version: 66.14
glider: 194
mission: 12
dive: 520
start: 2 24 118 17 0 23
data:
$ID,194
$MISSION,12
$DIVE,520
$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,58
$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
$GPS1,240218,165354,4738.1455,-12254.7227,8,0.8,31,16.4,0.5,79.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.32
$_SM_ANGLEo,-72.8
$GPS2,240218,165944,4738.1704,-12254.5957,5,1.0,32,16.4,0.5,81.1,10,5.0
$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,238.8,273,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-1.25,-63.1,210,2099,366,375,0.0,0.0,0,17,0.00,0.00,-5.57,0.000,16386,0.000,0.000,210,2099,520,510,531,0,0,0,0,0,0,26.31,28.83,26.32,8.05,40.07
$GC,20,-1.25,-63.1,210,2099,510,531,15.3,0.0,1,111,10.62,0.00,-72.95,0.000,19206,0.241,0.000,2745,2099,2323,2357,2290,0,0,0,0,0,0,25.34,25.37,25.68,8.06,40.39
$GC,178,-1.09,-63.1,2745,2099,2358,2290,30.5,-20.4,23,184,0.17,0.00,0.00,0.000,2054,0.187,0.000,2796,2099,2324,2358,2290,0,0,0,0,0,0,25.55,25.77,25.66,8.22,40.90
$GC,304,-1.02,-63.1,2796,2099,2359,2288,52.8,-19.3,36,314,0.00,2.12,0.00,0.000,260,0.000,0.043,2797,3461,2323,2358,2288,0,0,0,0,0,0,26.46,25.96,26.46,8.22,41.06
$GC,611,-0.95,-63.1,2796,3462,2358,2285,108.9,-16.9,66,621,0.12,2.03,0.00,0.000,3078,0.173,0.024,2834,2082,2321,2359,2284,0,0,0,0,0,0,25.72,26.22,25.83,8.24,41.53
$GC,801,-0.95,-63.1,2833,2081,2358,2283,137.2,-14.2,85,810,0.00,2.17,0.00,0.000,260,0.000,0.042,2834,3466,2320,2358,2283,0,0,0,0,0,0,26.62,26.10,26.63,8.25,41.96
$GC,1014,-0.95,-63.1,2833,3466,2358,2283,166.9,-13.8,106,1023,0.00,2.03,0.00,0.000,1030,0.000,0.023,2834,2085,2320,2358,2282,0,0,0,0,0,0,26.32,26.32,26.35,8.25,41.84
$GC,1206,-1.26,-156.1,2833,2085,2358,2281,179.8,-0.1,125,1213,0.15,0.00,0.00,0.000,4102,0.067,0.000,2738,2085,2319,2358,2281,0,0,0,0,0,0,26.42,26.45,26.44,8.26,42.16
$STATE,1271,end dive,NO_VERTICAL_VELOCITY
$STATE,1271,begin apogee
$GC,1277,-0.22,0.0,2737,2085,2358,2281,179.8,0.0,132,1336,1.02,0.00,54.67,0.774,10246,0.114,0.000,3077,2084,2064,2103,2025,0,0,0,0,0,0,25.80,25.39,24.65,8.26,42.20
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1340,1.34,156.1,3077,2084,2103,2025,179.7,0.0,138,1484,1.45,2.28,133.60,0.757,10756,0.107,0.040,3565,695,1426,1489,1364,0,0,0,0,0,0,25.40,24.72,24.05,8.25,41.77
$GC,1510,1.45,156.1,3564,695,1489,1364,170.2,10.5,155,1518,0.08,2.15,0.00,0.000,3078,0.093,0.024,3640,2080,1426,1489,1364,0,0,0,0,0,0,25.12,25.15,25.18,8.20,39.68
$GC,1697,1.45,156.1,3639,2080,1487,1363,139.0,17.6,174,1706,0.00,2.20,0.00,0.000,260,0.000,0.038,3640,3481,1424,1487,1362,0,0,0,0,0,0,26.06,25.66,26.06,8.20,40.74
$GC,1729,1.45,156.1,3639,3481,1487,1362,133.0,18.5,177,1734,0.10,2.12,0.00,0.000,5126,0.164,0.022,3624,2076,1424,1487,1362,0,0,0,0,0,0,25.51,25.79,25.66,8.20,40.86
$GC,1925,1.45,156.1,3623,2076,1487,1362,101.7,16.3,196,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2076,1424,1487,1362,0,0,0,0,0,0,26.32,26.33,26.33,8.19,41.10
$GC,2113,1.45,156.1,3623,2076,1487,1362,73.6,14.5,215,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2076,1424,1487,1362,0,0,0,0,0,0,26.44,26.45,26.44,8.19,41.77
$GC,2233,1.45,156.1,3623,2076,1487,1362,56.4,13.3,227,2242,0.00,2.15,0.00,0.000,516,0.000,0.041,3623,690,1424,1486,1362,0,0,0,0,0,0,26.49,26.03,26.50,8.19,40.90
$GC,2288,1.45,156.1,3623,690,1487,1362,49.4,13.7,232,2295,0.00,2.08,0.00,0.000,1030,0.000,0.025,3624,2081,1424,1487,1362,0,0,0,0,0,0,26.22,26.15,26.25,8.20,41.65
$GC,2416,1.45,156.1,3623,2081,1486,1362,34.2,11.4,245,2420,0.00,2.15,0.00,0.000,260,0.000,0.037,3624,3474,1424,1486,1362,0,0,0,0,0,0,26.55,26.09,26.56,8.19,41.41
$GC,2448,1.45,156.1,3623,3474,1486,1362,29.9,12.6,248,2457,0.00,2.05,0.00,0.000,1030,0.000,0.022,3630,2082,1424,1487,1362,0,0,0,0,0,0,26.25,26.21,26.27,8.19,41.61
$GC,2578,1.54,247.0,3629,2082,1487,1362,19.3,0.3,264,2633,0.00,2.22,46.47,0.556,8708,0.000,0.040,3640,681,1055,1109,1001,0,0,0,0,0,0,26.60,25.62,24.99,8.18,40.82
$GC,2722,1.71,320.6,3640,681,1106,1001,14.6,2.2,290,2768,0.10,2.10,37.05,0.516,11270,0.076,0.024,3720,2096,755,800,710,0,0,0,0,0,0,25.87,25.91,24.80,8.14,40.78
$GC,2834,2.13,412.4,3720,2096,800,709,14.3,0.2,309,2871,0.22,0.00,34.17,0.513,10498,0.046,0.000,3854,2096,484,495,473,0,0,0,0,0,0,25.82,28.83,25.84,8.11,39.80
$STATE,2872,end climb,NO_VERTICAL_VELOCITY
$STATE,2872,begin surface
$SM_CCo,2876,14.12,0.479,0,0,372,414.56
$SM_GC,15.56,10.00,0.00,0.00,0.050,0.000,0.000,208,2096,369,-9.15,0.40,416.03,0,0,0,0,0,0,25.80,26.27,25.90
$IRIDIUM_FIX,4739.67,-12257.95,240218,154359
$TT8_MAMPS,0.026964,0.272636
$HUMID,41.33
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,6.1
$ALTIM_BOTTOM_PING,101.6,89.2
$24V_AH,24.05,42.992
$10V_AH,10.13,16.097
$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,24.050,29.850,305.975,14.125,0.000,0.000,0.000,232.200,0.750,0.000,34.187,788.938,1430.117,413.490,822.692,135.081,0.000,1012.067,0.000,578.744,0.000,10.464,0.000
$DEVICE_MAMPS,240.975,42.840,774.180,478.890,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.433,416.367,420.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21134,315
$CAP_FILE_SIZE,51446,0
$CFSIZE,2097872896,2039578624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,72.50,1
$GPS,240218,175519,4738.264,-12254.711,8,0.8,36,16.4,0.5,69.5,10,4.3