version: 66.14
glider: 194
mission: 12
dive: 351
start: 2 16 118 14 4 12
data:
$ID,194
$MISSION,12
$DIVE,351
$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,47
$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
$GPS1,160218,135634,4738.4316,-12253.3945,5,0.9,20,16.4,0.4,66.0,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.58
$_SM_ANGLEo,-69.5
$GPS2,160218,140331,4738.4663,-12253.2871,10,0.9,22,16.4,0.4,62.9,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$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,307.8,387,-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,-63.1,209,2103,353,383,0.0,0.0,0,17,0.00,0.00,-6.32,0.000,16386,0.000,0.000,209,2103,550,536,565,0,0,0,0,0,0,26.34,28.83,26.35,8.06,39.88
$GC,20,-1.25,-63.1,209,2103,536,565,12.6,0.0,1,100,10.38,2.25,-63.90,0.000,18948,0.240,0.049,2745,682,2324,2359,2290,0,0,0,0,0,0,25.50,24.34,25.84,8.07,40.47
$GC,313,-1.12,-63.1,2745,681,2359,2286,51.5,-16.7,38,321,0.15,2.08,0.00,0.000,3078,0.196,0.025,2786,2075,2321,2358,2285,0,0,0,0,0,0,25.75,26.15,25.99,8.23,40.35
$GC,440,-1.12,-63.1,2786,2075,2359,2285,70.4,-14.4,51,445,0.00,2.17,0.00,0.000,516,0.000,0.038,2786,676,2321,2359,2284,0,0,0,0,0,0,26.53,26.16,26.53,8.24,40.90
$GC,503,-1.12,-63.1,2786,676,2359,2284,79.5,-14.6,57,508,0.00,2.10,0.00,0.000,1030,0.000,0.025,2786,2085,2321,2359,2284,0,0,0,0,0,0,26.29,26.22,26.32,8.24,40.58
$GC,636,-1.12,-63.1,2786,2085,2359,2283,97.3,-12.7,70,645,0.00,2.12,0.00,0.000,260,0.000,0.042,2786,3469,2321,2359,2283,0,0,0,0,0,0,26.59,26.18,26.60,8.25,41.57
$GC,721,-1.12,-63.1,2786,3469,2358,2282,107.8,-12.8,78,728,0.00,2.05,0.00,0.000,1030,0.000,0.023,2786,2070,2320,2359,2282,0,0,0,0,0,0,26.36,26.30,26.39,8.25,40.66
$GC,909,-1.12,-63.1,2786,2069,2359,2281,133.6,-13.2,97,917,0.00,2.17,0.00,0.000,260,0.000,0.041,2786,3470,2320,2359,2281,0,0,0,0,0,0,26.65,26.23,26.65,8.25,41.10
$GC,970,-1.12,-63.1,2786,3470,2359,2280,141.4,-12.7,103,979,0.00,2.05,0.00,0.000,1030,0.000,0.023,2786,2076,2319,2359,2280,0,0,0,0,0,0,26.41,26.35,26.44,8.26,40.74
$GC,1161,-1.12,-63.1,2786,2076,2359,2280,164.8,-12.6,122,1164,0.00,2.12,0.00,0.000,516,0.000,0.038,2786,683,2319,2359,2280,0,0,0,0,0,0,26.69,26.31,26.70,8.26,41.06
$STATE,1180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1180,begin apogee
$GC,1189,-0.22,0.0,2786,2082,2359,2279,167.8,-12.9,124,1253,0.90,0.00,55.08,0.761,10246,0.150,0.000,3072,2083,2064,2106,2022,0,0,0,0,0,0,25.95,25.28,24.84,8.27,41.21
$STATE,1254,end apogee,CONTROL_FINISHED_OK
$STATE,1254,begin climb
$GC,1256,1.25,63.1,3071,2082,2106,2022,171.6,0.0,131,1323,1.30,2.28,55.45,0.744,10500,0.082,0.037,3530,3471,1805,1852,1759,0,0,0,0,0,0,25.53,25.03,24.44,8.25,40.74
$GC,1400,1.17,63.1,3530,3471,1851,1758,160.2,11.4,145,1407,0.00,2.10,0.00,0.000,1030,0.000,0.021,3541,2081,1804,1851,1758,0,0,0,0,0,0,25.63,25.56,25.64,8.23,39.95
$GC,1588,1.11,63.1,3540,2080,1851,1758,137.0,12.8,164,1597,0.10,2.15,0.00,0.000,4612,0.190,0.036,3520,684,1804,1851,1758,0,0,0,0,0,0,25.64,25.81,25.74,8.23,40.54
$GC,1751,1.11,63.1,3519,684,1850,1758,116.5,12.2,180,1759,0.00,2.08,0.00,0.000,1030,0.000,0.024,3520,2082,1803,1850,1757,0,0,0,0,0,0,26.06,26.03,26.08,8.23,40.51
$GC,1941,1.11,63.1,3519,2082,1850,1757,94.4,11.9,199,1950,0.00,2.12,0.00,0.000,260,0.000,0.037,3520,3471,1803,1850,1757,0,0,0,0,0,0,26.44,26.07,26.45,8.23,40.98
$GC,2176,1.06,63.1,3520,3471,1850,1756,68.3,12.0,222,2186,0.10,2.03,0.00,0.000,5126,0.170,0.022,3502,2084,1803,1850,1756,0,0,0,0,0,0,25.91,26.25,26.02,8.23,40.62
$GC,2305,1.06,63.1,3501,2084,1850,1756,56.1,9.1,235,2313,0.00,2.15,0.00,0.000,516,0.000,0.039,3510,687,1803,1850,1756,0,0,0,0,0,0,26.58,26.20,26.58,8.22,40.27
$GC,2579,1.10,98.6,3509,686,1850,1756,34.1,6.2,262,2607,0.00,2.05,20.12,0.623,9222,0.000,0.024,3510,2089,1660,1711,1609,0,0,0,0,0,0,26.41,26.34,25.35,8.22,40.62
$GC,2727,1.14,146.8,3509,2089,1711,1607,25.1,4.9,277,2759,0.00,2.17,25.52,0.583,8452,0.000,0.037,3510,3471,1464,1521,1407,0,0,0,0,0,0,26.46,25.77,25.19,8.20,40.70
$GC,2896,1.31,249.4,3509,3471,1520,1404,14.6,-0.9,302,2958,0.08,2.05,51.35,0.539,11270,0.093,0.022,3603,2075,1046,1097,995,0,0,0,0,0,0,25.99,26.03,24.91,8.17,40.31
$GC,3022,1.40,340.8,3603,2076,1096,994,12.5,0.3,324,3074,0.00,2.25,46.12,0.517,8708,0.000,0.040,3612,698,672,705,640,0,0,0,0,0,0,26.01,25.31,24.80,8.14,39.21
$STATE,3223,end climb,NO_VERTICAL_VELOCITY
$STATE,3223,begin surface
$SM_CCo,3226,37.50,0.509,0,0,374,414.56
$SM_GC,12.00,9.20,2.12,0.00,0.045,0.024,0.000,210,2076,369,-9.14,-2.04,415.78,0,0,0,0,0,0,25.86,25.95,25.95
$IRIDIUM_FIX,4739.20,-12253.53,160218,124222
$TT8_MAMPS,0.026215,0.280126
$HUMID,40.51
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,9.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,8.4
$ALTIM_BOTTOM_PING,130.9,46.4
$24V_AH,24.34,27.318
$10V_AH,10.24,11.059
$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,22.200,46.800,253.650,37.500,0.000,0.000,0.000,251.900,3.750,0.000,23.736,954.594,1563.771,377.935,1002.931,136.831,0.000,1070.308,0.000,738.348,0.000,21.727,0.000
$DEVICE_MAMPS,240.210,48.960,761.175,509.490,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.678,477.976,482.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24387,361
$CAP_FILE_SIZE,59391,0
$CFSIZE,2097872896,2056192000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.130,62.52,1
$GPS,160218,150526,4738.755,-12253.199,8,0.9,38,16.4,0.5,66.6,10,4.2