version: 66.14
glider: 194
mission: 12
dive: 33
start: 2 1 118 17 16 40
data:
$ID,194
$MISSION,12
$DIVE,33
$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,75
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59218
$MASS_COMP,3867
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,180
$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,20
$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,3060
$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,47
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$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
$GPS1,010218,171155,4738.2568,-12255.7383,5,1.0,5,16.4,0.0,182.4,10,30.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.3
$GPS2,010218,171600,4738.2383,-12255.7490,5,0.8,5,16.4,0.0,0.0,11,17.3
$SPEED_LIMITS,0.173,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,4727.439,-12255.749
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.130422,-0.225494
$KALMAN_X,1708.906860,307.639221,-43.322227,-5148.233887,675.990723
$KALMAN_Y,2629.785156,-39.011032,-96.503487,-4231.506348,1461.860229
$MHEAD_RNG_PITCHd_Wd,163.6,20000,-9.6,-10.000,-14.21,5862
$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,-391.0,213,2095,393,345,0.0,0.0,0,39,0.00,0.00,-27.73,0.000,16386,0.000,0.000,212,2096,1153,1157,1149,0,0,0,0,0,0,26.11,28.83,26.13,8.06,38.62
$GC,42,-0.81,-391.0,212,2096,1157,1151,2.3,-2.6,5,140,10.95,2.25,-79.15,0.000,19204,0.257,0.056,2793,673,3660,3789,3532,0,0,0,0,0,0,25.57,25.37,25.82,8.13,38.18
$GC,156,-0.52,-391.0,2792,673,3791,3532,15.1,-24.8,24,163,0.30,2.15,0.00,0.000,3078,0.143,0.031,2886,2086,3662,3791,3533,0,0,0,0,0,0,25.79,25.93,25.94,8.34,38.54
$GC,232,-0.43,-391.0,2886,2086,3791,3532,27.8,-14.8,33,241,0.10,2.17,0.00,0.000,2308,0.148,0.047,2923,3475,3661,3791,3532,0,0,0,0,0,0,25.91,25.94,25.98,8.34,39.09
$GC,257,-0.38,-391.0,2923,3475,3791,3533,30.6,-13.1,35,264,0.00,2.10,0.00,0.000,1030,0.000,0.027,2923,2079,3662,3791,3533,0,0,0,0,0,0,26.08,26.02,26.10,8.34,38.58
$GC,384,-0.38,-391.0,2923,2079,3791,3533,44.5,-10.1,48,393,0.00,2.20,0.00,0.000,516,0.000,0.044,2924,682,3661,3791,3532,0,0,0,0,0,0,26.36,26.06,26.37,8.34,39.48
$GC,406,-0.38,-391.0,2923,682,3791,3532,46.6,-10.2,50,415,0.00,2.12,0.00,0.000,1030,0.000,0.030,2924,2075,3661,3791,3532,0,0,0,0,0,0,26.17,26.09,26.19,8.34,39.09
$GC,536,-0.38,-391.0,2923,2075,3791,3532,59.5,-9.4,63,545,0.00,2.22,0.00,0.000,260,0.000,0.047,2924,3492,3661,3791,3532,0,0,0,0,0,0,26.44,26.12,26.44,8.35,39.52
$GC,581,-0.38,-391.0,2923,3492,3791,3532,63.5,-9.4,67,588,0.00,2.12,0.00,0.000,1030,0.000,0.026,2923,2065,3662,3791,3533,0,0,0,0,0,0,26.25,26.19,26.27,8.35,39.52
$GC,708,-0.38,-391.0,2923,2065,3791,3532,75.6,-9.1,80,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2065,3661,3791,3532,0,0,0,0,0,0,26.50,26.51,26.51,8.36,39.76
$GC,828,-0.38,-391.0,2923,2065,3791,3532,86.8,-8.8,92,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2065,3661,3791,3532,0,0,0,0,0,0,26.53,26.55,26.55,8.35,40.43
$STATE,836,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,836,begin apogee
$GC,842,-0.22,0.0,2923,2065,3791,3533,87.7,-8.7,93,1160,0.15,0.00,308.58,0.704,10246,0.118,0.000,2986,2064,2064,2118,2010,0,0,0,0,0,0,26.19,24.69,24.18,8.35,39.99
$STATE,1161,end apogee,CONTROL_FINISHED_OK
$STATE,1161,begin climb
$GC,1163,0.81,391.0,2985,2064,2118,2009,106.6,0.0,125,1492,0.95,2.33,317.08,0.682,10756,0.103,0.048,3297,699,470,526,415,0,0,0,0,0,0,24.79,24.56,24.05,8.24,38.34
$GC,1583,0.99,523.6,3296,699,521,414,85.4,7.7,167,1611,0.15,2.17,20.08,0.626,11270,0.065,0.029,3384,2100,374,415,333,0,0,0,0,0,0,25.25,25.25,24.48,8.12,37.75
$GC,1733,0.94,523.6,3384,2099,414,332,67.5,12.3,182,1742,0.00,2.30,0.00,0.000,516,0.000,0.047,3384,689,372,414,331,0,0,0,0,0,0,25.75,25.46,25.76,8.11,38.06
$GC,1785,0.94,523.6,3383,690,413,332,61.3,11.7,187,1794,0.00,2.15,0.00,0.000,1030,0.000,0.029,3384,2080,372,413,332,0,0,0,0,0,0,25.67,25.60,25.69,8.11,38.14
$GC,1915,0.94,523.6,3384,2081,413,332,46.1,11.4,200,1922,0.00,2.22,0.00,0.000,516,0.000,0.047,3385,684,372,412,332,0,0,0,0,0,0,26.05,25.75,26.06,8.10,38.30
$GC,1990,0.94,523.6,3384,683,412,332,38.0,10.8,207,1999,0.00,2.12,0.00,0.000,1030,0.000,0.029,3384,2088,372,412,332,0,0,0,0,0,0,25.94,25.87,25.96,8.10,38.42
$GC,2120,0.88,523.6,3384,2088,412,332,23.4,11.1,220,2130,0.10,2.20,0.00,0.000,4612,0.138,0.047,3347,694,372,412,332,0,0,0,0,0,0,25.91,25.94,25.98,8.10,39.60
$GC,2195,1.02,655.9,3347,694,412,332,17.2,7.7,230,2203,0.05,2.10,0.00,0.000,3078,0.144,0.029,3396,2091,372,412,332,0,0,0,0,0,0,25.98,26.03,26.08,8.09,39.01
$GC,2266,0.95,655.9,3395,2091,411,332,9.9,10.6,243,2274,0.10,2.15,0.00,0.000,4356,0.138,0.041,3360,3475,372,412,332,0,0,0,0,0,0,26.01,26.04,26.07,8.09,39.60
$GC,2281,0.95,655.9,3359,3474,412,332,8.4,10.7,245,2288,0.00,2.10,0.00,0.000,1030,0.000,0.028,3360,2087,372,412,332,0,0,0,0,0,0,26.15,26.09,26.17,8.09,38.89
$GC,2352,1.35,986.2,3359,2086,412,332,4.6,4.2,258,2359,0.28,2.17,0.00,0.000,2308,0.059,0.039,3482,3485,372,412,332,0,0,0,0,0,0,26.12,26.08,26.16,8.09,38.69
$STATE,2380,end climb,SURFACE_DEPTH_REACHED
$STATE,2380,begin surface coast
$FINISH,0.7,1.008242
$STATE,2421,end surface coast,CONTROL_FINISHED_OK
$STATE,2421,begin surface
$SM_CCo,2503,0.00,0.000,0,0,371,415.54
$SM_GC,2.22,8.85,2.20,0.00,0.053,0.025,0.000,211,2062,371,-8.86,0.68,415.54,0,0,0,0,0,0,26.09,26.15,26.17
$IRIDIUM_FIX,4738.72,-12249.11,010218,164516
$TT8_MAMPS,0.026215,0.279377
$HUMID,39.01
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,50.6,51.2
$24V_AH,24.05,2.831
$10V_AH,10.35,0.936
$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,21.975,43.575,645.725,0.000,0.000,0.000,0.000,175.000,0.750,0.000,6.553,554.957,753.593,669.802,686.930,114.265,0.000,1252.365,0.000,514.919,0.000,7.206,0.000
$DEVICE_MAMPS,257.040,55.845,703.800,0.000,0.000,0.000,0.000,75.735,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.944,356.258,359.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312064
$DATA_FILE_SIZE,17627,271
$CAP_FILE_SIZE,49704,0
$CFSIZE,2097872896,2091352064
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1478.16,0x2367b8,1,24
$INTR,1,1915.05,0x2367b8,1,24
$WARN,PPS timeout
$GPS,010218,175911,4737.900,-12255.809,8,1.0,8,16.4,0.0,0.0,10,17.2