version: 66.14
glider: 194
mission: 12
dive: 63
start: 2 2 118 21 59 20
data:
$ID,194
$MISSION,12
$DIVE,63
$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,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,47
$R_STBD_OVSHOOT,55
$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
$GPS1,020218,215336,4739.0698,-12253.0166,9,0.9,29,16.4,0.4,75.8,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-71.1
$GPS2,020218,215809,4739.0947,-12252.9385,7,0.8,17,16.4,0.5,62.0,9,4.4
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.061677,-0.161852
$KALMAN_X,5651.885254,-377.382782,163.795914,-5961.253418,497.475433
$KALMAN_Y,3875.456055,-553.997925,-171.976379,-3249.895264,214.658020
$MHEAD_RNG_PITCHd_Wd,184.5,470,-27.2,-10.000,-30.00,962
$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,-1.25,-63.1,209,2091,332,403,0.0,0.0,0,17,0.00,0.00,-6.25,0.000,16386,0.000,0.000,208,2090,555,538,572,0,0,0,0,0,0,26.18,28.83,26.19,8.07,39.48
$GC,20,-1.25,-63.1,209,2090,538,573,2.9,0.0,1,106,9.93,2.20,-66.03,0.000,18692,0.242,0.058,2651,3472,2325,2352,2298,0,0,0,0,0,0,25.58,24.75,25.85,8.08,39.44
$GC,175,-1.06,-63.1,2651,3472,2352,2298,18.1,-15.6,29,183,0.22,2.08,0.00,0.000,3078,0.188,0.024,2714,2073,2325,2352,2298,0,0,0,0,0,0,25.77,26.03,25.97,8.23,38.93
$GC,246,-0.94,-63.1,2714,2073,2352,2296,26.3,-11.5,37,256,0.10,2.15,0.00,0.000,2564,0.206,0.039,2746,678,2324,2352,2296,0,0,0,0,0,0,25.88,26.03,25.98,8.23,38.81
$GC,333,-0.84,-63.1,2745,678,2352,2294,37.8,-13.1,45,340,0.15,2.10,0.00,0.000,3078,0.187,0.028,2788,2081,2323,2352,2294,0,0,0,0,0,0,25.89,26.10,26.08,8.24,39.56
$GC,459,-0.84,-63.1,2788,2081,2352,2294,53.4,-12.1,58,468,0.00,2.17,0.00,0.000,260,0.000,0.044,2788,3472,2323,2352,2294,0,0,0,0,0,0,26.44,26.12,26.45,8.23,39.21
$GC,514,-0.84,-63.1,2787,3472,2352,2295,59.8,-12.1,63,521,0.00,2.05,0.00,0.000,1030,0.000,0.024,2788,2084,2323,2352,2294,0,0,0,0,0,0,26.27,26.20,26.28,8.24,39.25
$GC,645,-0.84,-63.1,2788,2084,2352,2293,75.9,-12.3,76,654,0.00,2.15,0.00,0.000,260,0.000,0.044,2788,3465,2322,2352,2293,0,0,0,0,0,0,26.50,26.19,26.51,8.25,39.40
$GC,690,-0.84,-63.1,2788,3466,2352,2293,81.5,-12.1,80,696,0.00,2.05,0.00,0.000,1030,0.000,0.024,2788,2076,2322,2352,2293,0,0,0,0,0,0,26.33,26.27,26.34,8.24,39.52
$GC,817,-0.84,-63.1,2788,2076,2352,2293,97.5,-12.3,93,825,0.00,2.12,0.00,0.000,516,0.000,0.041,2788,688,2322,2352,2292,0,0,0,0,0,0,26.56,26.26,26.57,8.25,39.95
$GC,851,-0.84,-63.1,2787,688,2352,2292,101.2,-12.1,96,858,0.00,2.08,0.00,0.000,1030,0.000,0.028,2788,2082,2322,2352,2292,0,0,0,0,0,0,26.36,26.28,26.38,8.24,40.15
$GC,1039,-0.89,-63.1,2788,2082,2352,2292,122.6,-10.9,115,1048,0.00,2.15,0.00,0.000,260,0.000,0.044,2788,3475,2322,2352,2292,0,0,0,0,0,0,26.61,26.29,26.63,8.26,40.15
$GC,1064,-0.94,-63.1,2788,3475,2352,2292,125.0,-10.6,117,1071,0.00,2.05,0.00,0.000,1030,0.000,0.024,2788,2075,2321,2351,2292,0,0,0,0,0,0,26.42,26.36,26.44,8.26,40.19
$STATE,1198,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1199,begin apogee
$GC,1205,-0.22,0.0,2788,2075,2352,2292,141.5,-12.2,131,1263,0.60,0.00,54.53,0.754,10246,0.144,0.000,2984,2075,2065,2098,2033,0,0,0,0,0,0,26.17,25.46,24.87,8.26,40.07
$STATE,1264,end apogee,CONTROL_FINISHED_OK
$STATE,1264,begin climb
$GC,1267,1.25,63.1,2984,2075,2098,2032,145.3,0.0,137,1331,1.33,2.28,55.88,0.737,10500,0.097,0.038,3437,3478,1805,1841,1769,0,0,0,0,0,0,25.47,24.81,24.40,8.24,39.36
$GC,1358,1.27,88.1,3436,3478,1841,1770,140.5,7.3,146,1386,0.00,2.15,22.55,0.706,9222,0.000,0.023,3447,2081,1704,1740,1669,0,0,0,0,0,0,25.37,25.31,24.44,8.23,38.46
$GC,1568,1.27,88.1,3446,2081,1740,1667,116.3,12.6,167,1576,0.00,2.17,0.00,0.000,516,0.000,0.042,3457,687,1703,1740,1667,0,0,0,0,0,0,25.98,25.69,25.98,8.22,39.56
$GC,1672,1.27,88.1,3456,687,1740,1667,102.1,13.8,177,1679,0.00,2.12,0.00,0.000,1030,0.000,0.027,3457,2095,1703,1740,1667,0,0,0,0,0,0,25.94,25.86,25.95,8.22,39.99
$GC,1860,1.27,88.1,3456,2096,1740,1666,77.6,12.2,196,1868,0.00,2.22,0.00,0.000,516,0.000,0.043,3468,681,1703,1740,1666,0,0,0,0,0,0,26.30,26.00,26.31,8.22,40.43
$GC,1894,1.27,88.1,3467,681,1740,1666,73.6,12.3,199,1901,0.00,2.10,0.00,0.000,1030,0.000,0.027,3468,2084,1702,1739,1666,0,0,0,0,0,0,26.12,26.06,26.14,8.22,39.60
$GC,2022,1.27,88.1,3467,2084,1740,1666,57.5,12.1,212,2025,0.00,2.15,0.00,0.000,260,0.000,0.039,3468,3479,1703,1740,1666,0,0,0,0,0,0,26.39,26.10,26.41,8.22,39.28
$GC,2046,1.27,88.1,3467,3479,1740,1666,54.9,12.0,214,2053,0.00,2.08,0.00,0.000,1030,0.000,0.024,3478,2082,1703,1740,1666,0,0,0,0,0,0,26.21,26.15,26.23,8.21,39.60
$GC,2174,1.27,88.1,3477,2082,1740,1666,38.8,12.0,227,2182,0.00,2.17,0.00,0.000,516,0.000,0.043,3489,682,1703,1740,1666,0,0,0,0,0,0,26.46,26.15,26.47,8.21,39.80
$GC,2195,1.27,88.1,3488,682,1741,1666,36.0,12.3,229,2204,0.00,2.10,0.00,0.000,1030,0.000,0.027,3489,2087,1703,1740,1666,0,0,0,0,0,0,26.27,26.20,26.29,8.21,39.60
$GC,2326,1.27,88.1,3488,2087,1740,1666,20.7,10.2,242,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2087,1703,1740,1666,0,0,0,0,0,0,26.51,26.53,26.53,8.21,39.95
$GC,2448,1.30,119.0,3488,2087,1740,1666,8.3,6.7,265,2472,0.00,2.12,16.10,0.542,8452,0.000,0.040,3489,3474,1576,1616,1537,0,0,0,0,0,0,26.55,26.02,25.45,8.20,39.01
$GC,2567,1.40,217.3,3488,3474,1616,1538,9.4,-0.4,287,2624,0.00,2.08,49.83,0.566,9222,0.000,0.024,3498,2066,1176,1211,1142,0,0,0,0,0,0,26.24,26.17,25.03,8.19,39.17
$GC,2690,1.55,288.2,3497,2066,1211,1139,7.1,2.5,309,2732,0.10,2.28,35.30,0.535,10500,0.084,0.037,3569,3471,885,914,857,0,0,0,0,0,0,25.82,25.39,24.89,8.15,38.38
$STATE,2884,end climb,NO_VERTICAL_VELOCITY
$STATE,2884,begin surface
$SM_CCo,2887,63.28,0.527,0,0,373,414.56
$SM_GC,3.51,9.25,2.20,0.00,0.047,0.026,0.000,213,2104,370,-8.85,1.47,415.78,0,0,0,0,0,0,25.44,25.46,25.51
$IRIDIUM_FIX,4739.20,-12253.53,020218,205546
$TT8_MAMPS,0.026964,0.308588
$HUMID,38.58
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,75.9,75.0
$24V_AH,24.40,5.230
$10V_AH,10.31,1.767
$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,21.675,55.575,234.175,63.275,0.000,0.000,0.000,182.800,1.000,0.000,18.321,824.177,1205.712,407.738,794.209,130.756,33.417,981.396,0.000,606.309,0.000,7.270,0.000
$DEVICE_MAMPS,241.740,58.140,754.290,527.085,0.000,0.000,0.000,71.910,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.420,457.610,462.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311940
$DATA_FILE_SIZE,24557,346
$CAP_FILE_SIZE,57867,0
$CFSIZE,2097872896,2088402944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,225123,4738.820,-12252.983,6,0.9,17,16.4,0.5,62.0,8,5.0