version: 66.14
glider: 194
mission: 12
dive: 378
start: 2 17 118 22 25 37
data:
$ID,194
$MISSION,12
$DIVE,378
$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,37
$R_STBD_OVSHOOT,62
$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
$GPS1,170218,221750,4739.2656,-12253.2471,4,0.9,15,16.4,0.8,48.7,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.22
$_SM_ANGLEo,-60.2
$GPS2,170218,222459,4739.3413,-12253.1172,6,0.9,16,16.4,0.8,42.0,9,4.9
$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,210.8,3090,-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,-244.4,193,2090,351,379,0.0,0.0,0,17,0.00,0.00,-6.35,0.000,16386,0.000,0.000,192,2090,535,522,549,0,0,0,0,0,0,26.34,28.83,26.35,8.07,40.11
$GC,20,-0.81,-244.4,194,2089,522,549,12.4,0.0,1,156,10.25,2.15,-117.72,0.000,19204,0.211,0.052,2888,3473,3062,3136,2988,0,0,0,0,0,0,25.60,25.39,25.87,8.09,40.35
$GC,221,-0.72,-244.4,2887,3473,3137,2989,23.1,-11.8,34,232,0.08,2.08,0.00,0.000,3078,0.149,0.024,2914,2070,3062,3136,2989,0,0,0,0,0,0,25.89,26.12,25.97,8.30,39.68
$GC,352,-0.72,-244.4,2914,2069,3137,2989,37.9,-11.1,47,361,0.00,2.12,0.00,0.000,516,0.000,0.041,2914,681,3063,3137,2989,0,0,0,0,0,0,26.49,26.11,26.50,8.30,41.06
$GC,406,-0.72,-244.4,2914,682,3137,2989,44.1,-12.1,52,414,0.00,2.08,0.00,0.000,1030,0.000,0.027,2914,2074,3063,3137,2989,0,0,0,0,0,0,26.25,26.16,26.27,8.30,40.90
$GC,534,-0.72,-244.4,2914,2074,3137,2989,58.5,-10.9,65,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2075,3062,3136,2989,0,0,0,0,0,0,26.55,26.57,26.56,8.30,40.47
$GC,654,-0.72,-244.4,2914,2074,3137,2989,71.4,-10.7,77,663,0.00,2.15,0.00,0.000,260,0.000,0.042,2914,3469,3063,3137,2989,0,0,0,0,0,0,26.59,26.20,26.60,8.31,40.94
$GC,709,-0.72,-244.4,2914,3469,3137,2989,76.7,-10.1,82,717,0.00,2.05,0.00,0.000,1030,0.000,0.023,2914,2075,3063,3137,2989,0,0,0,0,0,0,26.36,26.29,26.37,8.31,40.82
$GC,836,-0.72,-244.4,2914,2075,3137,2989,90.0,-9.8,95,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2075,3063,3137,2989,0,0,0,0,0,0,26.63,26.64,26.64,8.31,41.57
$GC,957,-0.72,-244.4,2914,2075,3137,2989,101.4,-9.5,107,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2074,3063,3137,2989,0,0,0,0,0,0,26.65,26.66,26.66,8.32,41.80
$GC,1136,-0.72,-244.4,2914,2075,3137,2989,119.6,-10.5,125,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2074,3063,3137,2989,0,0,0,0,0,0,26.69,26.70,26.70,8.32,41.65
$GC,1317,-0.72,-244.4,2914,2075,3137,2989,138.2,-10.1,143,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2075,3063,3137,2989,0,0,0,0,0,0,26.71,26.72,26.72,8.33,42.00
$STATE,1434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1434,begin apogee
$GC,1440,-0.22,0.0,2914,2075,3137,2988,150.0,-9.6,155,1645,0.45,0.00,196.27,0.744,10246,0.101,0.000,3080,2074,2063,2114,2013,0,0,0,0,0,0,26.14,24.79,24.23,8.32,41.37
$STATE,1647,end apogee,CONTROL_FINISHED_OK
$STATE,1647,begin climb
$GC,1651,0.81,244.4,3080,2074,2113,2013,155.5,0.0,176,1862,0.88,2.30,199.93,0.715,11012,0.073,0.040,3387,688,1066,1126,1006,0,0,0,0,0,0,24.95,24.37,23.98,8.25,39.80
$GC,1888,0.81,244.4,3387,688,1126,1006,141.4,10.5,199,1896,0.00,2.17,0.00,0.000,1030,0.000,0.024,3387,2084,1065,1125,1006,0,0,0,0,0,0,24.99,24.94,25.01,8.19,39.48
$GC,2075,0.81,244.4,3387,2084,1125,1004,121.3,11.2,218,2085,0.00,2.22,0.00,0.000,516,0.000,0.041,3387,692,1064,1125,1004,0,0,0,0,0,0,25.90,25.57,25.91,8.19,40.39
$GC,2158,0.81,244.4,3387,692,1125,1003,111.5,12.1,226,2167,0.00,2.12,0.00,0.000,1030,0.000,0.025,3387,2093,1064,1125,1004,0,0,0,0,0,0,25.84,25.77,25.86,8.18,40.35
$GC,2348,0.81,244.4,3387,2094,1124,1004,90.2,10.7,245,2357,0.00,2.22,0.00,0.000,516,0.000,0.041,3387,691,1064,1125,1004,0,0,0,0,0,0,26.27,25.91,26.28,8.17,40.35
$GC,2421,0.81,244.4,3387,691,1125,1004,82.3,10.9,252,2429,0.00,2.08,0.00,0.000,1030,0.000,0.025,3387,2084,1064,1125,1004,0,0,0,0,0,0,26.06,26.04,26.10,8.17,40.03
$GC,2551,0.81,244.4,3387,2084,1124,1004,67.8,11.0,265,2560,0.00,2.20,0.00,0.000,516,0.000,0.041,3387,691,1064,1124,1004,0,0,0,0,0,0,26.41,26.04,26.41,8.17,40.58
$GC,2566,0.81,244.4,3387,691,1125,1004,66.8,11.1,266,2573,0.00,2.08,0.00,0.000,1030,0.000,0.024,3387,2089,1064,1125,1004,0,0,0,0,0,0,26.18,26.12,26.20,8.17,40.62
$GC,2694,0.81,244.4,3387,2088,1124,1004,52.3,10.5,279,2703,0.00,2.20,0.00,0.000,516,0.000,0.041,3387,690,1064,1125,1004,0,0,0,0,0,0,26.48,26.10,26.48,8.16,41.17
$GC,2747,0.81,244.4,3387,690,1125,1005,47.1,9.6,284,2756,0.00,2.05,0.00,0.000,1030,0.000,0.025,3387,2073,1064,1124,1004,0,0,0,0,0,0,26.22,26.20,26.25,8.16,40.35
$GC,2877,0.81,244.4,3387,2073,1124,1004,34.3,9.5,297,2886,0.00,2.17,0.00,0.000,516,0.000,0.041,3387,690,1064,1124,1004,0,0,0,0,0,0,26.53,26.15,26.55,8.16,40.70
$GC,2922,0.81,244.4,3387,690,1125,1005,30.1,9.8,301,2930,0.00,2.08,0.00,0.000,1030,0.000,0.025,3388,2093,1065,1125,1005,0,0,0,0,0,0,26.31,26.25,26.33,8.16,40.58
$GC,3050,0.81,244.4,3387,2093,1125,1004,17.4,9.7,316,3057,0.00,2.20,0.00,0.000,516,0.000,0.042,3387,684,1065,1125,1005,0,0,0,0,0,0,26.58,26.20,26.59,8.16,41.17
$GC,3126,1.03,462.0,3387,684,1124,1005,12.3,4.0,330,3221,0.20,2.08,85.50,0.527,11270,0.052,0.024,3507,2107,372,356,389,0,0,0,0,0,0,26.30,26.30,24.91,8.15,40.54
$GC,3287,1.63,824.2,3507,2107,356,384,11.4,-0.0,358,3294,0.38,2.25,0.00,0.000,2564,0.068,0.038,3655,693,370,357,384,0,0,0,0,0,0,25.65,25.66,25.69,8.09,40.03
$STATE,3299,end climb,NO_VERTICAL_VELOCITY
$STATE,3300,begin surface
$SM_CCo,3630,0.00,0.000,0,0,368,416.27
$SM_GC,12.47,9.15,2.12,0.00,0.037,0.025,0.000,213,2061,368,-9.13,-2.12,416.27,0,0,0,0,0,0,25.95,26.03,26.03
$IRIDIUM_FIX,4741.52,-12250.84,170218,211434
$TT8_MAMPS,0.026215,0.280126
$HUMID,40.62
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,8.0
$ALTIM_BOTTOM_PING,100.5,58.8
$24V_AH,23.98,29.849
$10V_AH,10.22,11.890
$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,21.375,47.175,481.700,0.000,0.000,0.000,0.000,195.091,1.500,0.000,17.231,827.479,1624.860,589.906,907.176,131.128,0.000,1304.483,0.000,633.920,0.000,10.383,0.000
$DEVICE_MAMPS,211.140,52.020,744.345,0.000,0.000,0.000,0.000,223.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.303,475.029,480.380,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,24559,360
$CAP_FILE_SIZE,57274,0
$CFSIZE,2097872896,2053537792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,69.60,1
$GPS,170218,232706,4739.101,-12253.435,4,0.8,18,16.4,0.6,65.4,10,4.6