version: 66.14
glider: 194
mission: 12
dive: 417
start: 2 19 118 19 57 19
data:
$ID,194
$MISSION,12
$DIVE,417
$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,56
$R_STBD_OVSHOOT,58
$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
$GPS1,190218,195122,4738.8130,-12253.3857,8,0.9,17,16.4,0.0,200.2,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.41
$_SM_ANGLEo,-62.9
$GPS2,190218,195642,4738.7847,-12253.4268,9,0.9,23,16.4,0.0,264.9,9,4.8
$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,217.8,2113,-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,8,-0.81,-244.4,206,2074,353,382,0.0,0.0,0,17,0.00,0.00,-6.25,0.000,16386,0.000,0.000,206,2074,537,523,551,0,0,0,0,0,0,26.27,28.83,26.29,8.06,40.27
$GC,20,-0.81,-244.4,206,2074,523,551,13.4,0.0,1,151,10.32,2.17,-112.30,0.000,19204,0.215,0.050,2888,686,3061,3136,2986,0,0,0,0,0,0,25.60,25.34,25.83,8.07,40.62
$GC,386,-0.70,-244.4,2888,686,3137,2988,61.8,-16.5,48,391,0.12,2.10,0.00,0.000,3078,0.164,0.027,2927,2077,3062,3137,2988,0,0,0,0,0,0,25.83,26.12,26.00,8.28,40.62
$GC,520,-0.62,-244.4,2926,2077,3137,2988,80.6,-13.4,61,529,0.00,2.17,0.00,0.000,260,0.000,0.044,2927,3474,3062,3137,2988,0,0,0,0,0,0,26.53,26.07,26.54,8.30,40.74
$GC,572,-0.57,-244.4,2926,3474,3137,2988,87.3,-12.1,66,578,0.12,2.05,0.00,0.000,3078,0.142,0.023,2969,2077,3062,3137,2988,0,0,0,0,0,0,25.95,26.22,26.10,8.30,41.17
$GC,706,-0.57,-244.4,2968,2076,3137,2988,101.5,-10.1,79,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2077,3062,3137,2988,0,0,0,0,0,0,26.58,26.58,26.58,8.31,41.49
$GC,892,-0.57,-244.4,2968,2077,3137,2988,120.1,-10.5,97,896,0.00,2.17,0.00,0.000,260,0.000,0.044,2969,3479,3062,3137,2988,0,0,0,0,0,0,26.62,26.16,26.62,8.32,41.69
$GC,977,-0.57,-244.4,2968,3479,3137,2987,129.2,-10.2,105,984,0.00,2.05,0.00,0.000,1030,0.000,0.023,2969,2078,3062,3137,2987,0,0,0,0,0,0,26.38,26.31,26.40,8.32,41.92
$GC,1165,-0.57,-244.4,2968,2078,3137,2987,148.8,-10.0,124,1169,0.00,2.20,0.00,0.000,260,0.000,0.043,2969,3486,3062,3137,2987,0,0,0,0,0,0,26.67,26.20,26.68,8.33,42.08
$GC,1200,-0.57,-244.4,2968,3486,3137,2988,152.0,-10.0,127,1207,0.00,2.05,0.00,0.000,1030,0.000,0.023,2969,2082,3062,3137,2987,0,0,0,0,0,0,26.41,26.34,26.44,8.33,41.88
$STATE,1275,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1275,begin apogee
$GC,1281,-0.22,0.0,2969,2082,3137,2988,160.0,-10.0,135,1487,0.30,0.00,197.30,0.745,10246,0.114,0.000,3080,2081,2064,2113,2015,0,0,0,0,0,0,26.03,24.58,24.18,8.33,41.25
$STATE,1488,end apogee,CONTROL_FINISHED_OK
$STATE,1488,begin climb
$GC,1492,0.81,244.4,3080,2081,2113,2015,167.8,0.0,156,1702,0.93,2.35,200.50,0.718,11012,0.098,0.038,3387,3478,1067,1128,1006,0,0,0,0,0,0,24.87,24.48,23.91,8.26,39.99
$GC,1734,0.97,326.4,3387,3477,1127,1006,154.2,7.7,180,1811,0.15,2.17,68.05,0.694,11270,0.057,0.021,3481,2079,733,782,684,0,0,0,0,0,0,24.93,24.92,24.01,8.18,38.65
$GC,1991,0.92,326.4,3481,2079,781,682,118.3,14.4,206,2001,0.10,2.20,0.00,0.000,4612,0.141,0.040,3446,688,731,780,682,0,0,0,0,0,0,25.45,25.49,25.51,8.16,40.03
$GC,2127,0.92,326.4,3445,688,780,682,101.7,12.3,219,2135,0.00,2.12,0.00,0.000,1030,0.000,0.025,3446,2096,730,779,682,0,0,0,0,0,0,25.87,25.81,25.89,8.16,39.91
$GC,2314,0.92,326.4,3445,2096,780,682,78.5,12.4,238,2324,0.00,2.15,0.00,0.000,260,0.000,0.039,3446,3474,731,780,682,0,0,0,0,0,0,26.29,25.92,26.30,8.15,40.66
$GC,2337,0.92,326.4,3445,3474,779,682,75.7,12.3,240,2347,0.00,2.08,0.00,0.000,1030,0.000,0.023,3446,2088,730,779,682,0,0,0,0,0,0,26.04,26.00,26.06,8.15,40.19
$GC,2468,0.92,326.4,3445,2087,779,682,60.5,11.1,253,2476,0.00,2.20,0.00,0.000,516,0.000,0.041,3446,676,731,780,682,0,0,0,0,0,0,26.39,26.01,26.40,8.14,40.98
$GC,2562,0.92,326.4,3445,676,780,682,50.1,11.4,262,2569,0.00,2.10,0.00,0.000,1030,0.000,0.025,3446,2088,730,779,682,0,0,0,0,0,0,26.20,26.13,26.22,8.14,40.62
$GC,2690,0.92,326.4,3445,2089,779,682,37.9,8.2,275,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2089,730,779,682,0,0,0,0,0,0,26.49,26.51,26.51,8.13,40.66
$GC,2810,0.92,326.4,3445,2089,780,682,28.1,8.7,287,2819,0.00,2.17,0.00,0.000,516,0.000,0.041,3446,685,731,780,682,0,0,0,0,0,0,26.53,26.14,26.54,8.13,40.15
$GC,2833,0.92,326.4,3445,685,780,682,25.8,9.6,289,2841,0.00,2.05,0.00,0.000,1030,0.000,0.025,3446,2079,731,780,683,0,0,0,0,0,0,26.26,26.22,26.28,8.13,40.82
$GC,2967,1.08,427.6,3445,2079,779,682,16.1,7.2,307,3018,0.10,2.28,44.72,0.532,10756,0.085,0.040,3533,677,372,371,374,0,0,0,0,0,0,26.34,25.70,25.15,8.12,39.80
$GC,3026,1.48,700.6,3532,677,370,373,12.7,2.4,316,3034,0.20,2.12,0.00,0.000,3078,0.071,0.024,3621,2106,371,370,373,0,0,0,0,0,0,25.80,25.86,25.88,8.09,39.72
$GC,3097,2.08,1062.8,3620,2108,369,372,12.6,-0.0,329,3105,0.45,2.12,0.00,0.000,2308,0.059,0.039,3803,3461,370,369,372,0,0,0,0,0,0,25.87,25.84,25.91,8.09,40.15
$GC,3124,2.62,1411.9,3803,3461,369,371,12.5,0.3,333,3131,0.20,2.08,0.00,0.000,3078,0.071,0.024,3890,2072,370,369,372,0,0,0,0,0,0,25.87,25.94,25.97,8.08,39.91
$STATE,3152,end climb,NO_VERTICAL_VELOCITY
$STATE,3152,begin surface
$SM_CCo,3481,0.00,0.000,0,0,368,416.27
$SM_GC,13.58,9.88,0.00,0.00,0.047,0.000,0.000,212,2071,368,-9.13,-0.31,416.27,0,0,0,0,0,0,26.02,26.44,26.11
$IRIDIUM_FIX,4738.33,-12256.21,190218,184552
$TT8_MAMPS,0.026215,0.280875
$HUMID,40.54
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.7,6.7
$ALTIM_BOTTOM_PING,120.1,49.7
$24V_AH,23.91,33.523
$10V_AH,10.20,13.076
$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,22.875,47.175,510.575,0.000,0.000,0.000,0.000,215.100,5.000,0.000,24.245,807.768,1409.030,579.299,883.883,142.309,0.000,1249.045,0.000,652.721,0.000,25.498,0.000
$DEVICE_MAMPS,214.965,50.490,745.110,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.921,446.048,451.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312180
$DATA_FILE_SIZE,24587,338
$CAP_FILE_SIZE,58792,0
$CFSIZE,2097872896,2049703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.010,316.49,1
$GPS,190218,205636,4738.672,-12253.951,9,0.8,35,16.4,0.5,226.3,10,4.7