version: 66.14
glider: 194
mission: 12
dive: 166
start: 2 7 118 6 6 29
data:
$ID,194
$MISSION,12
$DIVE,166
$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,51
$R_STBD_OVSHOOT,63
$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
$GPS1,070218,060005,4738.7676,-12253.2930,8,1.0,21,16.4,0.3,251.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.41
$_SM_ANGLEo,-69.8
$GPS2,070218,060520,4738.7778,-12253.2344,4,1.0,37,16.4,0.3,107.3,9,4.5
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.158636,-0.069532
$KALMAN_X,21623.154297,463.244110,-473.376038,-22514.765625,336.235687
$KALMAN_Y,9102.951172,309.955597,-542.478516,-9563.870117,24.574142
$MHEAD_RNG_PITCHd_Wd,229.9,315,-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,9,-1.25,-63.1,217,2078,353,388,0.0,0.0,0,16,0.00,0.00,-6.05,0.000,16386,0.000,0.000,216,2077,544,529,559,0,0,0,0,0,0,26.34,28.83,26.35,8.08,39.84
$GC,20,-1.25,-63.1,217,2077,529,559,5.5,0.0,1,106,10.18,2.15,-67.22,0.000,19204,0.240,0.053,2745,687,2323,2354,2293,0,0,0,0,0,0,25.71,24.70,25.97,8.09,40.15
$GC,116,-1.08,-63.1,2745,687,2354,2294,10.0,-13.9,17,123,0.20,2.08,0.00,0.000,3078,0.194,0.026,2801,2079,2324,2354,2294,0,0,0,0,0,0,25.79,26.07,26.01,8.24,38.89
$GC,187,-1.02,-63.1,2800,2079,2354,2293,20.7,-15.1,30,189,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2079,2323,2354,2293,0,0,0,0,0,0,26.39,26.40,26.40,8.24,39.56
$GC,307,-1.02,-63.1,2800,2079,2354,2291,36.1,-13.2,42,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2079,2322,2354,2291,0,0,0,0,0,0,26.46,26.46,26.46,8.23,39.09
$GC,427,-1.02,-63.1,2799,2079,2354,2290,52.7,-14.2,54,431,0.00,2.15,0.00,0.000,260,0.000,0.043,2801,3475,2321,2354,2289,0,0,0,0,0,0,26.51,26.17,26.51,8.24,39.76
$GC,581,-1.02,-63.1,2800,3476,2354,2289,74.7,-14.0,69,589,0.00,2.05,0.00,0.000,1030,0.000,0.024,2801,2078,2321,2353,2289,0,0,0,0,0,0,26.32,26.29,26.34,8.24,40.11
$GC,709,-1.02,-63.1,2800,2077,2354,2288,92.2,-13.4,82,718,0.00,2.12,0.00,0.000,516,0.000,0.040,2801,687,2321,2354,2288,0,0,0,0,0,0,26.59,26.27,26.60,8.25,40.03
$GC,797,-1.02,-63.1,2800,687,2354,2287,104.0,-13.6,90,804,0.00,2.08,0.00,0.000,1030,0.000,0.026,2801,2093,2320,2354,2287,0,0,0,0,0,0,26.40,26.33,26.42,8.25,40.15
$GC,985,-1.02,-63.1,2800,2092,2354,2286,127.4,-12.2,109,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2092,2320,2354,2286,0,0,0,0,0,0,26.65,26.66,26.66,8.26,40.07
$GC,1173,-1.02,-63.1,2800,2092,2354,2286,151.3,-13.1,128,1182,0.00,2.12,0.00,0.000,260,0.000,0.042,2801,3475,2320,2354,2286,0,0,0,0,0,0,26.68,26.35,26.70,8.26,40.54
$GC,1208,-1.02,-63.1,2800,3475,2354,2287,155.5,-13.0,131,1215,0.00,2.03,0.00,0.000,1030,0.000,0.023,2801,2079,2320,2354,2286,0,0,0,0,0,0,26.48,26.41,26.50,8.27,40.94
$STATE,1223,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1223,begin apogee
$GC,1229,-0.22,0.0,2800,2079,2355,2286,157.9,-12.7,133,1288,0.85,0.00,54.80,0.754,10246,0.148,0.000,3074,2079,2064,2104,2025,0,0,0,0,0,0,26.15,25.49,24.90,8.27,40.51
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1292,1.25,63.1,3074,2079,2104,2025,161.1,0.0,139,1356,1.30,2.30,56.95,0.739,10500,0.083,0.036,3532,3481,1805,1847,1764,0,0,0,0,0,0,25.53,25.02,24.44,8.25,39.68
$GC,1393,1.17,63.1,3531,3481,1846,1764,154.7,8.8,149,1400,0.00,2.12,0.00,0.000,1030,0.000,0.022,3542,2084,1805,1847,1764,0,0,0,0,0,0,25.45,25.39,25.46,8.23,38.97
$GC,1581,1.10,63.1,3542,2084,1848,1764,132.3,12.1,168,1590,0.10,2.17,0.00,0.000,4612,0.190,0.037,3522,688,1806,1848,1764,0,0,0,0,0,0,25.64,25.78,25.73,8.23,39.72
$GC,1614,1.04,63.1,3522,689,1847,1764,128.3,12.4,171,1623,0.10,2.10,0.00,0.000,5126,0.168,0.025,3494,2097,1805,1847,1763,0,0,0,0,0,0,25.65,25.86,25.76,8.23,40.27
$GC,1805,1.04,63.1,3494,2097,1847,1763,106.9,11.1,190,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,2097,1805,1847,1763,0,0,0,0,0,0,26.30,26.32,26.31,8.23,39.91
$GC,1994,1.04,63.1,3494,2098,1847,1762,87.7,9.4,209,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,2097,1804,1847,1762,0,0,0,0,0,0,26.42,26.43,26.43,8.23,39.91
$GC,2113,1.04,63.1,3493,2097,1847,1762,75.9,9.7,221,2122,0.00,2.20,0.00,0.000,516,0.000,0.041,3502,688,1804,1847,1762,0,0,0,0,0,0,26.48,26.16,26.48,8.23,40.07
$GC,2198,1.04,63.1,3501,689,1846,1762,67.5,10.3,229,2205,0.00,2.05,0.00,0.000,1030,0.000,0.025,3502,2080,1804,1847,1762,0,0,0,0,0,0,26.30,26.24,26.32,8.23,39.95
$GC,2325,1.04,63.1,3502,2080,1847,1762,55.1,9.0,242,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,2080,1804,1847,1762,0,0,0,0,0,0,26.55,26.56,26.56,8.23,39.64
$GC,2445,1.04,63.1,3502,2080,1847,1762,44.3,8.7,254,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,2080,1804,1846,1762,0,0,0,0,0,0,26.58,26.59,26.59,8.22,40.07
$GC,2565,1.04,63.1,3501,2080,1846,1762,34.5,8.2,266,2574,0.00,2.12,0.00,0.000,260,0.000,0.038,3503,3471,1804,1847,1762,0,0,0,0,0,0,26.62,26.29,26.63,8.22,39.76
$GC,2620,1.06,84.4,3502,3471,1847,1762,30.4,7.7,271,2638,0.00,2.05,12.32,0.614,9222,0.000,0.023,3513,2067,1720,1763,1677,0,0,0,0,0,0,26.42,26.36,25.45,8.22,40.39
$GC,2760,1.08,108.1,3513,2067,1763,1677,19.6,7.5,285,2779,0.00,0.00,12.80,0.559,8198,0.000,0.000,3513,2067,1623,1670,1577,0,0,0,0,0,0,26.51,25.79,25.41,8.21,39.80
$GC,2842,1.11,131.5,3513,2067,1669,1578,14.1,7.5,300,2860,0.00,0.00,12.45,0.533,8198,0.000,0.000,3513,2067,1525,1576,1475,0,0,0,0,0,0,26.41,25.72,25.34,8.19,39.17
$GC,2923,1.15,172.8,3513,2067,1576,1476,9.0,5.6,315,2953,0.00,2.20,20.58,0.531,8708,0.000,0.041,3520,686,1357,1408,1307,0,0,0,0,0,0,26.34,25.77,25.24,8.18,39.36
$STATE,3239,end climb,NO_VERTICAL_VELOCITY
$STATE,3239,begin surface
$SM_CCo,3243,120.40,0.532,0,0,373,414.56
$SM_GC,6.04,9.15,2.17,0.00,0.052,0.024,0.000,210,2089,370,-9.14,-1.89,415.78,0,0,0,0,0,0,25.59,25.64,25.67
$IRIDIUM_FIX,4735.92,-12247.38,070218,045955
$TT8_MAMPS,0.026215,0.280126
$HUMID,39.84
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,14.8
$ALTIM_BOTTOM_PING,115.2,51.8
$24V_AH,24.44,11.566
$10V_AH,10.29,4.638
$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,21.875,38.275,169.900,120.400,0.000,0.000,0.000,198.475,2.000,0.000,40.328,927.106,1535.277,404.150,876.507,140.680,33.452,997.937,0.000,652.934,0.000,17.781,0.000
$DEVICE_MAMPS,240.210,52.785,754.290,531.675,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.362,499.538,504.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312676
$DATA_FILE_SIZE,24507,377
$CAP_FILE_SIZE,59408,0
$CFSIZE,2097872896,2078212096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070218,070635,4738.663,-12253.451,8,0.9,17,16.4,0.2,64.2,9,4.6