version: 66.14
glider: 194
mission: 12
dive: 34
start: 2 1 118 18 4 13
data:
$ID,194
$MISSION,12
$DIVE,34
$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,39
$R_STBD_OVSHOOT,50
$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
$GPS1,010218,175911,4737.8999,-12255.8086,8,1.0,8,16.4,0.0,0.0,10,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.9
$GPS2,010218,180334,4737.9233,-12255.7686,5,0.7,5,16.4,0.0,0.0,12,27.5
$SPEED_LIMITS,0.173,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,4727.125,-12255.769
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.81,-391.0,211,2059,402,339,0.0,0.0,0,31,0.00,0.00,-19.85,0.000,16386,0.000,0.000,210,2060,935,946,925,0,0,0,0,0,0,26.34,28.83,26.35,8.07,38.69
$GC,34,-0.81,-391.0,211,2060,946,927,2.1,-2.2,3,132,10.62,2.22,-78.60,0.000,18692,0.252,0.056,2791,3481,3660,3788,3533,0,0,0,0,0,0,25.76,25.54,26.02,8.12,38.81
$GC,225,-0.65,-391.0,2790,3481,3788,3533,30.4,-19.3,32,232,0.17,2.10,0.00,0.000,3078,0.137,0.027,2848,2074,3660,3788,3533,0,0,0,0,0,0,26.01,26.15,26.15,8.35,39.05
$GC,353,-0.55,-391.0,2848,2074,3788,3533,51.6,-15.4,45,363,0.10,2.17,0.00,0.000,2564,0.152,0.044,2885,673,3661,3789,3533,0,0,0,0,0,0,26.12,26.16,26.19,8.35,40.03
$GC,396,-0.55,-391.0,2885,673,3789,3533,57.5,-12.9,49,405,0.00,2.10,0.00,0.000,1030,0.000,0.030,2885,2074,3661,3789,3533,0,0,0,0,0,0,26.29,26.22,26.30,8.35,39.01
$GC,526,-0.55,-391.0,2885,2075,3789,3533,72.9,-12.0,62,535,0.00,2.20,0.00,0.000,260,0.000,0.046,2885,3480,3660,3788,3533,0,0,0,0,0,0,26.53,26.22,26.54,8.35,39.48
$GC,588,-0.55,-391.0,2885,3480,3788,3533,79.8,-10.8,68,597,0.00,2.10,0.00,0.000,1030,0.000,0.027,2885,2073,3660,3788,3533,0,0,0,0,0,0,26.36,26.29,26.37,8.36,39.40
$STATE,646,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,646,begin apogee
$GC,652,-0.22,0.0,2885,2073,3788,3533,86.7,-11.7,74,970,0.28,0.00,308.40,0.705,10246,0.113,0.000,2988,2072,2064,2119,2009,0,0,0,0,0,0,26.20,24.70,24.18,8.36,39.99
$STATE,971,end apogee,CONTROL_FINISHED_OK
$STATE,971,begin climb
$GC,973,0.81,391.0,2988,2072,2118,2008,106.2,0.0,106,1301,0.93,2.35,317.62,0.680,11012,0.100,0.047,3293,692,469,527,412,0,0,0,0,0,0,24.81,24.57,24.06,8.24,37.99
$GC,1365,1.08,600.1,3293,692,523,412,87.5,6.4,145,1392,0.25,2.17,20.10,0.625,11270,0.050,0.028,3413,2092,374,417,331,0,0,0,0,0,0,25.17,25.15,24.40,8.12,37.63
$GC,1513,0.99,600.1,3413,2092,415,331,68.7,13.4,160,1523,0.10,2.25,0.00,0.000,4612,0.140,0.047,3379,692,373,415,331,0,0,0,0,0,0,25.39,25.43,25.45,8.11,38.34
$GC,1558,0.93,600.1,3379,692,414,331,63.6,11.3,164,1566,0.00,2.12,0.00,0.000,1030,0.000,0.028,3379,2080,372,414,331,0,0,0,0,0,0,25.59,25.57,25.61,8.11,39.09
$GC,1686,0.93,600.1,3379,2080,413,331,49.2,10.8,177,1690,0.00,2.25,0.00,0.000,516,0.000,0.047,3379,691,372,413,331,0,0,0,0,0,0,26.02,25.72,26.03,8.11,38.46
$GC,1751,0.93,600.1,3379,691,413,331,42.6,10.5,183,1758,0.00,2.12,0.00,0.000,1030,0.000,0.028,3380,2087,372,413,331,0,0,0,0,0,0,25.91,25.84,25.93,8.11,38.69
$GC,1878,0.93,600.1,3379,2087,413,331,27.8,11.2,196,1887,0.00,2.25,0.00,0.000,516,0.000,0.048,3379,690,371,412,331,0,0,0,0,0,0,26.22,25.91,26.23,8.10,39.09
$GC,1923,0.93,600.1,3379,690,413,331,23.4,10.7,200,1930,0.00,2.10,0.00,0.000,1030,0.000,0.028,3380,2087,371,412,331,0,0,0,0,0,0,26.06,26.00,26.08,8.10,39.25
$GC,2054,0.93,600.1,3379,2087,413,331,10.1,8.8,222,2061,0.00,2.22,0.00,0.000,516,0.000,0.048,3380,691,371,412,331,0,0,0,0,0,0,26.34,26.03,26.34,8.10,39.17
$GC,2146,1.34,929.5,3379,691,412,331,5.2,4.3,239,2153,0.25,2.10,0.00,0.000,3078,0.050,0.028,3504,2098,371,412,331,0,0,0,0,0,0,26.15,26.13,26.20,8.09,39.32
$STATE,2178,end climb,SURFACE_DEPTH_REACHED
$STATE,2178,begin surface coast
$FINISH,0.6,1.016263
$STATE,2220,end surface coast,CONTROL_FINISHED_OK
$STATE,2222,begin surface
$SM_CCo,2301,0.00,0.000,0,0,371,415.54
$SM_GC,2.52,8.88,0.00,0.00,0.050,0.000,0.000,209,2098,371,-8.86,0.45,415.54,0,0,0,0,0,0,26.10,26.44,26.19
$IRIDIUM_FIX,4738.33,-12256.21,010218,171310
$TT8_MAMPS,0.026964,0.281624
$HUMID,39.32
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.2
$ALTIM_BOTTOM_PING,50.1,51.1
$24V_AH,24.06,2.960
$10V_AH,10.35,0.959
$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,21.575,34.850,646.125,0.000,0.000,0.000,0.000,181.500,0.750,0.000,6.370,511.145,646.858,657.608,661.260,106.996,0.000,1213.691,0.000,484.744,0.000,7.205,0.000
$DEVICE_MAMPS,251.685,55.845,704.565,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,167.811,332.497,336.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312012
$DATA_FILE_SIZE,17647,253
$CAP_FILE_SIZE,43017,0
$CFSIZE,2097872896,2091253760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2841.34,0x2139aa,7,24
$GPS,010218,184319,4737.610,-12255.822,5,1.1,5,16.4,0.0,0.0,9,76.7