version: 66.14
glider: 194
mission: 12
dive: 45
start: 2 2 118 5 7 18
data:
$ID,194
$MISSION,12
$DIVE,45
$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,0
$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,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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,020218,050054,4738.9004,-12253.7119,8,0.9,31,16.4,0.5,59.4,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-60.9
$GPS2,020218,050609,4738.9473,-12253.6113,6,0.9,31,16.4,0.4,58.2,8,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_SW
$TGT_LATLONG,4737.800,-12256.050
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.234948,-0.224275
$KALMAN_X,1027.284302,569.193970,238.626755,-3206.817139,322.162292
$KALMAN_Y,1278.100830,633.893005,236.101990,-2528.884766,442.192993
$MHEAD_RNG_PITCHd_Wd,209.9,3712,-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,-244.4,215,2060,393,349,0.0,0.0,0,28,0.00,0.00,-17.45,0.000,16386,0.000,0.000,215,2060,852,867,838,0,0,0,0,0,0,26.34,28.83,26.34,8.07,38.85
$GC,31,-0.81,-244.4,215,2059,867,839,2.0,-0.5,3,128,10.20,0.00,-83.50,0.000,18694,0.236,0.000,2791,2059,3063,3134,2993,0,0,0,0,0,0,25.77,25.03,26.02,8.12,39.13
$GC,192,-0.60,-244.4,2790,2060,3134,2993,19.4,-23.5,32,200,0.22,2.15,0.00,0.000,2564,0.155,0.043,2864,686,3063,3134,2993,0,0,0,0,0,0,25.96,26.10,26.06,8.30,38.50
$GC,242,-0.48,-244.4,2863,686,3134,2993,28.1,-18.3,37,249,0.12,2.12,0.00,0.000,3078,0.152,0.030,2904,2102,3063,3134,2993,0,0,0,0,0,0,26.02,26.15,26.15,8.30,38.38
$GC,368,-0.48,-244.4,2903,2101,3134,2993,44.9,-12.1,50,372,0.00,2.15,0.00,0.000,260,0.000,0.045,2904,3481,3063,3133,2993,0,0,0,0,0,0,26.48,26.17,26.49,8.30,39.40
$GC,430,-0.48,-244.4,2903,3481,3134,2993,51.6,-10.2,56,439,0.00,2.10,0.00,0.000,1030,0.000,0.026,2904,2076,3063,3134,2993,0,0,0,0,0,0,26.31,26.25,26.32,8.30,39.60
$GC,560,-0.48,-244.4,2903,2076,3134,2993,66.4,-11.0,69,569,0.00,2.17,0.00,0.000,516,0.000,0.044,2903,683,3063,3134,2993,0,0,0,0,0,0,26.55,26.25,26.56,8.30,39.44
$GC,602,-0.48,-244.4,2903,683,3135,2994,71.5,-12.3,73,611,0.00,2.10,0.00,0.000,1030,0.000,0.030,2904,2096,3063,3134,2993,0,0,0,0,0,0,26.36,26.28,26.37,8.31,39.95
$GC,732,-0.48,-244.4,2903,2095,3134,2993,86.0,-11.0,86,741,0.00,2.12,0.00,0.000,260,0.000,0.044,2903,3477,3063,3134,2993,0,0,0,0,0,0,26.60,26.28,26.60,8.31,39.91
$GC,767,-0.48,-244.4,2903,3476,3134,2993,89.3,-10.5,89,774,0.00,2.08,0.00,0.000,1030,0.000,0.026,2904,2072,3063,3134,2993,0,0,0,0,0,0,26.40,26.34,26.42,8.31,39.99
$GC,894,-0.48,-244.4,2903,2073,3134,2993,102.2,-9.6,102,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2073,3063,3134,2993,0,0,0,0,0,0,26.63,26.64,26.64,8.32,40.07
$GC,1074,-0.48,-244.4,2904,2073,3134,2993,119.6,-9.4,120,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2073,3063,3134,2993,0,0,0,0,0,0,26.67,26.68,26.67,8.32,40.27
$GC,1254,-0.48,-244.4,2903,2073,3134,2993,136.6,-9.5,138,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2073,3063,3134,2993,0,0,0,0,0,0,26.70,26.71,26.71,8.33,40.15
$STATE,1312,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1312,begin apogee
$GC,1318,-0.22,0.0,2904,2073,3134,2993,142.3,-9.4,144,1524,0.22,0.00,197.10,0.747,10246,0.119,0.000,2990,2072,2063,2116,2011,0,0,0,0,0,0,26.33,24.76,24.21,8.33,39.99
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1525,begin climb
$GC,1529,0.81,244.4,2989,2072,2116,2011,143.4,0.0,165,1740,0.85,2.33,200.55,0.714,10756,0.055,0.045,3305,687,1066,1131,1001,0,0,0,0,0,0,24.96,24.51,24.13,8.25,38.62
$GC,1803,0.81,244.4,3304,687,1129,1001,127.6,8.1,192,1812,0.00,2.15,0.00,0.000,1030,0.000,0.028,3305,2083,1065,1129,1001,0,0,0,0,0,0,25.33,25.27,25.34,8.18,38.14
$GC,1994,0.89,326.3,3304,2082,1129,1001,112.5,7.7,211,2073,0.05,2.33,66.78,0.695,10756,0.145,0.044,3352,684,732,793,671,0,0,0,0,0,0,25.77,24.82,24.44,8.18,38.62
$GC,2149,0.89,326.3,3352,684,792,671,96.1,11.2,226,2156,0.00,2.15,0.00,0.000,1030,0.000,0.028,3353,2082,732,792,672,0,0,0,0,0,0,25.54,25.48,25.56,8.15,39.13
$GC,2276,0.89,326.3,3352,2082,792,671,82.5,10.1,239,2285,0.00,2.22,0.00,0.000,516,0.000,0.045,3353,690,731,792,671,0,0,0,0,0,0,25.99,25.70,26.00,8.16,39.05
$GC,2321,0.89,326.3,3352,690,792,671,78.1,10.7,243,2328,0.00,2.12,0.00,0.000,1030,0.000,0.028,3353,2090,731,792,671,0,0,0,0,0,0,25.87,25.81,25.89,8.15,39.05
$GC,2448,0.89,326.3,3352,2091,792,671,64.8,10.7,256,2457,0.00,2.25,0.00,0.000,516,0.000,0.045,3353,681,731,792,670,0,0,0,0,0,0,26.20,25.90,26.20,8.15,39.91
$GC,2503,0.89,326.3,3352,681,792,671,60.0,9.5,261,2510,0.00,2.12,0.00,0.000,1030,0.000,0.028,3353,2088,731,792,671,0,0,0,0,0,0,26.06,25.98,26.07,8.14,39.40
$GC,2630,0.89,326.3,3352,2088,792,671,47.2,9.6,274,2639,0.00,2.22,0.00,0.000,516,0.000,0.045,3353,680,731,792,671,0,0,0,0,0,0,26.34,26.03,26.34,8.14,38.93
$GC,2682,0.89,326.3,3352,680,792,670,42.1,10.0,279,2691,0.00,2.10,0.00,0.000,1030,0.000,0.028,3353,2088,731,792,671,0,0,0,0,0,0,26.17,26.10,26.19,8.14,39.09
$GC,2812,0.89,326.3,3352,2089,792,671,29.0,9.7,292,2821,0.00,2.22,0.00,0.000,516,0.000,0.046,3353,684,731,792,671,0,0,0,0,0,0,26.44,26.13,26.44,8.13,39.13
$GC,2847,0.89,326.3,3352,684,792,671,25.9,9.6,295,2854,0.00,2.10,0.00,0.000,1030,0.000,0.028,3353,2092,731,792,671,0,0,0,0,0,0,26.25,26.19,26.27,8.13,39.36
$GC,2977,0.89,326.3,3352,2092,792,671,14.8,8.6,314,2983,0.00,2.20,0.00,0.000,516,0.000,0.046,3352,690,731,792,671,0,0,0,0,0,0,26.50,26.20,26.51,8.13,39.44
$GC,3022,1.03,414.4,3352,690,792,671,11.3,7.6,322,3074,0.05,2.08,45.35,0.568,11270,0.142,0.028,3408,2088,372,393,351,0,0,0,0,0,0,26.20,26.25,25.15,8.13,39.44
$STATE,3109,end climb,SURFACE_DEPTH_REACHED
$STATE,3111,begin surface coast
$FINISH,1.1,1.006445
$STATE,3138,end surface coast,CONTROL_FINISHED_OK
$STATE,3138,begin surface
$SM_CCo,3217,0.00,0.000,0,0,370,415.54
$SM_GC,2.26,8.73,0.00,0.00,0.050,0.000,0.000,213,2090,370,-8.85,0.23,415.54,0,0,0,0,0,0,25.80,26.13,25.89
$IRIDIUM_FIX,4735.25,-12336.09,020218,040253
$TT8_MAMPS,0.026215,0.282373
$HUMID,39.05
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,76.0,76.2
$24V_AH,24.13,4.105
$10V_AH,10.34,1.284
$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,20.450,47.600,509.775,0.000,0.000,0.000,0.000,206.825,0.750,0.000,32.797,751.126,1234.453,586.464,851.398,130.175,33.441,1228.182,0.000,625.227,0.000,7.272,0.000
$DEVICE_MAMPS,236.385,45.900,746.640,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.685,452.605,457.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311916
$DATA_FILE_SIZE,24440,343
$CAP_FILE_SIZE,55970,0
$CFSIZE,2097872896,2090172416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,060230,4738.827,-12253.941,14,1.1,54,16.4,0.5,54.1,7,3.0