version: 66.14
glider: 194
mission: 12
dive: 258
start: 2 11 118 22 6 53
data:
$ID,194
$MISSION,12
$DIVE,258
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,52
$R_STBD_OVSHOOT,64
$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
$GPS1,110218,220126,4738.5410,-12253.2744,9,1.0,36,16.4,0.0,182.8,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.97
$_SM_ANGLEo,-69.2
$GPS2,110218,220613,4738.4995,-12253.3203,5,0.9,14,16.4,0.0,202.7,9,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.288867,-0.148510
$KALMAN_X,34651.437500,518.190002,-280.221558,-35416.792969,662.479614
$KALMAN_Y,12811.416016,296.136719,-399.748138,-13361.724609,330.277039
$MHEAD_RNG_PITCHd_Wd,328.6,314,-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,-63.1,207,2100,353,384,0.0,0.0,0,17,0.00,0.00,-5.85,0.000,16386,0.000,0.000,206,2101,531,514,548,0,0,0,0,0,0,26.33,28.83,26.34,8.08,39.52
$GC,20,-1.25,-63.1,207,2101,514,548,9.0,0.0,1,105,10.15,2.20,-68.55,0.000,18692,0.235,0.058,2744,3471,2325,2359,2291,0,0,0,0,0,0,25.66,24.55,25.93,8.07,40.03
$GC,232,-1.14,-63.1,2744,3471,2359,2291,38.4,-16.7,30,239,0.12,2.05,0.00,0.000,3078,0.190,0.023,2779,2078,2324,2358,2290,0,0,0,0,0,0,25.84,26.15,26.05,8.23,40.11
$GC,359,-1.08,-63.1,2779,2078,2358,2287,57.2,-13.5,43,364,0.00,2.15,0.00,0.000,260,0.000,0.041,2779,3464,2323,2359,2287,0,0,0,0,0,0,26.48,26.13,26.49,8.24,39.80
$GC,472,-1.08,-63.1,2779,3464,2358,2287,74.0,-14.7,54,480,0.00,2.05,0.00,0.000,1030,0.000,0.023,2779,2075,2322,2359,2286,0,0,0,0,0,0,26.32,26.25,26.34,8.24,40.62
$GC,602,-1.08,-63.1,2779,2075,2359,2285,93.0,-14.5,67,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2074,2322,2359,2285,0,0,0,0,0,0,26.57,26.58,26.58,8.24,40.51
$GC,726,-1.08,-63.1,2779,2075,2359,2284,110.3,-13.9,79,730,0.00,2.12,0.00,0.000,516,0.000,0.039,2779,691,2321,2359,2284,0,0,0,0,0,0,26.59,26.27,26.60,8.25,40.11
$GC,778,-1.08,-63.1,2778,691,2359,2282,118.7,-14.8,84,787,0.00,2.05,0.00,0.000,1030,0.000,0.025,2779,2075,2321,2359,2283,0,0,0,0,0,0,26.39,26.32,26.41,8.25,40.47
$GC,969,-1.08,-63.1,2779,2075,2358,2282,144.7,-13.3,103,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2075,2321,2360,2282,0,0,0,0,0,0,26.65,26.67,26.66,8.26,40.43
$STATE,1106,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1106,begin apogee
$GC,1112,-0.22,0.0,2779,2075,2359,2282,163.5,-13.5,117,1171,0.93,0.00,55.05,0.758,10246,0.151,0.000,3073,2075,2064,2106,2022,0,0,0,0,0,0,26.06,25.48,24.89,8.26,40.23
$STATE,1172,end apogee,CONTROL_FINISHED_OK
$STATE,1172,begin climb
$GC,1175,1.25,63.1,3073,2075,2106,2022,166.7,0.0,123,1239,1.30,2.30,55.35,0.740,10756,0.082,0.038,3541,687,1805,1852,1759,0,0,0,0,0,0,25.51,25.04,24.46,8.25,40.19
$GC,1304,1.18,63.1,3541,687,1851,1759,156.3,11.6,136,1313,0.00,2.12,0.00,0.000,1030,0.000,0.024,3541,2086,1804,1851,1758,0,0,0,0,0,0,25.56,25.53,25.58,8.23,39.17
$GC,1494,1.12,63.1,3541,2086,1851,1758,132.8,12.8,155,1504,0.00,2.12,0.00,0.000,260,0.000,0.037,3541,3467,1804,1851,1758,0,0,0,0,0,0,26.15,25.84,26.16,8.23,40.31
$GC,1530,1.05,63.1,3540,3468,1851,1758,128.3,13.4,158,1537,0.20,2.05,0.00,0.000,5126,0.164,0.022,3494,2080,1804,1850,1758,0,0,0,0,0,0,25.65,25.93,25.84,8.23,40.15
$GC,1717,1.05,63.1,3494,2080,1851,1757,107.1,11.0,177,1726,0.00,2.15,0.00,0.000,516,0.000,0.040,3503,692,1804,1851,1757,0,0,0,0,0,0,26.36,26.03,26.36,8.23,40.27
$GC,1914,1.05,63.1,3502,693,1850,1757,86.2,10.7,196,1922,0.00,2.05,0.00,0.000,1030,0.000,0.025,3503,2086,1804,1851,1757,0,0,0,0,0,0,26.25,26.19,26.27,8.23,40.54
$GC,2042,1.05,63.1,3502,2087,1850,1757,72.9,10.1,209,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2086,1803,1850,1757,0,0,0,0,0,0,26.51,26.53,26.52,8.23,40.47
$GC,2162,1.05,63.1,3502,2086,1850,1756,61.2,9.6,221,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2086,1803,1850,1757,0,0,0,0,0,0,26.55,26.57,26.56,8.23,40.11
$GC,2282,1.05,63.1,3502,2086,1850,1756,50.1,9.4,233,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2086,1803,1850,1756,0,0,0,0,0,0,26.59,26.60,26.60,8.23,40.39
$GC,2402,1.07,82.5,3502,2086,1850,1756,39.0,7.9,245,2424,0.00,2.15,16.58,0.649,8452,0.000,0.037,3503,3469,1727,1775,1679,0,0,0,0,0,0,26.63,26.01,25.37,8.22,40.31
$GC,2436,1.09,106.7,3502,3469,1775,1680,36.6,7.4,248,2455,0.00,2.05,14.82,0.625,9222,0.000,0.022,3514,2078,1628,1679,1577,0,0,0,0,0,0,26.20,26.14,25.25,8.22,40.62
$GC,2577,1.09,106.7,3513,2077,1677,1575,22.2,9.7,262,2582,0.00,2.17,0.00,0.000,516,0.000,0.040,3523,686,1626,1678,1575,0,0,0,0,0,0,26.34,26.02,26.35,8.20,39.84
$GC,2874,1.18,192.6,3522,686,1677,1574,22.4,0.9,291,2925,0.00,2.05,45.17,0.598,9222,0.000,0.024,3522,2090,1277,1332,1222,0,0,0,0,0,0,26.30,26.24,25.08,8.19,40.35
$GC,3051,1.34,270.3,3522,2090,1332,1219,16.2,1.7,318,3096,0.10,2.20,39.25,0.558,11012,0.081,0.036,3609,3463,961,1009,913,0,0,0,0,0,0,25.98,25.45,24.94,8.16,39.80
$STATE,3376,end climb,NO_VERTICAL_VELOCITY
$STATE,3376,begin surface
$SM_CCo,3379,73.35,0.523,0,0,373,414.56
$SM_GC,9.02,9.20,2.15,0.00,0.047,0.025,0.000,209,2068,370,-9.14,1.39,415.78,0,0,0,0,0,0,25.87,25.95,25.95
$IRIDIUM_FIX,4738.24,-12244.69,110218,205339
$TT8_MAMPS,0.025466,0.280126
$HUMID,40.31
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.20
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.4,11.2
$ALTIM_BOTTOM_PING,110.3,62.8
$24V_AH,24.46,19.101
$10V_AH,10.23,8.043
$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,22.000,38.200,226.225,73.350,0.000,0.000,0.000,191.900,2.750,0.000,16.089,1004.630,1665.608,372.336,919.150,132.647,0.000,990.472,0.000,723.898,0.000,10.431,0.000
$DEVICE_MAMPS,234.855,58.140,758.115,523.260,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.955,503.766,508.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312200
$DATA_FILE_SIZE,27974,380
$CAP_FILE_SIZE,58386,0
$CFSIZE,2097872896,2065334272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.012,172.46,1
$GPS,110218,231049,4738.728,-12253.354,4,0.9,13,16.4,0.0,0.0,9,4.9