version: 66.14
glider: 194
mission: 12
dive: 348
start: 2 16 118 10 23 52
data:
$ID,194
$MISSION,12
$DIVE,348
$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,55
$R_STBD_OVSHOOT,72
$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
$GPS1,160218,101745,4737.9014,-12255.0859,9,0.8,16,16.4,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.56
$_SM_ANGLEo,-72.2
$GPS2,160218,102313,4737.9219,-12255.0361,7,0.8,18,16.4,0.2,72.2,10,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$TGT_LATLONG,4738.117,-12254.800
$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,26.1,467,-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,8,-1.25,-63.1,208,2093,352,381,0.0,0.0,0,17,0.00,0.00,-6.30,0.000,16386,0.000,0.000,208,2093,550,535,565,0,0,0,0,0,0,26.34,28.83,26.34,8.07,40.19
$GC,20,-1.25,-63.1,208,2093,535,565,12.6,0.0,1,100,10.50,2.25,-62.45,0.000,18948,0.244,0.050,2742,682,2324,2357,2291,0,0,0,0,0,0,25.48,24.34,25.84,8.08,40.07
$GC,394,-1.13,-63.1,2742,682,2357,2285,65.4,-14.8,46,402,0.15,2.05,0.00,0.000,3078,0.194,0.025,2784,2062,2321,2357,2285,0,0,0,0,0,0,25.79,26.19,26.03,8.23,40.19
$GC,521,-1.13,-63.1,2784,2062,2357,2284,83.6,-13.5,59,525,0.00,2.15,0.00,0.000,516,0.000,0.039,2784,685,2320,2357,2284,0,0,0,0,0,0,26.55,26.18,26.56,8.24,41.06
$GC,614,-1.13,-63.1,2784,684,2357,2283,96.7,-13.5,68,617,0.00,2.08,0.00,0.000,1030,0.000,0.025,2784,2086,2320,2357,2283,0,0,0,0,0,0,26.33,26.25,26.35,8.25,40.90
$GC,746,-1.13,-63.1,2784,2086,2356,2283,113.8,-12.4,81,750,0.00,2.15,0.00,0.000,516,0.000,0.038,2785,688,2319,2357,2282,0,0,0,0,0,0,26.61,26.24,26.62,8.25,41.61
$GC,803,-1.13,-63.1,2784,689,2357,2282,120.8,-13.3,86,810,0.00,2.05,0.00,0.000,1030,0.000,0.025,2784,2082,2319,2357,2282,0,0,0,0,0,0,26.37,26.29,26.39,8.26,41.69
$GC,993,-1.13,-63.1,2783,2082,2357,2282,145.5,-12.3,105,1001,0.00,2.10,0.00,0.000,260,0.000,0.041,2784,3468,2319,2357,2281,0,0,0,0,0,0,26.66,26.25,26.67,8.26,40.86
$GC,1054,-1.13,-63.1,2784,3468,2357,2281,153.8,-12.9,111,1058,0.00,2.03,0.00,0.000,1030,0.000,0.023,2784,2075,2318,2356,2281,0,0,0,0,0,0,26.43,26.36,26.45,8.26,40.86
$STATE,1164,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1164,begin apogee
$GC,1170,-0.22,0.0,2784,2074,2357,2281,167.8,-13.0,122,1229,0.93,0.00,55.10,0.760,10246,0.147,0.000,3078,2074,2064,2106,2023,0,0,0,0,0,0,25.95,25.47,24.85,8.27,41.02
$STATE,1230,end apogee,CONTROL_FINISHED_OK
$STATE,1230,begin climb
$GC,1233,1.25,63.1,3078,2074,2106,2023,170.7,0.0,128,1296,1.27,0.00,55.95,0.741,10246,0.076,0.000,3533,2074,1805,1851,1760,0,0,0,0,0,0,25.52,25.00,24.44,8.26,40.51
$GC,1477,1.20,63.1,3532,2074,1850,1758,146.8,12.0,153,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2074,1804,1850,1758,0,0,0,0,0,0,26.05,26.06,26.06,8.23,40.11
$GC,1656,1.20,63.1,3532,2074,1850,1758,124.3,12.2,171,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2074,1804,1850,1758,0,0,0,0,0,0,26.27,26.28,26.28,8.23,41.14
$GC,1836,1.20,63.1,3532,2074,1850,1758,102.4,12.7,189,1841,0.00,2.15,0.00,0.000,516,0.000,0.039,3543,691,1803,1850,1757,0,0,0,0,0,0,26.40,26.05,26.41,8.23,40.98
$GC,1932,1.12,63.1,3543,691,1850,1757,90.6,13.3,198,1939,0.00,2.08,0.00,0.000,1030,0.000,0.024,3543,2093,1803,1850,1757,0,0,0,0,0,0,26.22,26.15,26.24,8.23,41.17
$GC,2059,1.07,63.1,3543,2093,1850,1757,75.2,11.3,211,2061,0.15,0.00,0.00,0.000,4102,0.173,0.000,3502,2094,1803,1850,1757,0,0,0,0,0,0,25.90,26.15,26.08,8.23,40.86
$GC,2180,1.07,63.1,3501,2094,1850,1757,63.1,9.8,223,2184,0.00,2.20,0.00,0.000,516,0.000,0.039,3510,683,1803,1850,1757,0,0,0,0,0,0,26.55,26.17,26.55,8.23,41.02
$GC,2317,1.07,63.1,3509,683,1850,1757,50.4,8.7,236,2324,0.00,2.08,0.00,0.000,1030,0.000,0.025,3510,2093,1803,1850,1757,0,0,0,0,0,0,26.35,26.28,26.36,8.23,40.78
$GC,2443,1.09,85.0,3510,2093,1850,1757,39.4,7.7,249,2461,0.00,0.00,13.40,0.627,8198,0.000,0.000,3511,2093,1716,1764,1668,0,0,0,0,0,0,26.62,25.98,25.36,8.22,40.82
$GC,2583,1.12,114.8,3510,2092,1764,1668,29.2,6.8,263,2604,0.00,2.22,16.33,0.586,8708,0.000,0.039,3521,690,1594,1646,1542,0,0,0,0,0,0,26.51,25.90,25.27,8.21,40.94
$GC,2625,1.12,114.8,3520,690,1645,1543,25.9,8.3,267,2632,0.00,2.08,0.00,0.000,1030,0.000,0.024,3521,2085,1594,1645,1543,0,0,0,0,0,0,26.10,26.04,26.12,8.20,40.78
$GC,2753,1.21,205.0,3520,2084,1645,1541,20.6,0.4,280,2805,0.00,2.20,46.38,0.569,8452,0.000,0.037,3521,3472,1227,1283,1172,0,0,0,0,0,0,26.42,25.55,25.00,8.20,39.91
$GC,2842,1.21,205.0,3520,3472,1282,1170,17.5,8.1,291,2849,0.00,2.08,0.00,0.000,1030,0.000,0.022,3531,2084,1226,1282,1170,0,0,0,0,0,0,25.81,25.75,25.82,8.16,39.88
$GC,2913,1.36,284.0,3530,2084,1282,1168,14.5,1.6,304,2963,0.10,2.25,39.78,0.527,10756,0.080,0.039,3639,691,903,948,858,0,0,0,0,0,0,25.92,25.41,24.87,8.16,39.36
$GC,2991,1.44,360.7,3638,691,948,857,12.4,1.8,317,3040,0.00,2.10,38.72,0.513,9222,0.000,0.024,3638,2094,591,616,566,0,0,0,0,0,0,25.70,25.65,24.80,8.13,39.91
$GC,3106,1.60,455.4,3638,2094,616,565,11.5,-0.1,337,3145,0.00,2.30,27.12,0.503,8708,0.000,0.040,3649,693,372,363,381,0,0,0,0,0,0,25.89,25.35,24.84,8.10,39.48
$STATE,3287,end climb,NO_VERTICAL_VELOCITY
$STATE,3287,begin surface
$SM_CCo,3618,0.00,0.000,0,0,369,415.78
$SM_GC,12.23,9.32,2.12,0.00,0.049,0.024,0.000,212,2085,369,-9.13,-1.92,415.78,0,0,0,0,0,0,25.96,26.06,26.05
$IRIDIUM_FIX,4739.20,-12253.53,160218,090214
$TT8_MAMPS,0.026215,0.280875
$HUMID,40.19
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.5,7.4
$ALTIM_BOTTOM_PING,135.5,42.4
$24V_AH,24.34,27.060
$10V_AH,10.23,10.964
$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,22.425,42.700,292.775,0.000,0.000,0.000,0.000,226.225,5.500,0.000,19.698,958.906,1589.415,367.209,912.155,139.791,0.000,1006.979,0.000,677.920,0.000,24.435,0.000
$DEVICE_MAMPS,244.035,50.490,760.410,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.530,491.214,496.303,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27895,371
$CAP_FILE_SIZE,58520,0
$CFSIZE,2097872896,2056486912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,306.33,1
$GPS,160218,112509,4738.141,-12254.918,5,0.9,18,16.4,0.2,47.4,9,4.9