version: 66.14
glider: 194
mission: 12
dive: 167
start: 2 7 118 7 12 56
data:
$ID,194
$MISSION,12
$DIVE,167
$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,67
$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
$GPS1,070218,070635,4738.6631,-12253.4512,8,0.9,17,16.4,0.2,64.2,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.41
$_SM_ANGLEo,-69.7
$GPS2,070218,071147,4738.6709,-12253.3867,6,0.9,20,16.4,0.3,0.0,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.155013,-0.077273
$KALMAN_X,22012.654297,453.562805,-469.099915,-23084.656250,454.071442
$KALMAN_Y,9227.149414,242.084732,-542.289001,-9813.382812,216.988190
$MHEAD_RNG_PITCHd_Wd,227.1,41,-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,-63.1,210,2090,344,394,0.0,0.0,0,16,0.00,0.00,-6.10,0.000,16386,0.000,0.000,210,2090,546,526,566,0,0,0,0,0,0,26.22,28.83,26.23,8.07,39.01
$GC,20,-1.25,-63.1,211,2090,526,566,5.4,0.0,1,106,10.15,2.15,-68.38,0.000,18692,0.235,0.054,2748,3466,2324,2352,2296,0,0,0,0,0,0,25.64,25.37,25.88,8.08,39.25
$GC,136,-1.15,-63.1,2747,3467,2352,2297,12.9,-17.5,21,143,0.10,2.05,0.00,0.000,3078,0.195,0.024,2776,2080,2324,2352,2297,0,0,0,0,0,0,25.77,26.03,25.96,8.24,38.65
$GC,212,-1.07,-63.1,2775,2079,2351,2295,24.8,-15.2,32,221,0.10,2.15,0.00,0.000,2564,0.199,0.037,2806,687,2323,2352,2294,0,0,0,0,0,0,25.87,26.02,25.96,8.24,38.97
$GC,257,-1.01,-63.1,2805,687,2352,2294,31.3,-15.0,36,264,0.00,2.08,0.00,0.000,1030,0.000,0.026,2806,2078,2323,2352,2294,0,0,0,0,0,0,26.16,26.08,26.17,8.24,39.60
$GC,384,-1.01,-63.1,2806,2077,2352,2293,48.7,-13.2,49,393,0.00,2.17,0.00,0.000,260,0.000,0.042,2806,3475,2322,2352,2292,0,0,0,0,0,0,26.44,26.11,26.44,8.24,39.88
$GC,456,-1.01,-63.1,2806,3475,2352,2293,58.9,-14.1,56,465,0.00,2.08,0.00,0.000,1030,0.000,0.023,2806,2073,2322,2352,2292,0,0,0,0,0,0,26.26,26.20,26.28,8.24,39.25
$GC,586,-1.01,-63.1,2805,2073,2352,2292,76.7,-13.6,69,595,0.00,2.17,0.00,0.000,260,0.000,0.041,2806,3472,2321,2351,2291,0,0,0,0,0,0,26.51,26.18,26.53,8.24,39.91
$GC,641,-1.01,-63.1,2806,3472,2352,2291,83.9,-13.9,74,647,0.00,2.05,0.00,0.000,1030,0.000,0.023,2806,2072,2321,2352,2291,0,0,0,0,0,0,26.33,26.27,26.34,8.25,39.64
$GC,771,-1.01,-63.1,2806,2071,2352,2290,100.7,-12.7,87,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2072,2321,2352,2291,0,0,0,0,0,0,26.56,26.57,26.56,8.25,40.03
$GC,958,-1.01,-63.1,2806,2071,2352,2290,123.8,-12.1,106,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2072,2321,2352,2290,0,0,0,0,0,0,26.62,26.63,26.63,8.26,40.51
$GC,1139,-1.06,-63.1,2806,2072,2351,2290,145.1,-12.1,124,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2072,2321,2352,2290,0,0,0,0,0,0,26.65,26.67,26.66,8.26,40.35
$STATE,1276,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1276,begin apogee
$GC,1282,-0.22,0.0,2806,2071,2352,2289,162.1,-12.2,138,1341,0.82,0.00,54.85,0.756,10246,0.141,0.000,3077,2071,2064,2101,2027,0,0,0,0,0,0,26.17,25.49,24.90,8.26,40.58
$STATE,1342,end apogee,CONTROL_FINISHED_OK
$STATE,1342,begin climb
$GC,1345,1.25,63.1,3076,2071,2101,2026,163.6,0.0,144,1408,1.30,0.00,57.05,0.739,10246,0.086,0.000,3531,2071,1805,1847,1764,0,0,0,0,0,0,25.51,24.98,24.44,8.25,40.27
$GC,1588,1.25,63.1,3530,2071,1847,1765,149.4,8.3,169,1597,0.00,2.17,0.00,0.000,516,0.000,0.041,3541,695,1806,1847,1765,0,0,0,0,0,0,26.01,25.72,26.01,8.23,39.60
$GC,1692,1.25,63.1,3540,694,1847,1765,140.2,9.5,179,1700,0.00,2.08,0.00,0.000,1030,0.000,0.025,3541,2085,1806,1847,1765,0,0,0,0,0,0,25.93,25.92,25.95,8.23,39.95
$GC,1880,1.25,63.1,3540,2085,1847,1764,122.4,9.6,198,1889,0.00,2.20,0.00,0.000,516,0.000,0.041,3552,684,1805,1847,1764,0,0,0,0,0,0,26.32,26.01,26.33,8.23,39.80
$GC,1975,1.25,63.1,3551,684,1847,1764,113.4,9.8,207,1982,0.00,2.08,0.00,0.000,1030,0.000,0.025,3552,2089,1805,1847,1764,0,0,0,0,0,0,26.18,26.12,26.20,8.23,39.88
$GC,2162,1.25,63.1,3551,2089,1847,1764,94.4,9.9,226,2171,0.00,2.17,0.00,0.000,516,0.000,0.040,3562,693,1805,1847,1764,0,0,0,0,0,0,26.48,26.16,26.48,8.23,40.27
$GC,2397,1.19,63.1,3561,693,1847,1764,72.6,8.5,249,2406,0.00,2.03,0.00,0.000,1030,0.000,0.025,3562,2080,1805,1847,1764,0,0,0,0,0,0,26.33,26.29,26.34,8.23,39.95
$GC,2526,1.21,82.8,3562,2080,1847,1764,62.2,7.9,262,2549,0.00,2.15,18.08,0.664,8452,0.000,0.036,3562,3480,1725,1766,1685,0,0,0,0,0,0,26.59,25.77,25.35,8.23,39.80
$GC,2602,1.15,82.8,3561,3479,1766,1687,54.9,10.3,269,2612,0.15,2.05,0.00,0.000,5126,0.159,0.023,3528,2081,1726,1766,1687,0,0,0,0,0,0,25.89,26.13,26.01,8.23,39.60
$GC,2732,1.15,82.8,3527,2080,1766,1687,43.4,8.5,282,2741,0.00,2.15,0.00,0.000,516,0.000,0.041,3536,688,1726,1766,1687,0,0,0,0,0,0,26.45,26.15,26.46,8.22,39.91
$GC,2794,1.15,82.8,3536,689,1766,1687,38.1,8.7,288,2803,0.00,2.08,0.00,0.000,1030,0.000,0.025,3536,2092,1726,1766,1687,0,0,0,0,0,0,26.28,26.22,26.29,8.22,39.60
$GC,2924,1.15,82.8,3535,2092,1766,1687,27.0,8.2,301,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2091,1726,1766,1687,0,0,0,0,0,0,26.53,26.54,26.54,8.21,39.84
$GC,3045,1.19,124.3,3536,2092,1766,1686,19.3,5.6,314,3075,0.00,2.12,22.33,0.584,8452,0.000,0.037,3536,3471,1556,1602,1510,0,0,0,0,0,0,26.57,25.75,25.37,8.22,39.84
$GC,3123,1.19,124.3,3536,3471,1602,1511,13.8,8.5,328,3130,0.00,2.05,0.00,0.000,1030,0.000,0.024,3547,2085,1556,1602,1510,0,0,0,0,0,0,26.14,26.08,26.16,8.20,39.32
$GC,3193,1.24,178.6,3546,2085,1603,1511,9.3,4.2,341,3229,0.00,2.17,27.20,0.542,8708,0.000,0.041,3555,689,1333,1380,1287,0,0,0,0,0,0,26.39,25.75,25.22,8.20,39.72
$STATE,3340,end climb,NO_VERTICAL_VELOCITY
$STATE,3341,begin surface
$SM_CCo,3344,117.35,0.527,0,0,372,414.56
$SM_GC,5.56,9.25,2.17,0.00,0.055,0.024,0.000,216,2095,370,-9.13,-1.70,415.78,0,0,0,0,0,0,25.65,25.72,25.73
$IRIDIUM_FIX,4740.06,-12250.84,070218,060133
$TT8_MAMPS,0.026964,0.280126
$HUMID,38.73
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,15.1
$ALTIM_BOTTOM_PING,105.7,66.3
$24V_AH,24.44,11.623
$10V_AH,10.26,4.667
$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,21.875,46.575,179.500,117.350,0.000,0.000,0.000,211.550,1.000,0.000,21.916,914.597,1651.955,429.705,887.216,133.924,33.456,1046.427,0.000,669.348,0.000,8.841,0.000
$DEVICE_MAMPS,234.855,54.315,755.820,527.085,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.284,488.765,493.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312716
$DATA_FILE_SIZE,24604,369
$CAP_FILE_SIZE,60547,0
$CFSIZE,2097872896,2078113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070218,081526,4738.611,-12253.570,5,0.9,24,16.4,0.3,120.4,9,5.0