,22.575,55.025,271.525,20.575,0.000,0.000,0.000,373.175,7.500,0.000,31.649,1100.161,1750.337,389.292,1140.908,157.766,0.000,1219.641,0.000,741.266,0.000,46.602,0.000
$DEVICE_MAMPS,250.920,54.315,759.645,511.785,0.000,0.000,0.000,92.565,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,291.983,564.368,569.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312180
$DATA_FILE_SIZE,31484,426
$CAP_FILE_SIZE,68217,0
$CFSIZE,2097872896,2056749056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,46.23,1
$GPS,160218,074716,4737.525,-12256.330,9,0.9,13,16.4,0.0,0.0,9,4.9