version: 66.14
glider: 194
mission: 12
dive: 354
start: 2 16 118 17 38 38
data:
$ID,194
$MISSION,12
$DIVE,354
$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,45
$R_STBD_OVSHOOT,71
$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
$GPS1,160218,173212,4738.8970,-12253.3018,4,1.0,30,16.4,0.7,66.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.65
$_SM_ANGLEo,-70.7
$GPS2,160218,173800,4738.9688,-12253.1309,8,0.9,36,16.4,0.6,61.1,10,5.0
$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,219.5,2612,-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,9,-0.81,-244.4,209,2049,356,375,0.0,0.0,0,17,0.00,0.00,-6.10,0.000,16386,0.000,0.000,209,2048,538,527,550,0,0,0,0,0,0,26.34,28.83,26.35,8.07,40.07
$GC,20,-0.81,-244.4,209,2048,527,551,12.3,0.0,1,124,10.88,2.25,-85.25,0.000,18692,0.237,0.055,2882,3454,3063,3138,2989,0,0,0,0,0,0,25.48,24.34,25.84,8.08,39.95
$GC,144,-0.63,-244.4,2882,3454,3138,2990,19.1,-9.0,21,153,0.20,2.05,0.00,0.000,3078,0.144,0.023,2946,2071,3064,3139,2990,0,0,0,0,0,0,25.77,26.08,25.96,8.29,39.64
$GC,211,-0.63,-244.4,2945,2071,3139,2990,27.8,-12.4,28,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2071,3065,3140,2990,0,0,0,0,0,0,26.41,26.43,26.42,8.29,39.88
$GC,331,-0.63,-244.4,2945,2071,3140,2989,41.1,-10.9,40,341,0.00,2.15,0.00,0.000,516,0.000,0.039,2946,689,3064,3140,2989,0,0,0,0,0,0,26.48,26.10,26.48,8.29,40.94
$GC,375,-0.63,-244.4,2946,689,3140,2990,45.5,-10.3,44,384,0.00,2.05,0.00,0.000,1030,0.000,0.026,2947,2055,3064,3140,2989,0,0,0,0,0,0,26.25,26.17,26.27,8.29,41.02
$GC,505,-0.63,-244.4,2945,2055,3140,2990,57.6,-9.2,57,514,0.00,2.20,0.00,0.000,260,0.000,0.042,2946,3481,3064,3139,2989,0,0,0,0,0,0,26.54,26.14,26.55,8.30,41.06
$GC,570,-0.68,-244.4,2945,3481,3139,2990,63.1,-8.6,63,577,0.00,2.08,0.00,0.000,1030,0.000,0.023,2946,2071,3065,3140,2990,0,0,0,0,0,0,26.32,26.26,26.34,8.30,40.86
$GC,697,-0.68,-244.4,2945,2071,3140,2990,74.1,-8.5,76,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2070,3065,3140,2990,0,0,0,0,0,0,26.60,26.60,26.60,8.30,40.51
$GC,818,-0.73,-244.4,2945,2071,3140,2990,84.5,-9.2,88,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2071,3064,3140,2989,0,0,0,0,0,0,26.63,26.64,26.63,8.30,41.77
$GC,938,-0.79,-244.4,2945,2071,3140,2989,95.5,-8.5,100,948,0.08,2.17,0.00,0.000,4356,0.109,0.040,2892,3479,3064,3139,2989,0,0,0,0,0,0,26.41,26.24,26.44,8.31,41.25
$GC,961,-0.79,-244.4,2891,3479,3139,2989,97.8,-9.0,102,971,0.00,2.08,0.00,0.000,1030,0.000,0.023,2892,2074,3064,3139,2989,0,0,0,0,0,0,26.41,26.34,26.43,8.31,41.29
$GC,1094,-0.79,-244.4,2891,2074,3139,2990,112.4,-11.2,115,1098,0.00,2.12,0.00,0.000,516,0.000,0.039,2892,689,3064,3139,2989,0,0,0,0,0,0,26.67,26.28,26.68,8.31,41.14
$GC,1118,-0.79,-244.4,2891,689,3140,2989,115.3,-11.2,117,1125,0.00,2.08,0.00,0.000,1030,0.000,0.026,2892,2096,3064,3140,2989,0,0,0,0,0,0,26.41,26.32,26.43,8.31,40.90
$GC,1307,-0.79,-244.4,2891,2096,3139,2989,136.2,-10.9,136,1315,0.00,2.12,0.00,0.000,260,0.000,0.042,2892,3476,3064,3139,2989,0,0,0,0,0,0,26.70,26.27,26.71,8.33,41.92
$GC,1391,-0.79,-244.4,2891,3476,3139,2989,144.7,-10.1,144,1398,0.00,2.05,0.00,0.000,1030,0.000,0.023,2892,2073,3064,3139,2989,0,0,0,0,0,0,26.46,26.39,26.48,8.33,41.17
$STATE,1526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1526,begin apogee
$GC,1533,-0.22,0.0,2891,2073,3139,2989,159.5,-10.9,158,1739,0.52,0.00,197.15,0.744,10246,0.109,0.000,3078,2073,2064,2113,2015,0,0,0,0,0,0,26.12,24.63,24.24,8.32,40.94
$STATE,1740,end apogee,CONTROL_FINISHED_OK
$STATE,1740,begin climb
$GC,1744,0.81,244.4,3077,2073,2113,2014,165.4,0.0,179,1955,0.90,2.30,200.57,0.715,10756,0.073,0.039,3392,695,1066,1127,1006,0,0,0,0,0,0,24.95,24.36,23.99,8.25,39.40
$GC,2008,0.81,244.4,3391,696,1126,1006,143.9,12.3,205,2018,0.00,2.17,0.00,0.000,1030,0.000,0.024,3392,2093,1065,1125,1006,0,0,0,0,0,0,25.15,25.10,25.18,8.18,38.69
$GC,2198,0.81,244.4,3392,2093,1125,1005,122.0,11.4,224,2208,0.00,2.25,0.00,0.000,516,0.000,0.041,3392,691,1065,1125,1005,0,0,0,0,0,0,25.95,25.62,25.96,8.18,39.95
$GC,2281,0.81,244.4,3392,691,1126,1005,112.8,11.0,232,2291,0.00,2.10,0.00,0.000,1030,0.000,0.024,3392,2085,1065,1125,1005,0,0,0,0,0,0,25.87,25.81,25.89,8.17,39.99
$GC,2471,0.81,244.4,3392,2085,1125,1005,93.1,10.1,251,2481,0.00,2.20,0.00,0.000,516,0.000,0.041,3392,693,1065,1125,1005,0,0,0,0,0,0,26.29,25.94,26.29,8.18,40.03
$GC,2554,0.81,244.4,3392,693,1125,1005,84.5,10.8,259,2563,0.00,2.08,0.00,0.000,1030,0.000,0.024,3392,2080,1065,1125,1005,0,0,0,0,0,0,26.13,26.06,26.15,8.17,40.03
$GC,2684,0.81,244.4,3391,2080,1125,1005,70.4,11.3,272,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2081,1065,1125,1005,0,0,0,0,0,0,26.42,26.43,26.43,8.17,40.27
$GC,2804,0.81,244.4,3392,2081,1125,1005,57.4,10.5,284,2813,0.00,2.17,0.00,0.000,516,0.000,0.041,3393,689,1065,1125,1006,0,0,0,0,0,0,26.48,26.11,26.48,8.17,39.91
$GC,2879,0.81,244.4,3392,688,1126,1006,49.7,10.8,291,2886,0.00,2.08,0.00,0.000,1030,0.000,0.025,3393,2091,1065,1125,1006,0,0,0,0,0,0,26.27,26.21,26.29,8.17,40.43
$GC,3007,0.81,244.4,3392,2091,1125,1006,36.0,10.8,304,3015,0.00,2.12,0.00,0.000,260,0.000,0.038,3393,3478,1066,1126,1006,0,0,0,0,0,0,26.54,26.18,26.55,8.16,40.58
$GC,3031,0.81,244.4,3392,3478,1125,1006,33.6,11.0,306,3038,0.00,2.05,0.00,0.000,1030,0.000,0.023,3400,2089,1065,1125,1006,0,0,0,0,0,0,26.32,26.26,26.34,8.16,40.19
$GC,3159,0.81,244.4,3399,2089,1125,1006,22.0,8.2,319,3168,0.00,2.20,0.00,0.000,516,0.000,0.041,3400,677,1065,1125,1006,0,0,0,0,0,0,26.58,26.21,26.59,8.15,40.47
$GC,3309,1.25,624.9,3400,677,1126,1006,13.2,-0.6,346,3406,0.32,2.08,86.45,0.535,11270,0.044,0.024,3562,2104,371,353,389,0,0,0,0,0,0,26.34,26.33,24.92,8.14,40.62
$GC,3470,1.81,979.5,3561,2104,353,385,11.0,0.2,374,3478,0.38,2.25,0.00,0.000,2564,0.048,0.038,3731,685,369,353,385,0,0,0,0,0,0,25.70,25.67,25.74,8.09,39.32
$STATE,3569,end climb,NO_VERTICAL_VELOCITY
$STATE,3569,begin surface
$SM_CCo,3900,0.00,0.000,0,0,366,416.76
$SM_GC,12.31,9.43,2.12,0.00,0.043,0.025,0.000,212,2064,366,-9.13,-2.21,416.76,0,0,0,0,0,0,26.01,26.08,26.08
$IRIDIUM_FIX,4737.86,-12251.79,160218,161840
$TT8_MAMPS,0.026215,0.315329
$HUMID,40.70
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.9,8.4
$ALTIM_BOTTOM_PING,105.6,62.9
$24V_AH,23.99,27.619
$10V_AH,10.23,11.155
$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,22.700,55.575,484.175,0.000,0.000,0.000,0.000,228.450,4.000,0.000,37.402,934.753,1644.417,594.653,947.511,147.122,0.000,1288.899,0.000,696.021,0.000,14.893,0.000
$DEVICE_MAMPS,237.150,55.080,744.345,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.194,519.065,524.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312188
$DATA_FILE_SIZE,27925,393
$CAP_FILE_SIZE,62549,0
$CFSIZE,2097872896,2055897088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,55.53,1
$GPS,160218,184436,4738.990,-12253.286,4,0.8,17,16.4,0.7,59.1,10,4.8