version: 66.14
glider: 194
mission: 12
dive: 260
start: 2 12 118 0 27 51
data:
$ID,194
$MISSION,12
$DIVE,260
$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,44
$R_STBD_OVSHOOT,65
$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
$GPS1,120218,002201,4738.5220,-12253.9521,4,0.7,16,16.4,0.5,201.2,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.21
$_SM_ANGLEo,-70.7
$GPS2,120218,002712,4738.4658,-12253.9756,6,0.8,21,16.4,0.5,205.7,10,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$TGT_LATLONG,4738.117,-12254.800
$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,228.5,1215,-13.0,-10.000,-17.11,3689
$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,-0.81,-244.4,207,2077,363,373,0.0,0.0,0,17,0.00,0.00,-6.05,0.000,16386,0.000,0.000,206,2077,536,527,546,0,0,0,0,0,0,26.34,28.83,26.34,8.06,39.21
$GC,20,-0.81,-244.4,207,2076,527,546,9.2,0.0,1,130,10.77,2.17,-91.00,0.000,18692,0.237,0.057,2883,3462,3062,3139,2986,0,0,0,0,0,0,25.60,25.45,25.91,8.08,39.32
$GC,359,-0.75,-244.4,2882,3462,3140,2988,49.1,-13.3,44,366,0.00,2.05,0.00,0.000,1030,0.000,0.024,2883,2073,3064,3140,2988,0,0,0,0,0,0,26.28,26.22,26.30,8.30,40.51
$GC,485,-0.70,-244.4,2882,2072,3140,2988,66.3,-13.0,57,487,0.12,0.00,0.00,0.000,2054,0.143,0.000,2924,2072,3064,3140,2988,0,0,0,0,0,0,26.11,26.27,26.23,8.30,40.51
$GC,605,-0.70,-244.4,2924,2072,3140,2988,79.1,-10.4,69,610,0.00,2.17,0.00,0.000,260,0.000,0.042,2925,3467,3064,3140,2988,0,0,0,0,0,0,26.58,26.22,26.59,8.31,40.35
$GC,638,-0.70,-244.4,2924,3467,3140,2988,82.4,-10.0,72,646,0.00,2.05,0.00,0.000,1030,0.000,0.024,2925,2080,3063,3139,2987,0,0,0,0,0,0,26.37,26.31,26.39,8.31,41.25
$GC,768,-0.70,-244.4,2924,2080,3140,2987,94.9,-9.6,85,772,0.00,2.15,0.00,0.000,516,0.000,0.040,2924,689,3063,3140,2987,0,0,0,0,0,0,26.62,26.27,26.63,8.32,40.94
$GC,803,-0.70,-244.4,2924,689,3140,2987,98.2,-9.8,88,810,0.00,2.05,0.00,0.000,1030,0.000,0.026,2924,2074,3063,3140,2987,0,0,0,0,0,0,26.40,26.32,26.41,8.31,40.74
$GC,930,-0.70,-244.4,2924,2074,3140,2988,110.6,-10.0,101,935,0.00,2.17,0.00,0.000,260,0.000,0.042,2925,3483,3063,3140,2987,0,0,0,0,0,0,26.65,26.29,26.66,8.32,40.62
$GC,997,-0.70,-244.4,2924,3482,3140,2987,116.5,-9.2,107,1003,0.00,2.05,0.00,0.000,1030,0.000,0.023,2924,2080,3063,3140,2987,0,0,0,0,0,0,26.44,26.38,26.46,8.32,40.78
$GC,1183,-0.70,-244.4,2924,2080,3140,2987,134.5,-9.3,126,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2079,3064,3140,2988,0,0,0,0,0,0,26.70,26.70,26.70,8.33,40.58
$GC,1363,-0.70,-244.4,2924,2079,3140,2987,151.3,-9.6,144,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2080,3063,3140,2987,0,0,0,0,0,0,26.72,26.73,26.73,8.33,40.70
$GC,1544,-0.92,-244.4,2924,2079,3140,2988,162.9,0.2,162,1548,0.12,2.15,0.00,0.000,4356,0.083,0.038,2853,3490,3064,3140,2988,0,0,0,0,0,0,26.48,26.38,26.51,8.33,40.82
$STATE,1646,end dive,NO_VERTICAL_VELOCITY
$STATE,1646,begin apogee
$GC,1655,-0.22,0.0,2853,2084,3140,2987,162.9,0.0,172,1857,0.62,0.00,195.77,0.746,10246,0.063,0.000,3092,2084,2064,2114,2014,0,0,0,0,0,0,26.38,24.82,24.30,8.33,40.82
$STATE,1860,end apogee,CONTROL_FINISHED_OK
$STATE,1860,begin climb
$GC,1862,0.81,244.4,3092,2084,2114,2014,163.0,0.0,193,2070,0.85,2.30,199.25,0.715,10756,0.073,0.041,3392,693,1067,1129,1006,0,0,0,0,0,0,24.96,24.48,24.09,8.26,39.25
$GC,2205,0.81,244.4,3391,692,1126,1006,135.1,11.2,227,2213,0.00,2.12,0.00,0.000,1030,0.000,0.025,3392,2088,1066,1126,1006,0,0,0,0,0,0,25.48,25.44,25.51,8.18,38.77
$GC,2394,0.81,244.4,3391,2088,1126,1005,114.5,10.7,246,2402,0.00,2.20,0.00,0.000,516,0.000,0.041,3392,697,1065,1126,1005,0,0,0,0,0,0,26.08,25.76,26.08,8.18,39.32
$GC,2485,0.81,244.4,3392,697,1127,1005,104.2,11.1,255,2490,0.00,2.10,0.00,0.000,1030,0.000,0.025,3392,2094,1065,1126,1005,0,0,0,0,0,0,25.98,25.92,26.01,8.18,39.17
$GC,2678,0.81,244.4,3392,2094,1126,1005,82.7,10.8,274,2683,0.00,2.22,0.00,0.000,516,0.000,0.041,3391,686,1065,1126,1005,0,0,0,0,0,0,26.35,26.02,26.35,8.18,39.84
$GC,2751,0.81,244.4,3392,685,1126,1005,75.0,10.5,281,2760,0.00,2.08,0.00,0.000,1030,0.000,0.025,3392,2080,1065,1126,1005,0,0,0,0,0,0,26.18,26.12,26.20,8.17,39.64
$GC,2881,0.81,244.4,3392,2081,1126,1005,61.4,10.3,294,2885,0.00,2.20,0.00,0.000,516,0.000,0.042,3392,684,1065,1126,1005,0,0,0,0,0,0,26.46,26.12,26.46,8.17,39.84
$GC,2926,0.81,244.4,3392,684,1126,1006,57.0,10.2,298,2933,0.00,2.08,0.00,0.000,1030,0.000,0.024,3392,2086,1066,1126,1006,0,0,0,0,0,0,26.27,26.20,26.28,8.17,40.19
$GC,3053,0.81,244.4,3392,2086,1126,1006,43.5,9.7,311,3062,0.00,2.20,0.00,0.000,516,0.000,0.042,3392,685,1066,1126,1006,0,0,0,0,0,0,26.53,26.18,26.53,8.16,40.07
$GC,3089,0.81,244.4,3391,685,1126,1006,40.4,9.6,314,3096,0.00,2.08,0.00,0.000,1030,0.000,0.024,3392,2093,1066,1126,1006,0,0,0,0,0,0,26.32,26.26,26.34,8.16,39.60
$GC,3215,0.81,244.4,3392,2093,1127,1006,28.2,9.1,327,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2093,1066,1126,1006,0,0,0,0,0,0,26.57,26.58,26.58,8.16,39.60
$GC,3336,0.99,428.5,3392,2093,1126,1006,19.7,4.9,339,3434,0.15,2.28,89.10,0.569,10756,0.064,0.041,3486,688,371,368,374,0,0,0,0,0,0,26.36,25.20,24.87,8.15,39.76
$GC,3464,1.08,510.8,3485,688,369,374,11.4,7.7,360,3471,0.00,2.12,0.00,0.000,1030,0.000,0.024,3486,2093,371,368,374,0,0,0,0,0,0,25.65,25.60,25.67,8.10,38.69
$GC,3535,1.63,868.3,3485,2094,368,371,8.0,0.1,373,3543,0.43,2.15,0.00,0.000,2308,0.047,0.035,3666,3472,369,368,371,0,0,0,0,0,0,25.75,25.72,25.77,8.09,39.05
$STATE,3650,end climb,NO_VERTICAL_VELOCITY
$STATE,3650,begin surface
$SM_CCo,3981,0.00,0.000,0,0,367,416.52
$SM_GC,9.14,9.25,2.15,0.00,0.044,0.024,0.000,205,2069,367,-9.15,1.24,416.52,0,0,0,0,0,0,26.06,26.13,26.14
$IRIDIUM_FIX,4740.65,-12253.53,110218,231226
$TT8_MAMPS,0.026215,0.280875
$HUMID,40.07
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,11.4
$ALTIM_BOTTOM_PING,105.7,98.9
$24V_AH,24.09,19.301
$10V_AH,10.26,8.105
$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,22.325,51.425,484.125,0.000,0.000,0.000,0.000,211.800,2.000,0.000,24.325,959.170,1709.458,538.464,970.545,137.173,0.000,1234.930,0.000,745.888,0.000,11.857,0.000
$DEVICE_MAMPS,237.150,56.610,745.875,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.380,522.242,527.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312176
$DATA_FILE_SIZE,28132,395
$CAP_FILE_SIZE,61056,0
$CFSIZE,2097872896,2065137664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,92.13,1
$GPS,120218,013531,4738.400,-12254.419,15,0.9,38,16.4,0.3,0.0,10,4.5