version: 66.14
glider: 194
mission: 12
dive: 352
start: 2 16 118 15 11 10
data:
$ID,194
$MISSION,12
$DIVE,352
$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,60
$R_STBD_OVSHOOT,58
$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
$GPS1,160218,150526,4738.7549,-12253.1992,8,0.9,38,16.4,0.5,66.6,10,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.15
$_SM_ANGLEo,-69.6
$GPS2,160218,151031,4738.7881,-12253.1094,11,0.9,14,16.4,0.0,60.5,10,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$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,224.3,2448,-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,5,begin dive
$GC,8,-0.81,-244.4,210,2080,345,391,0.0,0.0,0,17,0.00,0.00,-6.15,0.000,16386,0.000,0.000,210,2079,541,521,562,0,0,0,0,0,0,26.29,28.83,26.29,8.06,39.68
$GC,20,-0.81,-244.4,210,2080,521,562,12.2,0.0,1,130,10.77,2.20,-91.95,0.000,19204,0.233,0.051,2886,695,3063,3137,2989,0,0,0,0,0,0,25.50,24.34,25.82,8.06,39.84
$GC,160,-0.63,-244.4,2885,696,3138,2989,20.7,-15.6,24,168,0.15,2.10,0.00,0.000,3078,0.139,0.027,2949,2068,3063,3138,2989,0,0,0,0,0,0,25.76,26.03,25.95,8.29,39.95
$GC,286,-0.63,-244.4,2948,2069,3138,2989,36.1,-10.6,37,291,0.00,2.22,0.00,0.000,260,0.000,0.044,2949,3488,3063,3138,2989,0,0,0,0,0,0,26.43,26.04,26.44,8.28,40.23
$GC,399,-0.63,-244.4,2948,3488,3138,2989,46.7,-9.3,48,408,0.00,2.08,0.00,0.000,1030,0.000,0.023,2949,2090,3064,3139,2989,0,0,0,0,0,0,26.25,26.19,26.27,8.29,40.43
$GC,529,-0.63,-244.4,2948,2090,3139,2989,58.8,-9.4,61,534,0.00,2.17,0.00,0.000,516,0.000,0.040,2949,691,3064,3139,2989,0,0,0,0,0,0,26.53,26.15,26.54,8.30,40.86
$GC,564,-0.63,-244.4,2949,690,3138,2989,62.0,-9.9,64,571,0.00,2.08,0.00,0.000,1030,0.000,0.025,2949,2087,3063,3138,2989,0,0,0,0,0,0,26.29,26.21,26.31,8.29,40.62
$GC,692,-0.63,-244.4,2948,2088,3138,2989,73.6,-8.9,77,696,0.00,2.15,0.00,0.000,260,0.000,0.042,2949,3474,3063,3138,2989,0,0,0,0,0,0,26.58,26.17,26.58,8.30,41.65
$GC,746,-0.70,-244.4,2948,3474,3138,2989,78.0,-8.5,82,755,0.00,2.05,0.00,0.000,1030,0.000,0.023,2949,2076,3063,3138,2989,0,0,0,0,0,0,26.32,26.29,26.34,8.30,40.74
$GC,875,-0.75,-244.4,2948,2076,3138,2989,90.0,-9.0,95,880,0.05,2.15,0.00,0.000,4612,0.148,0.038,2899,689,3064,3139,2989,0,0,0,0,0,0,26.41,26.24,26.43,8.31,41.06
$GC,911,-0.75,-244.4,2898,689,3138,2989,93.6,-10.2,98,918,0.00,2.08,0.00,0.000,1030,0.000,0.026,2899,2090,3063,3138,2989,0,0,0,0,0,0,26.36,26.29,26.39,8.31,41.02
$GC,1038,-0.75,-244.4,2899,2090,3138,2989,108.5,-11.2,111,1043,0.00,2.15,0.00,0.000,260,0.000,0.043,2899,3478,3063,3138,2989,0,0,0,0,0,0,26.65,26.24,26.66,8.31,40.86
$GC,1144,-0.75,-244.4,2899,3478,3138,2989,119.7,-10.4,121,1149,0.00,2.05,0.00,0.000,1030,0.000,0.023,2899,2074,3064,3139,2989,0,0,0,0,0,0,26.43,26.36,26.44,8.32,41.33
$GC,1337,-0.75,-244.4,2899,2073,3138,2989,140.8,-11.1,140,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2073,3063,3138,2989,0,0,0,0,0,0,26.70,26.70,26.70,8.32,40.90
$GC,1517,-0.75,-244.4,2899,2073,3139,2989,160.1,-10.5,158,1525,0.00,2.17,0.00,0.000,260,0.000,0.042,2899,3474,3063,3138,2989,0,0,0,0,0,0,26.72,26.29,26.73,8.32,41.02
$GC,1552,-0.75,-244.4,2899,3474,3138,2989,163.3,-10.5,161,1558,0.00,2.03,0.00,0.000,1030,0.000,0.023,2899,2082,3063,3138,2989,0,0,0,0,0,0,26.48,26.41,26.50,8.33,41.29
$STATE,1576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1576,begin apogee
$GC,1583,-0.22,0.0,2899,2082,3138,2989,166.3,-10.1,164,1789,0.50,0.00,196.73,0.749,10246,0.110,0.000,3077,2082,2063,2112,2014,0,0,0,0,0,0,26.13,24.78,24.23,8.33,41.29
$STATE,1790,end apogee,CONTROL_FINISHED_OK
$STATE,1790,begin climb
$GC,1794,0.81,244.4,3076,2082,2112,2014,167.7,0.0,185,2005,0.90,2.35,199.95,0.718,10756,0.073,0.041,3394,696,1066,1126,1007,0,0,0,0,0,0,24.96,24.53,23.98,8.25,39.64
$GC,2144,0.81,244.4,3394,696,1124,1007,136.4,12.1,220,2149,0.00,2.15,0.00,0.000,1030,0.000,0.024,3394,2096,1065,1124,1007,0,0,0,0,0,0,25.49,25.43,25.51,8.18,39.28
$GC,2337,0.81,244.4,3393,2096,1123,1006,113.4,11.6,239,2341,0.00,2.25,0.00,0.000,516,0.000,0.041,3397,687,1065,1124,1006,0,0,0,0,0,0,26.09,25.75,26.10,8.18,40.35
$GC,2390,0.81,244.4,3396,686,1124,1006,107.1,12.1,244,2398,0.00,2.10,0.00,0.000,1030,0.000,0.025,3397,2083,1065,1124,1006,0,0,0,0,0,0,25.94,25.87,25.96,8.18,40.27
$GC,2580,0.81,244.4,3396,2083,1124,1006,85.2,11.1,263,2588,0.00,2.17,0.00,0.000,516,0.000,0.041,3400,691,1064,1123,1006,0,0,0,0,0,0,26.33,25.97,26.34,8.18,40.31
$GC,2652,0.81,244.4,3400,691,1123,1006,77.2,11.1,270,2656,0.00,2.08,0.00,0.000,1030,0.000,0.025,3400,2081,1065,1124,1006,0,0,0,0,0,0,26.15,26.08,26.17,8.17,39.95
$GC,2784,0.81,244.4,3400,2081,1124,1006,62.4,11.0,283,2793,0.00,2.20,0.00,0.000,516,0.000,0.041,3400,685,1065,1124,1006,0,0,0,0,0,0,26.44,26.08,26.45,8.17,40.39
$GC,2816,0.81,244.4,3400,686,1123,1007,58.9,10.8,286,2821,0.00,2.10,0.00,0.000,1030,0.000,0.025,3400,2095,1065,1124,1007,0,0,0,0,0,0,26.22,26.16,26.25,8.17,40.35
$GC,2949,0.81,244.4,3400,2095,1124,1006,45.2,9.6,299,2958,0.00,2.20,0.00,0.000,516,0.000,0.041,3400,691,1065,1124,1007,0,0,0,0,0,0,26.51,26.14,26.51,8.16,40.58
$GC,2974,0.81,244.4,3400,692,1124,1007,42.9,10.0,301,2980,0.00,2.05,0.00,0.000,1030,0.000,0.024,3400,2082,1065,1124,1007,0,0,0,0,0,0,26.28,26.22,26.30,8.16,40.54
$GC,3101,0.81,244.4,3400,2082,1124,1007,30.0,9.3,314,3105,0.00,2.17,0.00,0.000,516,0.000,0.042,3400,688,1065,1124,1006,0,0,0,0,0,0,26.55,26.18,26.56,8.16,40.31
$GC,3167,0.81,244.4,3400,688,1124,1007,24.2,8.8,320,3173,0.00,2.05,0.00,0.000,1030,0.000,0.024,3400,2083,1065,1123,1007,0,0,0,0,0,0,26.34,26.27,26.36,8.15,40.86
$GC,3297,0.97,399.2,3399,2083,1123,1007,14.7,5.7,340,3387,0.10,2.20,78.88,0.536,10500,0.083,0.037,3485,3467,434,436,432,0,0,0,0,0,0,26.38,25.46,24.96,8.15,39.80
$GC,3402,1.23,662.1,3484,3467,436,431,11.6,2.7,357,3416,0.10,2.10,7.47,0.440,11270,0.074,0.023,3578,2078,372,359,385,0,0,0,0,0,0,25.62,25.63,24.95,8.10,39.56
$GC,3482,1.75,1007.5,3578,2078,359,382,10.9,0.4,371,3490,0.30,2.20,0.00,0.000,2564,0.059,0.039,3709,690,370,359,382,0,0,0,0,0,0,25.72,25.70,25.76,8.09,39.32
$STATE,3565,end climb,NO_VERTICAL_VELOCITY
$STATE,3565,begin surface
$SM_CCo,3896,0.00,0.000,0,0,367,416.52
$SM_GC,12.26,9.43,2.15,0.00,0.046,0.026,0.000,209,2075,367,-9.14,-1.67,416.52,0,0,0,0,0,0,25.99,26.08,26.08
$IRIDIUM_FIX,4737.86,-12251.79,160218,135954
$TT8_MAMPS,0.026215,0.281624
$HUMID,40.66
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.5,7.7
$ALTIM_BOTTOM_PING,135.3,40.5
$24V_AH,23.98,27.418
$10V_AH,10.23,11.091
$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,22.300,64.200,483.025,0.000,0.000,0.000,0.000,210.000,5.000,0.000,15.526,949.341,1612.286,562.934,949.991,149.135,0.000,1260.478,0.000,725.612,0.000,33.127,0.000
$DEVICE_MAMPS,233.325,51.255,748.935,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.534,511.312,516.364,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312184
$DATA_FILE_SIZE,27924,387
$CAP_FILE_SIZE,65453,0
$CFSIZE,2097872896,2056093696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.164,57.79,1
$GPS,160218,161708,4738.853,-12253.293,3,0.9,21,16.4,0.6,58.6,11,4.8