version: 66.14
glider: 194
mission: 12
dive: 535
start: 2 25 118 10 5 25
data:
$ID,194
$MISSION,12
$DIVE,535
$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,54
$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
$GPS1,250218,095923,4738.6108,-12253.3613,5,0.9,15,16.4,0.7,60.8,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.45
$_SM_ANGLEo,-64.4
$GPS2,250218,100447,4738.6514,-12253.2471,5,0.9,16,16.4,0.0,62.2,10,5.0
$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,227.9,2176,-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,6,begin dive
$GC,9,-0.81,-244.4,210,2079,350,383,0.0,0.0,0,17,0.00,0.00,-5.78,0.000,16386,0.000,0.000,210,2079,519,504,535,0,0,0,0,0,0,26.32,28.83,26.33,8.04,40.07
$GC,20,-0.81,-244.4,210,2079,505,535,15.4,0.0,1,157,10.88,2.22,-115.57,0.000,18948,0.230,0.051,2888,686,3063,3138,2988,0,0,0,0,0,0,25.42,24.01,25.72,8.07,41.25
$GC,167,-0.57,-244.4,2887,686,3139,2988,20.6,-15.6,25,173,0.25,2.12,0.00,0.000,3078,0.156,0.026,2962,2078,3064,3140,2988,0,0,0,0,0,0,25.53,26.01,25.77,8.27,40.23
$GC,301,-0.57,-244.4,2962,2078,3141,2988,40.0,-14.3,38,310,0.00,2.20,0.00,0.000,260,0.000,0.044,2963,3471,3064,3141,2988,0,0,0,0,0,0,26.47,25.96,26.47,8.27,40.62
$GC,386,-0.57,-244.4,2962,3472,3141,2988,50.5,-12.3,46,393,0.00,2.08,0.00,0.000,1030,0.000,0.023,2963,2069,3064,3141,2988,0,0,0,0,0,0,26.22,26.15,26.25,8.28,41.14
$GC,513,-0.57,-244.4,2962,2069,3141,2988,66.6,-11.7,59,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2069,3064,3141,2988,0,0,0,0,0,0,26.55,26.55,26.55,8.28,41.73
$GC,633,-0.57,-244.4,2962,2069,3141,2988,80.8,-12.2,71,638,0.00,2.22,0.00,0.000,260,0.000,0.043,2963,3479,3064,3140,2988,0,0,0,0,0,0,26.58,26.06,26.59,8.29,41.65
$GC,749,-0.57,-244.4,2962,3479,3140,2988,93.1,-10.5,82,756,0.00,2.08,0.00,0.000,1030,0.000,0.023,2963,2074,3064,3141,2987,0,0,0,0,0,0,26.32,26.26,26.34,8.30,42.12
$GC,876,-0.57,-244.4,2962,2073,3141,2988,107.7,-11.0,95,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2072,3064,3141,2988,0,0,0,0,0,0,26.64,26.65,26.65,8.30,41.96
$GC,1056,-0.57,-244.4,2962,2072,3141,2988,128.3,-11.8,113,1065,0.00,2.17,0.00,0.000,260,0.000,0.043,2962,3473,3064,3141,2988,0,0,0,0,0,0,26.67,26.13,26.68,8.31,42.04
$GC,1168,-0.57,-244.4,2962,3473,3140,2987,140.5,-10.8,124,1173,0.00,2.05,0.00,0.000,1030,0.000,0.023,2962,2079,3063,3140,2987,0,0,0,0,0,0,26.39,26.32,26.41,8.32,41.53
$GC,1361,-0.57,-244.4,2962,2080,3141,2987,161.4,-10.7,143,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2079,3064,3141,2987,0,0,0,0,0,0,26.72,26.72,26.72,8.32,42.16
$GC,1542,-0.77,-244.4,2962,2078,3141,2987,174.0,-0.0,161,1551,0.10,2.17,0.00,0.000,4356,0.092,0.041,2898,3493,3064,3141,2987,0,0,0,0,0,0,26.46,26.19,26.48,8.32,41.92
$STATE,1644,end dive,NO_VERTICAL_VELOCITY
$STATE,1644,begin apogee
$GC,1653,-0.22,0.0,2898,2065,3141,2987,173.9,0.0,171,1856,0.50,0.00,198.55,0.760,10246,0.073,0.000,3084,2064,2064,2113,2015,0,0,0,0,0,0,26.13,24.69,24.03,8.33,42.63
$STATE,1859,end apogee,CONTROL_FINISHED_OK
$STATE,1859,begin climb
$GC,1861,0.81,244.4,3084,2063,2112,2013,174.0,0.0,192,2076,0.90,2.28,201.52,0.727,10756,0.093,0.039,3386,694,1066,1129,1003,0,0,0,0,0,0,24.79,24.37,23.72,8.25,40.23
$GC,2167,0.99,348.6,3386,694,1127,1003,156.9,7.1,222,2262,0.17,2.15,86.32,0.707,11270,0.057,0.024,3484,2094,641,688,595,0,0,0,0,0,0,25.25,25.25,23.95,8.18,39.60
$GC,2440,0.99,348.6,3483,2094,688,594,121.4,13.3,250,2450,0.00,2.20,0.00,0.000,516,0.000,0.041,3484,707,640,688,593,0,0,0,0,0,0,25.96,25.60,25.97,8.15,40.27
$GC,2476,0.99,348.6,3483,707,688,593,117.2,12.6,253,2483,0.00,2.08,0.00,0.000,1030,0.000,0.024,3484,2075,640,687,593,0,0,0,0,0,0,25.80,25.74,25.82,8.15,40.78
$GC,2663,0.99,348.6,3484,2076,687,593,92.9,12.9,272,2672,0.00,2.17,0.00,0.000,516,0.000,0.041,3484,697,640,687,594,0,0,0,0,0,0,26.29,25.88,26.29,8.14,40.07
$GC,2715,0.99,348.6,3484,697,687,593,86.4,12.8,277,2719,0.00,2.10,0.00,0.000,1030,0.000,0.025,3485,2087,640,687,593,0,0,0,0,0,0,26.07,26.01,26.10,8.14,40.58
$GC,2848,0.99,348.6,3484,2088,687,593,70.2,12.0,290,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,2088,640,687,594,0,0,0,0,0,0,26.41,26.42,26.42,8.14,40.43
$GC,2968,0.99,348.6,3483,2088,687,593,55.4,11.8,302,2976,0.00,2.17,0.00,0.000,516,0.000,0.041,3484,701,639,686,593,0,0,0,0,0,0,26.47,26.05,26.48,8.12,41.02
$GC,2992,0.99,348.6,3483,701,687,593,52.8,11.4,304,2999,0.00,2.08,0.00,0.000,1030,0.000,0.025,3484,2091,640,687,593,0,0,0,0,0,0,26.22,26.14,26.24,8.13,40.74
$GC,3120,0.99,348.6,3484,2091,687,593,38.4,10.3,317,3129,0.00,2.15,0.00,0.000,260,0.000,0.039,3484,3476,640,687,593,0,0,0,0,0,0,26.53,26.08,26.53,8.12,40.66
$GC,3145,0.99,348.6,3484,3475,687,593,35.9,11.0,319,3153,0.00,2.05,0.00,0.000,1030,0.000,0.023,3484,2096,640,687,593,0,0,0,0,0,0,26.28,26.21,26.29,8.12,40.58
$GC,3273,0.99,348.6,3484,2096,687,593,23.1,8.3,332,3282,0.00,2.20,0.00,0.000,516,0.000,0.041,3484,677,640,687,593,0,0,0,0,0,0,26.58,26.13,26.58,8.11,40.82
$STATE,3540,end climb,NO_VERTICAL_VELOCITY
$STATE,3540,begin surface
$SM_CCo,3544,34.40,0.526,0,0,372,414.56
$SM_GC,15.52,8.73,2.17,0.00,0.040,0.025,0.000,204,2089,368,-9.14,-1.58,416.27,0,0,0,0,0,0,26.03,26.10,26.11
$IRIDIUM_FIX,4738.72,-12249.11,250218,085506
$TT8_MAMPS,0.026215,0.347536
$HUMID,40.90
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,9.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.8,11.4
$ALTIM_BOTTOM_PING,101.0,87.7
$24V_AH,23.72,44.411
$10V_AH,10.03,16.543
$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,21.525,47.275,486.400,34.400,0.000,0.000,0.000,223.425,2.500,0.000,17.601,913.966,1656.921,593.433,946.565,143.984,0.000,1299.082,0.000,719.679,0.000,10.467,0.000
$DEVICE_MAMPS,229.500,51.255,759.645,526.320,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,256.975,502.115,507.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312120
$DATA_FILE_SIZE,27986,380
$CAP_FILE_SIZE,59633,0
$CFSIZE,2097872896,2038104064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136,64.60,1
$GPS,250218,111135,4738.703,-12253.551,5,0.8,20,16.4,0.9,51.7,10,4.6