version: 66.14
glider: 194
mission: 12
dive: 501
start: 2 23 118 18 49 48
data:
$ID,194
$MISSION,12
$DIVE,501
$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,48
$R_STBD_OVSHOOT,57
$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
$GPS1,230218,184354,4738.1455,-12254.7109,8,1.0,39,16.4,0.4,52.7,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.06
$_SM_ANGLEo,-69.1
$GPS2,230218,184858,4738.1885,-12254.6094,8,0.8,14,16.4,0.5,64.5,10,5.0
$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,221.0,272,-25.2,-10.000,-28.08,1120
$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,-1.17,-73.5,204,2070,361,382,0.0,0.0,0,17,0.00,0.00,-6.00,0.000,16386,0.000,0.000,204,2069,533,520,546,0,0,0,0,0,0,26.35,28.83,26.36,8.06,40.11
$GC,20,-1.17,-73.5,204,2070,520,546,15.1,0.0,1,122,10.35,2.22,-84.47,0.000,18948,0.228,0.051,2772,677,2365,2408,2323,0,0,0,0,0,0,25.44,24.05,25.75,8.07,40.23
$GC,149,-1.02,-73.5,2771,677,2407,2323,18.1,-13.1,22,156,0.17,2.10,0.00,0.000,3078,0.197,0.025,2818,2077,2365,2407,2323,0,0,0,0,0,0,25.49,26.02,25.75,8.23,40.03
$GC,225,-0.94,-73.5,2818,2077,2407,2322,33.2,-19.0,30,235,0.10,2.20,0.00,0.000,2308,0.204,0.041,2849,3486,2365,2408,2322,0,0,0,0,0,0,25.80,25.94,25.87,8.23,39.56
$GC,259,-0.87,-73.5,2848,3486,2408,2322,39.6,-19.2,33,263,0.00,2.08,0.00,0.000,1030,0.000,0.022,2849,2074,2364,2407,2322,0,0,0,0,0,0,26.19,26.12,26.20,8.23,40.78
$GC,391,-0.87,-73.5,2848,2073,2408,2320,61.3,-16.7,46,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2073,2364,2408,2320,0,0,0,0,0,0,26.51,26.52,26.52,8.24,40.58
$GC,511,-0.87,-73.5,2848,2073,2407,2318,81.1,-16.5,58,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2073,2363,2408,2318,0,0,0,0,0,0,26.55,26.56,26.56,8.24,41.41
$GC,631,-0.87,-73.5,2848,2073,2408,2317,98.8,-14.9,70,643,0.00,2.17,0.00,0.000,260,0.000,0.041,2849,3469,2362,2408,2317,0,0,0,0,0,0,26.59,26.10,26.60,8.25,40.94
$GC,719,-0.87,-73.5,2849,3469,2407,2317,112.4,-15.0,78,728,0.00,2.03,0.00,0.000,1030,0.000,0.022,2849,2085,2362,2407,2317,0,0,0,0,0,0,26.29,26.25,26.32,8.25,41.84
$GC,915,-0.87,-73.5,2848,2084,2407,2315,140.4,-14.4,97,924,0.00,2.15,0.00,0.000,260,0.000,0.041,2849,3472,2361,2407,2316,0,0,0,0,0,0,26.63,26.14,26.64,8.26,41.88
$GC,992,-0.87,-73.5,2849,3473,2407,2316,151.4,-13.9,104,995,0.00,2.03,0.00,0.000,1030,0.000,0.022,2849,2083,2362,2408,2316,0,0,0,0,0,0,26.37,26.30,26.39,8.26,41.49
$STATE,1122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1122,begin apogee
$GC,1128,-0.22,0.0,2849,2082,2407,2315,170.3,-14.0,117,1195,0.73,0.00,63.67,0.769,10246,0.150,0.000,3078,2081,2064,2107,2022,0,0,0,0,0,0,25.69,25.28,24.58,8.27,41.69
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1199,1.17,73.5,3077,2082,2107,2022,175.0,0.0,124,1273,1.25,0.00,64.55,0.750,10502,0.099,0.000,3500,2081,1763,1814,1713,0,0,0,0,0,0,25.34,24.87,24.23,8.25,41.17
$GC,1454,1.23,73.5,3499,2081,1812,1712,156.7,8.7,150,1456,0.08,0.00,0.00,0.000,2054,0.099,0.000,3575,2081,1762,1812,1712,0,0,0,0,0,0,25.84,25.88,25.86,8.23,40.58
$GC,1634,1.23,73.5,3575,2082,1811,1712,136.3,12.2,168,1643,0.00,2.17,0.00,0.000,516,0.000,0.038,3582,694,1760,1810,1711,0,0,0,0,0,0,26.28,25.87,26.29,8.23,41.25
$GC,1686,1.18,73.5,3582,694,1810,1711,129.9,12.3,173,1692,0.17,2.10,0.00,0.000,5126,0.156,0.024,3531,2093,1760,1810,1711,0,0,0,0,0,0,25.59,25.98,25.79,8.23,41.21
$GC,1882,1.18,73.5,3531,2093,1809,1711,110.7,9.8,192,1887,0.00,2.12,0.00,0.000,260,0.000,0.038,3531,3470,1760,1810,1711,0,0,0,0,0,0,26.45,26.01,26.45,8.23,41.25
$GC,1918,1.18,73.5,3531,3470,1810,1710,107.3,10.1,195,1925,0.00,2.05,0.00,0.000,1030,0.000,0.022,3540,2082,1760,1810,1711,0,0,0,0,0,0,26.20,26.13,26.22,8.23,41.53
$GC,2105,1.18,73.5,3539,2082,1810,1711,88.9,9.7,214,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2082,1760,1810,1710,0,0,0,0,0,0,26.53,26.54,26.54,8.23,41.37
$GC,2225,1.18,73.5,3539,2082,1809,1710,77.5,9.1,226,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2082,1759,1809,1710,0,0,0,0,0,0,26.58,26.58,26.58,8.23,41.53
$GC,2345,1.18,73.5,3539,2082,1810,1710,66.3,9.3,238,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2082,1760,1809,1711,0,0,0,0,0,0,26.60,26.62,26.61,8.23,41.69
$GC,2465,1.20,100.0,3539,2082,1810,1710,56.8,7.6,250,2495,0.00,0.00,22.90,0.673,8198,0.000,0.000,3540,2082,1657,1710,1604,0,0,0,0,0,0,26.63,25.54,25.08,8.22,41.37
$GC,2616,1.20,100.0,3539,2082,1709,1603,43.3,9.8,265,2624,0.00,2.17,0.00,0.000,516,0.000,0.039,3550,685,1656,1709,1603,0,0,0,0,0,0,26.41,25.99,26.42,8.21,40.66
$GC,2770,1.24,138.7,3550,685,1708,1602,30.9,6.5,280,2798,0.00,2.08,21.23,0.593,9222,0.000,0.024,3551,2088,1497,1557,1437,0,0,0,0,0,0,26.18,26.15,25.07,8.20,40.86
$GC,2921,1.33,163.8,3550,2088,1557,1435,20.4,7.7,295,2944,0.00,2.22,12.62,0.519,8708,0.000,0.039,3560,692,1394,1456,1332,0,0,0,0,0,0,26.36,25.71,25.01,8.18,41.14
$GC,3054,1.87,273.7,3559,692,1455,1330,14.1,-0.0,319,3114,0.47,2.08,54.25,0.524,11270,0.050,0.025,3746,2078,948,1003,893,0,0,0,0,0,0,25.94,26.00,24.82,8.16,40.54
$STATE,3129,end climb,NO_VERTICAL_VELOCITY
$STATE,3129,begin surface
$SM_CCo,3133,72.18,0.515,0,0,372,414.56
$SM_GC,15.23,9.55,0.00,0.00,0.042,0.000,0.000,204,2078,368,-9.14,-0.11,416.27,0,0,0,0,0,0,25.82,26.20,25.89
$IRIDIUM_FIX,4737.86,-12251.79,230218,174135
$TT8_MAMPS,0.027713,0.272636
$HUMID,40.43
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.50
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.5,6.1
$ALTIM_BOTTOM_PING,151.4,28.2
$24V_AH,24.05,41.361
$10V_AH,10.17,15.530
$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,22.875,33.975,239.225,72.175,0.000,0.000,0.000,206.525,6.500,0.000,15.775,872.242,1658.442,409.944,789.276,142.542,0.000,988.899,0.000,579.719,0.000,31.877,0.000
$DEVICE_MAMPS,227.970,51.255,768.825,514.845,0.000,0.000,0.000,70.380,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.518,439.496,443.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,24608,332
$CAP_FILE_SIZE,56633,0
$CFSIZE,2097872896,2041446400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.139,66.10,1
$GPS,230218,194940,4738.171,-12254.670,4,0.8,17,16.4,0.5,60.0,10,4.7