version: 66.14
glider: 194
mission: 12
dive: 40
start: 2 2 118 0 16 8
data:
$ID,194
$MISSION,12
$DIVE,40
$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,250
$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,1
$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,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,46
$R_STBD_OVSHOOT,56
$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,75
$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
$GPS1,020218,000919,4738.8496,-12252.8438,5,0.9,5,16.4,0.0,0.0,9,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-71.3
$GPS2,020218,001459,4738.8716,-12252.8057,5,1.2,5,16.4,0.0,0.0,6,22.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.118462,0.247542
$KALMAN_X,-662.510620,-324.676117,-102.007454,4311.590332,-131.641006
$KALMAN_Y,-1162.852539,-373.513153,-49.058342,3745.860107,-377.270447
$MHEAD_RNG_PITCHd_Wd,9.2,593,-16.3,-10.000,-20.02,2509
$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,-0.88,-165.5,194,2103,395,343,0.0,0.0,0,27,0.00,0.00,-16.73,0.000,16386,0.000,0.000,194,2103,833,843,824,0,0,0,0,0,0,26.27,28.83,26.27,8.07,39.48
$GC,31,-0.88,-165.5,194,2103,842,826,2.1,-1.1,3,112,10.80,2.28,-62.97,0.000,19204,0.256,0.054,2768,678,2742,2793,2692,0,0,0,0,0,0,25.67,24.89,25.94,8.11,39.56
$GC,369,-0.69,-165.5,2767,679,2793,2692,62.7,-19.7,47,378,0.17,2.10,0.00,0.000,3078,0.171,0.030,2827,2081,2743,2794,2692,0,0,0,0,0,0,26.00,26.17,26.10,8.28,39.13
$GC,499,-0.62,-165.5,2827,2082,2794,2691,83.0,-14.6,60,508,0.10,2.15,0.00,0.000,2308,0.167,0.044,2862,3479,2742,2793,2692,0,0,0,0,0,0,26.13,26.19,26.19,8.28,39.36
$GC,544,-0.62,-165.5,2862,3480,2793,2692,88.8,-12.9,64,551,0.00,2.08,0.00,0.000,1030,0.000,0.025,2862,2081,2742,2793,2691,0,0,0,0,0,0,26.32,26.25,26.34,8.29,39.95
$GC,671,-0.62,-165.5,2862,2080,2793,2691,104.2,-12.1,77,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2081,2742,2794,2691,0,0,0,0,0,0,26.55,26.57,26.56,8.29,39.68
$GC,851,-0.62,-165.5,2862,2080,2794,2691,125.5,-12.0,95,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2080,2742,2793,2691,0,0,0,0,0,0,26.61,26.62,26.62,8.29,39.64
$STATE,989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,989,begin apogee
$GC,995,-0.22,0.0,2862,2080,2793,2690,142.4,-12.1,109,1141,0.35,0.00,138.45,0.750,10246,0.124,0.000,2986,2080,2065,2119,2012,0,0,0,0,0,0,26.24,24.68,24.28,8.30,40.11
$STATE,1142,end apogee,CONTROL_FINISHED_OK
$STATE,1142,begin climb
$GC,1144,0.88,165.5,2986,2080,2118,2011,147.5,0.0,124,1294,0.98,2.35,138.38,0.722,10500,0.089,0.041,3320,3478,1388,1457,1320,0,0,0,0,0,0,24.96,24.73,24.17,8.25,38.89
$GC,1400,0.93,218.2,3319,3478,1457,1318,133.6,7.8,149,1450,0.05,2.15,43.42,0.702,11270,0.134,0.026,3374,2082,1173,1240,1106,0,0,0,0,0,0,25.43,25.48,24.42,8.20,38.73
$GC,1638,0.93,218.2,3373,2082,1239,1104,108.4,10.6,173,1647,0.00,2.25,0.00,0.000,516,0.000,0.047,3374,685,1171,1239,1104,0,0,0,0,0,0,25.96,25.66,25.96,8.19,39.05
$GC,1772,0.93,218.2,3374,686,1239,1104,93.0,11.8,186,1781,0.00,2.12,0.00,0.000,1030,0.000,0.029,3374,2088,1171,1239,1104,0,0,0,0,0,0,25.94,25.87,25.94,8.18,39.48
$GC,1901,0.93,218.2,3374,2088,1239,1104,78.9,10.7,199,1909,0.00,2.25,0.00,0.000,516,0.000,0.047,3376,676,1171,1239,1104,0,0,0,0,0,0,26.26,25.96,26.27,8.18,39.05
$GC,1955,0.93,218.2,3374,676,1238,1104,73.4,10.6,204,1962,0.00,2.12,0.00,0.000,1030,0.000,0.029,3376,2088,1171,1239,1104,0,0,0,0,0,0,26.10,26.03,26.12,8.18,39.21
$GC,2082,0.93,218.2,3375,2088,1238,1104,59.8,10.3,217,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2088,1171,1239,1104,0,0,0,0,0,0,26.38,26.39,26.39,8.17,39.99
$GC,2203,0.93,218.2,3375,2088,1238,1104,47.1,10.5,229,2211,0.00,2.22,0.00,0.000,516,0.000,0.047,3376,684,1171,1239,1104,0,0,0,0,0,0,26.44,26.13,26.45,8.17,38.93
$GC,2267,0.93,218.2,3375,684,1239,1105,40.3,10.7,235,2273,0.00,2.10,0.00,0.000,1030,0.000,0.028,3376,2087,1171,1238,1105,0,0,0,0,0,0,26.27,26.20,26.29,8.17,39.05
$GC,2395,0.93,218.2,3376,2087,1239,1104,26.3,10.6,248,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2087,1171,1238,1104,0,0,0,0,0,0,26.51,26.53,26.52,8.16,39.21
$GC,2515,0.99,281.7,3376,2087,1238,1104,14.4,7.4,265,2556,0.00,2.22,32.92,0.591,8708,0.000,0.047,3376,685,913,979,848,0,0,0,0,0,0,26.55,25.82,25.27,8.16,39.21
$GC,2601,1.20,401.7,3375,685,978,848,9.2,5.1,280,2671,0.12,2.12,60.53,0.554,11270,0.070,0.028,3458,2100,425,454,396,0,0,0,0,0,0,25.96,25.96,24.83,8.14,39.05
$STATE,2686,end climb,SURFACE_DEPTH_REACHED
$STATE,2686,begin surface coast
$FINISH,0.9,1.007526
$STATE,2724,end surface coast,CONTROL_FINISHED_OK
$STATE,2725,begin surface
$SM_CCo,2744,3.72,0.070,0,0,391,410.14
$SM_GC,3.48,8.88,0.00,3.72,0.047,0.000,0.070,215,2100,391,-8.84,0.51,410.14,0,0,0,0,0,0,25.59,25.88,25.58
$IRIDIUM_FIX,4740.06,-12250.84,010218,231228
$TT8_MAMPS,0.026964,0.279377
$HUMID,38.69
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.2
$ALTIM_BOTTOM_PING,75.6,76.4
$24V_AH,24.17,3.615
$10V_AH,10.35,1.145
$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,21.450,30.525,413.700,3.725,0.000,0.000,0.000,262.025,0.750,0.000,6.531,676.683,1038.446,453.368,801.722,141.549,33.440,1096.223,0.000,575.250,0.000,7.272,0.000
$DEVICE_MAMPS,256.275,53.550,750.465,70.380,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,203.821,398.676,402.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312032
$DATA_FILE_SIZE,21175,302
$CAP_FILE_SIZE,48232,0
$CFSIZE,2097872896,2090663936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,010248,4739.119,-12252.506,8,0.9,8,16.4,0.0,51.0,10,66.4