version: 66.14
glider: 194
mission: 12
dive: 147
start: 2 6 118 8 39 40
data:
$ID,194
$MISSION,12
$DIVE,147
$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,90
$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,3153
$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,54
$R_STBD_OVSHOOT,69
$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,100
$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
$GPS1,060218,083115,4738.6729,-12253.5850,8,0.8,30,16.4,0.2,0.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.27
$_SM_ANGLEo,-75.0
$GPS2,060218,083831,4738.6367,-12253.5879,5,0.9,31,16.4,0.2,348.3,9,3.5
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.171920,-0.021061
$KALMAN_X,19174.126953,-42.972122,-19.344763,-20451.716797,270.847992
$KALMAN_Y,11559.353516,-217.835693,-267.390198,-12023.170898,43.769928
$MHEAD_RNG_PITCHd_Wd,246.6,223,-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,-63.1,214,2088,358,385,0.0,0.0,0,16,0.00,0.00,-6.07,0.000,16386,0.000,0.000,214,2088,550,535,566,0,0,0,0,0,0,26.33,28.83,26.34,8.07,40.03
$GC,20,-1.25,-63.1,214,2088,535,567,5.2,0.0,1,100,10.68,2.15,-61.33,0.000,19204,0.257,0.055,2744,3469,2324,2358,2291,0,0,0,0,0,0,25.63,24.72,25.94,8.09,39.60
$GC,126,-1.14,-63.1,2743,3468,2358,2292,15.1,-21.1,19,133,0.15,2.05,0.00,0.000,3078,0.187,0.023,2785,2080,2325,2358,2292,0,0,0,0,0,0,25.81,26.08,26.01,8.24,39.28
$GC,196,-1.14,-63.1,2785,2079,2359,2290,25.1,-12.5,28,205,0.00,2.15,0.00,0.000,260,0.000,0.042,2786,3457,2324,2358,2290,0,0,0,0,0,0,26.39,26.06,26.40,8.23,38.93
$GC,498,-1.14,-63.1,2785,3457,2358,2287,56.5,-12.2,58,507,0.00,2.03,0.00,0.000,1030,0.000,0.023,2786,2081,2322,2358,2286,0,0,0,0,0,0,26.32,26.26,26.34,8.24,39.84
$GC,628,-1.14,-63.1,2785,2080,2358,2285,71.9,-12.2,71,637,0.00,2.15,0.00,0.000,260,0.000,0.041,2786,3465,2321,2358,2285,0,0,0,0,0,0,26.57,26.24,26.58,8.24,39.80
$GC,800,-1.14,-63.1,2785,3465,2358,2285,93.1,-12.3,88,809,0.00,2.05,0.00,0.000,1030,0.000,0.023,2786,2073,2321,2359,2284,0,0,0,0,0,0,26.41,26.34,26.42,8.24,39.99
$GC,930,-1.14,-63.1,2785,2072,2358,2283,109.1,-12.2,101,940,0.00,2.12,0.00,0.000,516,0.000,0.039,2786,690,2321,2359,2283,0,0,0,0,0,0,26.64,26.32,26.65,8.25,39.68
$GC,963,-1.14,-63.1,2785,690,2358,2282,113.1,-12.3,104,972,0.00,2.05,0.00,0.000,1030,0.000,0.026,2786,2074,2320,2358,2282,0,0,0,0,0,0,26.43,26.35,26.44,8.24,39.64
$GC,1156,-1.14,-63.1,2785,2073,2358,2282,135.8,-12.2,123,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2073,2320,2358,2282,0,0,0,0,0,0,26.67,26.69,26.68,8.25,39.95
$STATE,1311,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1311,begin apogee
$GC,1317,-0.22,0.0,2785,2073,2358,2282,155.7,-12.4,139,1375,0.90,0.00,54.65,0.756,10246,0.151,0.000,3074,2074,2064,2107,2022,0,0,0,0,0,0,26.15,25.51,24.91,8.25,39.72
$STATE,1376,end apogee,CONTROL_FINISHED_OK
$STATE,1376,begin climb
$GC,1379,1.25,63.1,3073,2074,2107,2022,158.6,0.0,145,1444,1.27,2.30,56.00,0.741,10500,0.081,0.037,3526,3478,1806,1851,1761,0,0,0,0,0,0,25.55,25.02,24.45,8.23,39.44
$GC,1511,1.17,63.1,3525,3478,1851,1762,147.4,12.2,158,1518,0.00,2.12,0.00,0.000,1030,0.000,0.023,3537,2077,1806,1851,1762,0,0,0,0,0,0,25.57,25.51,25.58,8.22,39.32
$GC,1699,1.11,63.1,3537,2077,1851,1762,122.4,13.7,177,1707,0.00,2.17,0.00,0.000,516,0.000,0.041,3548,687,1805,1850,1761,0,0,0,0,0,0,26.12,25.82,26.13,8.22,39.99
$GC,1861,1.02,63.1,3547,687,1851,1761,99.7,14.2,193,1866,0.22,2.12,0.00,0.000,5126,0.167,0.026,3483,2089,1805,1849,1762,0,0,0,0,0,0,25.77,26.01,25.96,8.22,40.23
$GC,1994,1.02,63.1,3483,2089,1850,1760,84.7,10.3,206,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,2089,1805,1851,1760,0,0,0,0,0,0,26.37,26.38,26.37,8.22,40.47
$GC,2114,1.02,63.1,3483,2089,1851,1760,73.0,9.7,218,2123,0.00,2.12,0.00,0.000,260,0.000,0.038,3484,3471,1805,1850,1760,0,0,0,0,0,0,26.43,26.12,26.44,8.22,40.11
$GC,2149,1.02,63.1,3483,3471,1851,1760,69.7,10.2,221,2155,0.00,2.05,0.00,0.000,1030,0.000,0.023,3491,2082,1805,1851,1760,0,0,0,0,0,0,26.25,26.19,26.27,8.22,40.39
$GC,2276,1.02,63.1,3490,2082,1850,1760,57.1,9.6,234,2284,0.00,2.15,0.00,0.000,260,0.000,0.037,3490,3483,1805,1851,1760,0,0,0,0,0,0,26.49,26.19,26.51,8.22,39.72
$GC,2328,1.02,63.1,3491,3483,1851,1760,52.1,9.9,239,2331,0.00,2.05,0.00,0.000,1030,0.000,0.023,3501,2083,1805,1851,1760,0,0,0,0,0,0,26.32,26.26,26.33,8.22,40.35
$GC,2459,1.02,63.1,3500,2083,1851,1760,39.5,10.5,252,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,2083,1805,1851,1760,0,0,0,0,0,0,26.56,26.57,26.57,8.22,40.47
$GC,2579,1.02,63.1,3501,2083,1851,1760,28.7,8.8,264,2588,0.00,2.15,0.00,0.000,260,0.000,0.037,3501,3482,1805,1850,1760,0,0,0,0,0,0,26.59,26.28,26.60,8.21,40.43
$GC,2662,1.05,94.5,3501,3482,1851,1760,22.7,6.7,272,2684,0.00,2.08,17.77,0.604,9222,0.000,0.022,3512,2072,1678,1727,1630,0,0,0,0,0,0,26.41,26.35,25.41,8.22,40.31
$GC,2808,1.10,147.1,3511,2072,1726,1629,12.5,4.4,296,2844,0.00,2.17,27.23,0.562,8452,0.000,0.036,3512,3480,1462,1515,1409,0,0,0,0,0,0,26.45,25.79,25.26,8.20,40.62
$GC,2898,1.28,268.1,3511,3480,1515,1409,10.6,-2.9,312,2967,0.05,2.08,61.17,0.559,11270,0.134,0.022,3583,2080,968,1012,925,0,0,0,0,0,0,25.91,25.97,24.82,8.18,39.48
$GC,3032,1.40,327.9,3582,2080,1012,923,7.0,3.7,336,3068,0.00,2.25,29.88,0.523,8964,0.000,0.036,3582,3471,725,763,688,0,0,0,0,0,0,25.88,25.32,24.84,8.14,39.09
$GC,3365,1.56,412.5,3582,3470,763,688,4.4,1.0,400,3417,0.12,2.08,42.30,0.523,11270,0.065,0.023,3675,2074,380,375,385,0,0,0,0,0,0,25.97,25.97,24.99,8.11,38.89
$GC,3483,1.81,511.8,3674,2074,374,385,4.0,-0.5,421,3491,0.10,2.20,0.90,0.069,10500,0.079,0.034,3753,3478,372,364,380,0,0,0,0,0,0,25.78,25.70,25.65,8.08,39.32
$STATE,3542,end climb,NO_VERTICAL_VELOCITY
$STATE,3542,begin surface
$SM_CCo,3873,0.00,0.000,0,0,374,414.80
$SM_GC,5.03,10.10,2.15,0.00,0.078,0.024,0.000,217,2079,374,-9.13,1.47,414.80,0,0,0,0,0,0,25.97,26.08,26.06
$IRIDIUM_FIX,4738.33,-12256.21,060218,083244
$TT8_MAMPS,0.026215,0.274134
$HUMID,40.15
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,15.5
$ALTIM_BOTTOM_PING,115.5,50.1
$24V_AH,24.45,10.386
$10V_AH,10.29,4.075
$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,23.600,51.000,289.900,0.000,0.000,0.000,0.000,264.900,1.750,0.000,32.544,1024.468,1699.317,376.247,1082.052,145.869,33.448,1123.478,0.000,796.284,0.000,14.881,0.000
$DEVICE_MAMPS,257.040,55.080,755.820,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.603,571.777,577.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312664
$DATA_FILE_SIZE,31453,432
$CAP_FILE_SIZE,65263,0
$CFSIZE,2097872896,2080079872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,094509,4738.566,-12253.935,8,0.8,15,16.4,0.0,0.0,10,4.4