version: 66.14
glider: 194
mission: 12
dive: 356
start: 2 16 118 20 0 59
data:
$ID,194
$MISSION,12
$DIVE,356
$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,46
$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
$GPS1,160218,195455,4739.0249,-12253.4141,4,0.9,44,16.4,0.6,57.2,8,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.41
$_SM_ANGLEo,-67.3
$GPS2,160218,200020,4739.0659,-12253.2100,8,1.0,17,16.4,0.7,57.1,8,5.0
$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,216.5,2650,-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,-244.4,215,2082,349,382,0.0,0.0,0,16,0.00,0.00,-5.53,0.000,16386,0.000,0.000,215,2082,521,506,536,0,0,0,0,0,0,26.32,28.83,26.34,8.06,39.64
$GC,19,-0.81,-244.4,215,2082,506,536,12.4,0.0,1,134,10.62,2.22,-94.80,0.000,18692,0.229,0.059,2887,3488,3064,3141,2987,0,0,0,0,0,0,25.52,24.38,25.84,8.08,40.03
$GC,154,-0.73,-244.4,2887,3488,3141,2988,17.3,-9.6,23,161,0.10,2.10,0.00,0.000,3078,0.167,0.023,2918,2066,3064,3141,2988,0,0,0,0,0,0,25.82,26.08,25.98,8.29,39.44
$GC,225,-0.65,-244.4,2917,2065,3141,2988,27.4,-14.6,31,229,0.00,2.12,0.00,0.000,516,0.000,0.039,2918,690,3065,3142,2988,0,0,0,0,0,0,26.41,26.06,26.43,8.29,40.15
$GC,297,-0.60,-244.4,2917,690,3141,2988,36.9,-12.3,38,302,0.12,2.10,0.00,0.000,3078,0.144,0.026,2960,2095,3064,3141,2988,0,0,0,0,0,0,25.91,26.12,26.07,8.30,40.43
$GC,431,-0.60,-244.4,2959,2095,3142,2988,50.1,-9.3,51,435,0.00,2.15,0.00,0.000,260,0.000,0.043,2960,3464,3064,3141,2988,0,0,0,0,0,0,26.51,26.10,26.52,8.29,40.31
$GC,494,-0.67,-244.4,2959,3464,3142,2988,55.3,-8.1,57,502,0.00,2.03,0.00,0.000,1030,0.000,0.023,2960,2086,3064,3141,2988,0,0,0,0,0,0,26.27,26.24,26.29,8.30,40.35
$GC,624,-0.73,-244.4,2959,2085,3141,2989,66.0,-7.5,70,629,0.08,2.15,0.00,0.000,4612,0.110,0.037,2901,686,3064,3141,2988,0,0,0,0,0,0,26.34,26.20,26.36,8.30,40.86
$GC,660,-0.73,-244.4,2901,686,3142,2988,69.5,-9.5,73,667,0.00,2.08,0.00,0.000,1030,0.000,0.026,2901,2089,3064,3141,2988,0,0,0,0,0,0,26.32,26.24,26.34,8.30,40.66
$GC,788,-0.73,-244.4,2900,2089,3141,2988,83.5,-10.9,86,792,0.00,2.15,0.00,0.000,260,0.000,0.043,2901,3479,3064,3141,2988,0,0,0,0,0,0,26.61,26.20,26.62,8.31,41.53
$GC,860,-0.73,-244.4,2900,3479,3142,2988,91.1,-10.3,93,869,0.00,2.08,0.00,0.000,1030,0.000,0.023,2901,2075,3064,3141,2988,0,0,0,0,0,0,26.39,26.32,26.40,8.31,41.25
$GC,990,-0.73,-244.4,2900,2074,3141,2988,105.4,-11.0,106,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2074,3064,3141,2988,0,0,0,0,0,0,26.65,26.66,26.66,8.31,41.17
$GC,1170,-0.73,-244.4,2900,2074,3141,2988,124.4,-10.5,124,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2074,3064,3141,2988,0,0,0,0,0,0,26.68,26.69,26.69,8.32,40.82
$GC,1350,-0.73,-244.4,2900,2074,3141,2988,142.9,-10.6,142,1355,0.00,2.17,0.00,0.000,260,0.000,0.042,2901,3476,3064,3141,2988,0,0,0,0,0,0,26.71,26.29,26.72,8.33,41.80
$GC,1393,-0.73,-244.4,2900,3476,3141,2988,147.2,-10.0,146,1397,0.00,2.05,0.00,0.000,1030,0.000,0.023,2901,2082,3064,3141,2988,0,0,0,0,0,0,26.47,26.40,26.48,8.33,41.29
$STATE,1503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1503,begin apogee
$GC,1509,-0.22,0.0,2901,2082,3141,2988,158.7,-10.1,157,1716,0.47,0.00,197.20,0.745,10246,0.104,0.000,3073,2082,2063,2113,2013,0,0,0,0,0,0,26.14,24.61,24.24,8.32,41.14
$STATE,1717,end apogee,CONTROL_FINISHED_OK
$STATE,1717,begin climb
$GC,1721,0.81,244.4,3073,2082,2113,2013,164.1,0.0,178,1932,0.90,2.33,200.15,0.715,10756,0.076,0.040,3389,694,1066,1127,1005,0,0,0,0,0,0,24.95,24.37,23.99,8.26,39.40
$GC,1993,0.81,244.4,3388,694,1125,1006,143.4,11.7,205,2000,0.00,2.15,0.00,0.000,1030,0.000,0.024,3389,2086,1065,1125,1006,0,0,0,0,0,0,25.20,25.14,25.22,8.19,39.09
$GC,2180,0.81,244.4,3388,2086,1124,1005,121.6,10.8,224,2184,0.00,2.22,0.00,0.000,516,0.000,0.041,3389,687,1064,1124,1004,0,0,0,0,0,0,25.96,25.63,25.96,8.18,40.54
$GC,2272,0.81,244.4,3388,687,1124,1004,111.4,11.2,233,2281,0.00,2.10,0.00,0.000,1030,0.000,0.025,3389,2082,1064,1125,1004,0,0,0,0,0,0,25.89,25.83,25.91,8.18,40.11
$GC,2462,0.81,244.4,3388,2082,1125,1004,90.3,11.2,252,2471,0.00,2.20,0.00,0.000,516,0.000,0.041,3389,685,1064,1125,1004,0,0,0,0,0,0,26.30,25.95,26.31,8.17,40.58
$GC,2527,0.81,244.4,3388,686,1125,1004,83.4,11.3,258,2533,0.00,2.08,0.00,0.000,1030,0.000,0.024,3389,2082,1064,1125,1004,0,0,0,0,0,0,26.13,26.06,26.14,8.17,40.27
$GC,2654,0.81,244.4,3388,2082,1124,1004,69.0,10.7,271,2659,0.00,2.17,0.00,0.000,516,0.000,0.041,3389,692,1064,1125,1004,0,0,0,0,0,0,26.42,26.06,26.42,8.17,40.47
$GC,2707,0.81,244.4,3388,692,1125,1005,63.0,11.3,276,2716,0.00,2.08,0.00,0.000,1030,0.000,0.024,3389,2087,1064,1124,1005,0,0,0,0,0,0,26.22,26.15,26.24,8.17,40.54
$GC,2837,0.81,244.4,3388,2087,1124,1004,50.2,9.3,289,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2088,1064,1124,1005,0,0,0,0,0,0,26.50,26.51,26.51,8.16,40.07
$GC,2957,0.81,244.4,3388,2088,1124,1005,38.5,9.8,301,2962,0.00,2.20,0.00,0.000,516,0.000,0.041,3388,686,1065,1125,1005,0,0,0,0,0,0,26.54,26.17,26.55,8.16,40.23
$GC,3063,0.81,244.4,3387,686,1124,1005,28.5,9.9,311,3070,0.00,2.08,0.00,0.000,1030,0.000,0.025,3389,2095,1065,1125,1005,0,0,0,0,0,0,26.34,26.27,26.36,8.15,40.27
$GC,3191,0.91,342.1,3388,2095,1125,1004,18.1,7.3,326,3248,0.10,2.20,49.95,0.545,11012,0.084,0.037,3478,3478,666,706,627,0,0,0,0,0,0,26.38,25.69,25.16,8.15,40.31
$GC,3299,1.17,659.3,3477,3478,706,625,11.6,1.2,344,3343,0.08,2.10,36.30,0.511,11270,0.096,0.023,3563,2072,372,357,387,0,0,0,0,0,0,25.84,25.88,24.96,8.11,40.23
$GC,3409,1.71,1010.3,3563,2071,357,383,11.0,0.3,363,3416,0.30,2.20,0.00,0.000,2564,0.056,0.040,3697,686,370,357,383,0,0,0,0,0,0,25.73,25.69,25.77,8.09,39.13
$STATE,3481,end climb,NO_VERTICAL_VELOCITY
$STATE,3481,begin surface
$SM_CCo,3812,0.00,0.000,0,0,367,416.52
$SM_GC,12.60,9.32,2.15,0.00,0.043,0.024,0.000,212,2086,367,-9.13,-1.72,416.52,0,0,0,0,0,0,26.01,26.08,26.08
$IRIDIUM_FIX,4737.86,-12251.79,160218,184611
$TT8_MAMPS,0.026215,0.280126
$HUMID,40.62
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.6,7.9
$ALTIM_BOTTOM_PING,101.0,67.0
$24V_AH,23.99,27.819
$10V_AH,10.23,11.216
$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,22.100,55.650,483.600,0.000,0.000,0.000,0.000,225.825,3.500,0.000,19.625,918.578,1625.163,556.545,917.543,141.887,0.000,1242.037,0.000,689.789,0.000,10.388,0.000
$DEVICE_MAMPS,228.735,58.905,745.110,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.718,498.123,503.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312196
$DATA_FILE_SIZE,28042,377
$CAP_FILE_SIZE,62096,0
$CFSIZE,2097872896,2055700480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.117,65.68,1
$GPS,160218,210546,4738.945,-12253.563,6,0.8,34,16.4,0.5,62.9,10,4.7