version: 66.14
glider: 194
mission: 12
dive: 67
start: 2 3 118 1 48 59
data:
$ID,194
$MISSION,12
$DIVE,67
$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,62
$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
$GPS1,030218,014255,4739.0552,-12252.4258,9,1.0,49,16.4,0.5,52.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-73.7
$GPS2,030218,014750,4739.0991,-12252.3379,8,1.0,24,16.4,0.5,51.7,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.151884,-0.083254
$KALMAN_X,5367.684570,788.867676,-457.534546,-5481.034668,58.827148
$KALMAN_Y,3307.179443,733.315918,-665.225769,-3473.120850,288.418640
$MHEAD_RNG_PITCHd_Wd,224.9,305,-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,-63.1,217,2083,348,389,0.0,0.0,0,16,0.00,0.00,-6.25,0.000,16386,0.000,0.000,217,2083,559,543,575,0,0,0,0,0,0,26.23,28.83,26.24,8.07,39.28
$GC,20,-1.25,-63.1,217,2083,543,575,3.5,0.0,1,100,10.20,2.20,-60.25,0.000,19204,0.254,0.054,2651,3467,2325,2354,2297,0,0,0,0,0,0,25.60,24.77,25.89,8.08,39.21
$GC,108,-0.98,-63.1,2651,3467,2354,2297,9.3,-16.1,16,116,0.30,2.08,0.00,0.000,3078,0.185,0.024,2737,2065,2325,2354,2297,0,0,0,0,0,0,25.75,26.00,25.95,8.23,38.93
$GC,179,-0.87,-63.1,2736,2065,2354,2295,18.1,-9.2,29,187,0.12,2.20,0.00,0.000,2308,0.199,0.040,2774,3474,2324,2354,2295,0,0,0,0,0,0,25.83,26.01,25.94,8.23,38.62
$GC,209,-0.80,-82.5,2772,3474,2354,2295,20.2,-7.9,33,216,0.00,2.05,-1.30,0.000,17414,0.000,0.023,2773,2082,2404,2438,2370,0,0,0,0,0,0,26.13,26.08,26.15,8.23,38.89
$GC,335,-0.80,-82.5,2772,2082,2438,2370,33.7,-12.9,46,344,0.00,2.15,0.00,0.000,516,0.000,0.040,2774,694,2405,2439,2371,0,0,0,0,0,0,26.40,26.10,26.41,8.24,39.72
$GC,517,-0.80,-82.5,2773,694,2439,2370,62.0,-15.6,64,526,0.00,2.08,0.00,0.000,1030,0.000,0.027,2773,2078,2404,2439,2370,0,0,0,0,0,0,26.27,26.20,26.29,8.24,39.72
$GC,650,-0.80,-82.5,2773,2078,2439,2370,81.0,-14.8,77,658,0.00,2.15,0.00,0.000,260,0.000,0.044,2773,3472,2404,2439,2370,0,0,0,0,0,0,26.51,26.21,26.51,8.25,39.88
$GC,714,-0.80,-82.5,2773,3472,2438,2370,90.3,-14.3,83,721,0.00,2.05,0.00,0.000,1030,0.000,0.024,2774,2077,2404,2439,2370,0,0,0,0,0,0,26.34,26.29,26.36,8.25,39.64
$GC,841,-0.80,-82.5,2773,2077,2438,2370,108.6,-14.3,96,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2076,2404,2438,2370,0,0,0,0,0,0,26.58,26.59,26.58,8.26,40.11
$GC,1021,-0.80,-82.5,2773,2077,2438,2369,134.3,-14.4,114,1025,0.00,2.15,0.00,0.000,516,0.000,0.041,2773,684,2404,2439,2370,0,0,0,0,0,0,26.63,26.32,26.63,8.26,40.07
$STATE,1051,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1051,begin apogee
$GC,1060,-0.22,0.0,2773,2085,2439,2369,138.9,-14.7,117,1133,0.65,0.00,70.15,0.753,10246,0.150,0.000,2981,2086,2063,2100,2027,0,0,0,0,0,0,26.13,25.27,24.68,8.26,39.95
$STATE,1135,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1137,1.27,82.5,2981,2086,2100,2027,144.6,0.0,125,1216,1.38,2.25,71.45,0.735,10500,0.100,0.039,3443,3474,1727,1764,1690,0,0,0,0,0,0,25.29,24.85,24.27,8.24,39.91
$GC,1234,1.29,104.2,3442,3474,1764,1690,139.1,7.7,134,1262,0.00,2.15,19.58,0.694,9222,0.000,0.023,3453,2085,1638,1677,1599,0,0,0,0,0,0,25.22,25.15,24.37,8.22,38.69
$GC,1443,1.29,104.2,3453,2085,1677,1599,113.5,12.6,155,1452,0.00,2.20,0.00,0.000,516,0.000,0.042,3464,690,1637,1677,1598,0,0,0,0,0,0,25.96,25.68,25.97,8.21,39.32
$GC,1555,1.29,104.2,3463,690,1677,1598,97.0,14.3,166,1564,0.00,2.12,0.00,0.000,1030,0.000,0.026,3464,2090,1637,1677,1598,0,0,0,0,0,0,25.93,25.86,25.95,8.21,39.40
$GC,1685,1.29,104.2,3463,2090,1676,1598,78.5,14.4,179,1694,0.00,2.22,0.00,0.000,516,0.000,0.043,3474,685,1637,1676,1598,0,0,0,0,0,0,26.25,25.95,26.26,8.21,39.52
$GC,1737,1.29,104.2,3474,685,1677,1598,71.0,14.4,184,1746,0.00,2.10,0.00,0.000,1030,0.000,0.026,3474,2083,1637,1676,1598,0,0,0,0,0,0,26.09,26.03,26.11,8.21,39.72
$GC,1867,1.29,104.2,3474,2083,1676,1598,53.4,14.3,197,1876,0.00,2.15,0.00,0.000,260,0.000,0.039,3475,3474,1637,1676,1598,0,0,0,0,0,0,26.37,26.07,26.38,8.20,39.28
$GC,1922,1.29,104.2,3474,3474,1676,1598,45.9,14.4,202,1929,0.00,2.08,0.00,0.000,1030,0.000,0.024,3484,2075,1637,1676,1598,0,0,0,0,0,0,26.20,26.15,26.22,8.21,39.72
$GC,2049,1.29,104.2,3484,2075,1677,1598,29.1,12.1,215,2058,0.00,2.17,0.00,0.000,516,0.000,0.043,3494,683,1637,1677,1598,0,0,0,0,0,0,26.46,26.15,26.47,8.20,40.15
$GC,2153,1.29,104.2,3494,683,1676,1598,15.0,15.3,228,2160,0.00,2.08,0.00,0.000,1030,0.000,0.027,3494,2084,1637,1676,1598,0,0,0,0,0,0,26.29,26.23,26.32,8.20,40.03
$GC,2224,1.32,139.4,3493,2084,1677,1598,8.4,6.3,241,2248,0.00,2.20,18.12,0.545,8452,0.000,0.037,3493,3486,1493,1534,1453,0,0,0,0,0,0,26.52,25.96,25.41,8.19,39.88
$STATE,2440,end climb,NO_VERTICAL_VELOCITY
$STATE,2440,begin surface
$SM_CCo,2443,138.93,0.543,0,0,373,414.56
$SM_GC,3.36,9.43,2.22,0.00,0.067,0.024,0.000,220,2082,370,-8.84,1.41,415.78,0,0,0,0,0,0,25.32,25.36,25.41
$IRIDIUM_FIX,4737.86,-12251.79,030218,004956
$TT8_MAMPS,0.026215,0.278628
$HUMID,38.02
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.7
$ALTIM_BOTTOM_PING,81.0,67.8
$24V_AH,24.27,5.454
$10V_AH,10.33,1.874
$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,22.075,47.200,179.300,138.925,0.000,0.000,0.000,198.225,1.250,0.000,25.289,705.051,1024.686,423.826,743.252,118.484,33.427,962.103,0.000,534.736,0.000,11.766,0.000
$DEVICE_MAMPS,253.980,53.550,752.760,543.150,0.000,0.000,0.000,69.615,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,193.035,374.475,378.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311956
$DATA_FILE_SIZE,20916,283
$CAP_FILE_SIZE,51334,0
$CFSIZE,2097872896,2088009728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030218,023505,4739.053,-12252.467,8,1.0,27,16.4,0.5,56.3,9,5.0