version: 66.14
glider: 194
mission: 12
dive: 200
start: 2 8 118 21 14 41
data:
$ID,194
$MISSION,12
$DIVE,200
$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,51
$R_STBD_OVSHOOT,62
$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
$GPS1,080218,210846,4738.7070,-12253.1465,5,0.9,20,16.4,0.8,79.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.41
$_SM_ANGLEo,-73.0
$GPS2,080218,211406,4738.7324,-12252.9746,7,0.9,22,16.4,0.6,71.0,10,5.0
$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,227.0,2547,-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,-244.4,211,2080,368,368,0.0,0.0,0,17,0.00,0.00,-6.10,0.000,16386,0.000,0.000,210,2080,544,536,552,0,0,0,0,0,0,26.35,28.83,26.36,8.08,39.88
$GC,20,-0.81,-244.4,211,2080,536,553,6.5,0.0,1,124,11.10,2.17,-82.93,0.000,18692,0.250,0.054,2884,3474,3063,3141,2986,0,0,0,0,0,0,25.65,25.47,25.96,8.10,39.52
$GC,184,-0.71,-244.4,2884,3474,3141,2987,23.0,-14.2,28,189,0.10,2.08,0.00,0.000,3078,0.150,0.024,2918,2080,3064,3141,2988,0,0,0,0,0,0,25.97,26.14,26.10,8.31,39.40
$GC,317,-0.71,-244.4,2918,2080,3141,2987,39.6,-11.9,41,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2080,3064,3141,2988,0,0,0,0,0,0,26.48,26.48,26.48,8.30,39.17
$GC,437,-0.71,-244.4,2918,2079,3141,2988,52.8,-10.9,53,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2080,3064,3141,2988,0,0,0,0,0,0,26.53,26.53,26.53,8.31,40.54
$GC,557,-0.71,-244.4,2917,2080,3141,2988,65.3,-10.3,65,566,0.00,2.15,0.00,0.000,260,0.000,0.042,2918,3463,3064,3141,2988,0,0,0,0,0,0,26.56,26.22,26.58,8.31,40.07
$GC,582,-0.71,-244.4,2918,3463,3141,2988,67.6,-9.9,67,589,0.00,2.03,0.00,0.000,1030,0.000,0.024,2918,2083,3064,3141,2987,0,0,0,0,0,0,26.36,26.30,26.38,8.31,40.47
$GC,709,-0.71,-244.4,2918,2082,3141,2987,80.5,-10.3,80,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2082,3064,3141,2988,0,0,0,0,0,0,26.60,26.61,26.61,8.32,40.51
$GC,829,-0.71,-244.4,2917,2082,3141,2988,92.7,-10.0,92,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2082,3064,3141,2988,0,0,0,0,0,0,26.63,26.65,26.64,8.32,40.11
$GC,949,-0.71,-244.4,2917,2082,3141,2988,104.4,-9.4,104,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2082,3064,3141,2987,0,0,0,0,0,0,26.66,26.67,26.67,8.32,40.23
$GC,1131,-0.71,-244.4,2917,2082,3141,2987,121.5,-9.4,122,1140,0.00,2.12,0.00,0.000,260,0.000,0.042,2918,3462,3064,3141,2988,0,0,0,0,0,0,26.69,26.34,26.70,8.32,40.62
$GC,1155,-0.71,-244.4,2918,3461,3141,2987,123.8,-9.3,124,1162,0.00,2.03,0.00,0.000,1030,0.000,0.024,2918,2073,3064,3141,2987,0,0,0,0,0,0,26.48,26.42,26.50,8.32,40.62
$GC,1343,-0.71,-244.4,2917,2073,3141,2987,140.5,-8.5,143,1351,0.00,2.12,0.00,0.000,516,0.000,0.040,2918,689,3064,3141,2987,0,0,0,0,0,0,26.72,26.39,26.72,8.33,40.78
$GC,1375,-0.71,-244.4,2918,689,3141,2987,143.3,-8.7,146,1379,0.00,2.05,0.00,0.000,1030,0.000,0.026,2918,2069,3064,3141,2987,0,0,0,0,0,0,26.50,26.44,26.52,8.33,40.07
$STATE,1485,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1485,begin apogee
$GC,1491,-0.22,0.0,2918,2070,3141,2987,152.9,-8.5,157,1696,0.43,0.00,196.48,0.744,10246,0.104,0.000,3077,2069,2065,2114,2016,0,0,0,0,0,0,26.30,24.82,24.30,8.33,40.78
$STATE,1697,end apogee,CONTROL_FINISHED_OK
$STATE,1697,begin climb
$GC,1702,0.81,244.4,3076,2069,2114,2016,159.9,0.0,178,1911,0.90,2.30,200.52,0.715,10500,0.070,0.036,3397,3487,1067,1126,1008,0,0,0,0,0,0,24.99,24.50,24.13,8.26,39.44
$GC,1987,0.72,244.4,3396,3486,1126,1009,133.6,14.7,206,1995,0.00,2.15,0.00,0.000,1030,0.000,0.023,3400,2098,1067,1126,1008,0,0,0,0,0,0,25.31,25.28,25.33,8.19,38.26
$GC,2175,0.65,244.4,3400,2098,1126,1008,107.9,12.9,225,2184,0.10,2.22,0.00,0.000,4612,0.150,0.041,3366,681,1067,1126,1008,0,0,0,0,0,0,25.62,25.69,25.68,8.18,39.48
$GC,2327,0.65,244.4,3365,681,1126,1007,91.9,10.1,240,2332,0.00,2.12,0.00,0.000,1030,0.000,0.025,3366,2096,1066,1126,1007,0,0,0,0,0,0,25.99,25.93,26.01,8.18,39.84
$GC,2460,0.65,244.4,3365,2096,1126,1007,78.5,10.0,253,2469,0.00,2.25,0.00,0.000,516,0.000,0.042,3366,673,1067,1126,1008,0,0,0,0,0,0,26.30,25.98,26.32,8.18,39.68
$GC,2522,0.65,244.4,3365,673,1126,1007,72.0,10.6,259,2531,0.00,2.10,0.00,0.000,1030,0.000,0.025,3366,2082,1067,1126,1008,0,0,0,0,0,0,26.15,26.08,26.16,8.18,39.21
$GC,2652,0.65,244.4,3365,2083,1126,1008,58.4,10.4,272,2656,0.00,2.22,0.00,0.000,516,0.000,0.042,3366,670,1067,1126,1008,0,0,0,0,0,0,26.42,26.10,26.43,8.17,39.91
$GC,2695,0.65,244.4,3365,670,1126,1008,54.0,10.2,276,2699,0.00,2.10,0.00,0.000,1030,0.000,0.024,3366,2085,1067,1126,1008,0,0,0,0,0,0,26.24,26.17,26.25,8.17,39.80
$GC,2827,0.65,244.4,3365,2084,1126,1008,40.6,9.6,289,2836,0.00,2.22,0.00,0.000,516,0.000,0.042,3366,668,1067,1126,1008,0,0,0,0,0,0,26.50,26.17,26.51,8.17,39.95
$GC,2863,0.65,244.4,3365,669,1126,1008,37.3,10.1,292,2869,0.00,2.08,0.00,0.000,1030,0.000,0.024,3366,2082,1067,1126,1008,0,0,0,0,0,0,26.31,26.25,26.32,8.16,39.64
$GC,2989,0.65,244.4,3365,2082,1126,1008,25.1,8.9,305,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2082,1067,1126,1008,0,0,0,0,0,0,26.55,26.56,26.55,8.16,40.39
$GC,3112,0.73,329.0,3365,2082,1126,1008,15.7,7.7,322,3162,0.00,2.22,43.95,0.566,8964,0.000,0.037,3365,3472,720,773,668,0,0,0,0,0,0,26.58,25.72,25.20,8.16,40.43
$GC,3459,1.22,698.7,3365,3472,773,666,6.2,-0.2,388,3493,0.43,2.08,27.52,0.523,11266,0.035,0.024,3566,2064,494,519,469,0,0,0,0,0,0,26.16,26.13,26.20,8.12,40.51
$STATE,3494,end climb,NO_VERTICAL_VELOCITY
$STATE,3494,begin surface
$SM_CCo,3497,14.93,0.490,0,0,373,414.56
$SM_GC,6.98,9.02,0.00,0.00,0.047,0.000,0.000,212,2064,369,-9.14,-0.51,416.03,0,0,0,0,0,0,25.98,26.32,26.06
$IRIDIUM_FIX,4739.20,-12253.53,080218,200004
$TT8_MAMPS,0.026964,0.280126
$HUMID,39.88
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,14.2
$ALTIM_BOTTOM_PING,120.7,41.5
$24V_AH,24.13,13.802
$10V_AH,10.30,5.659
$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,22.075,42.825,468.475,14.925,0.000,0.000,0.000,216.950,3.250,0.000,23.565,951.746,1626.501,532.203,923.963,144.811,0.000,1208.273,0.000,695.034,0.000,19.294,0.000
$DEVICE_MAMPS,250.155,54.315,743.580,489.600,0.000,0.000,0.000,71.145,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.410,519.653,524.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312224
$DATA_FILE_SIZE,27925,393
$CAP_FILE_SIZE,59494,0
$CFSIZE,2097872896,2074869760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185,71.84,1
$GPS,080218,221959,4738.622,-12253.113,33,0.9,37,16.4,0.5,78.8,9,4.5