version: 66.14
glider: 194
mission: 12
dive: 562
start: 2 26 118 14 18 7
data:
$ID,194
$MISSION,12
$DIVE,562
$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,54
$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
$GPS1,260218,140931,4738.5410,-12254.2969,5,0.8,25,16.4,0.3,55.5,10,4.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.89
$_SM_ANGLEo,-68.7
$GPS2,260218,141728,4738.5698,-12254.2041,7,0.8,13,16.4,0.0,0.0,10,4.8
$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,213.4,1120,-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,-244.4,209,2074,380,363,0.0,0.0,0,17,0.00,0.00,-6.25,0.000,16386,0.000,0.000,208,2074,534,532,536,0,0,0,0,0,0,26.39,28.83,26.40,8.04,40.74
$GC,20,-0.81,-244.4,209,2074,532,537,16.0,0.0,1,140,10.82,0.00,-105.78,0.000,18950,0.228,0.000,2886,2073,3064,3141,2987,0,0,0,0,0,0,25.45,24.34,25.75,8.05,41.37
$GC,209,-0.60,-244.4,2886,2073,3141,2988,33.0,-19.8,28,211,0.22,0.00,0.00,0.000,2054,0.158,0.000,2954,2072,3064,3141,2988,0,0,0,0,0,0,25.65,25.94,25.85,8.26,40.62
$GC,330,-0.49,-244.4,2953,2073,3142,2988,55.7,-18.4,40,340,0.10,2.17,0.00,0.000,2308,0.163,0.041,2990,3470,3065,3142,2988,0,0,0,0,0,0,26.01,26.00,26.04,8.28,41.65
$GC,373,-0.49,-244.4,2989,3470,3142,2988,61.5,-13.1,44,383,0.00,2.08,0.00,0.000,1030,0.000,0.024,2990,2079,3065,3142,2988,0,0,0,0,0,0,26.25,26.17,26.27,8.28,41.57
$GC,504,-0.49,-244.4,2989,2079,3142,2988,77.2,-12.0,57,512,0.00,2.15,0.00,0.000,516,0.000,0.040,2990,691,3065,3142,2988,0,0,0,0,0,0,26.58,26.10,26.58,8.29,42.47
$GC,538,-0.49,-244.4,2990,692,3142,2988,81.2,-12.1,60,546,0.00,2.08,0.00,0.000,1030,0.000,0.025,2990,2081,3065,3142,2988,0,0,0,0,0,0,26.27,26.18,26.29,8.29,42.12
$GC,666,-0.49,-244.4,2989,2081,3141,2988,95.9,-11.3,73,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2081,3065,3142,2988,0,0,0,0,0,0,26.62,26.63,26.63,8.30,42.59
$GC,786,-0.49,-244.4,2989,2081,3142,2988,109.0,-10.2,85,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2081,3065,3142,2988,0,0,0,0,0,0,26.65,26.65,26.65,8.30,42.47
$GC,966,-0.49,-244.4,2989,2081,3142,2988,128.8,-11.5,103,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2081,3065,3142,2988,0,0,0,0,0,0,26.67,26.69,26.68,8.31,42.51
$STATE,1064,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1064,begin apogee
$GC,1070,-0.22,0.0,2990,2081,3142,2988,140.0,-11.0,113,1275,0.22,0.00,199.68,0.752,10246,0.120,0.000,3076,2081,2063,2113,2014,0,0,0,0,0,0,26.00,24.68,24.02,8.31,42.32
$STATE,1277,end apogee,CONTROL_FINISHED_OK
$STATE,1277,begin climb
$GC,1281,0.81,244.4,3075,2082,2113,2014,152.4,0.0,134,1496,0.95,2.35,200.32,0.717,10756,0.103,0.038,3384,693,1066,1132,1001,0,0,0,0,0,0,24.79,24.18,23.72,8.24,40.15
$GC,1575,1.05,383.4,3384,693,1128,1001,139.3,6.1,163,1703,0.22,2.15,114.62,0.695,11270,0.049,0.024,3500,2095,501,538,465,0,0,0,0,0,0,25.25,25.25,23.89,8.17,39.91
$GC,1881,1.05,383.4,3499,2094,538,463,98.0,14.1,194,1891,0.00,2.25,0.00,0.000,516,0.000,0.042,3500,691,500,538,463,0,0,0,0,0,0,25.98,25.61,25.99,8.13,40.58
$GC,2056,1.05,383.4,3500,691,537,463,74.4,14.0,211,2065,0.00,2.08,0.00,0.000,1030,0.000,0.024,3500,2082,500,537,463,0,0,0,0,0,0,25.98,25.94,26.00,8.12,40.51
$GC,2186,1.05,383.4,3500,2082,537,463,57.5,12.5,224,2195,0.00,2.20,0.00,0.000,516,0.000,0.042,3502,688,500,537,463,0,0,0,0,0,0,26.36,25.96,26.37,8.12,41.02
$GC,2248,1.05,383.4,3501,688,537,463,49.4,12.7,230,2252,0.00,2.12,0.00,0.000,1030,0.000,0.024,3502,2089,500,537,463,0,0,0,0,0,0,26.17,26.08,26.19,8.11,41.06
$GC,2381,1.05,383.4,3502,2089,537,463,35.5,10.4,243,2390,0.00,2.20,0.00,0.000,516,0.000,0.042,3502,692,499,536,463,0,0,0,0,0,0,26.48,26.04,26.48,8.11,41.14
$GC,2476,1.05,383.4,3502,693,537,463,25.9,10.2,252,2484,0.00,2.08,0.00,0.000,1030,0.000,0.024,3502,2092,500,537,463,0,0,0,0,0,0,26.25,26.17,26.27,8.10,40.86
$GC,2606,1.54,669.0,3502,2092,537,463,15.0,2.1,272,2631,0.30,2.15,16.23,0.506,10500,0.060,0.037,3635,3467,372,382,362,0,0,0,0,0,0,26.18,25.77,25.03,8.09,40.86
$STATE,2733,end climb,NO_VERTICAL_VELOCITY
$STATE,2733,begin surface
$SM_CCo,3064,0.00,0.000,0,0,370,415.54
$SM_GC,16.14,9.15,2.12,0.00,0.044,0.024,0.000,211,2090,370,-9.12,1.64,415.54,0,0,0,0,0,0,26.12,26.21,26.20
$IRIDIUM_FIX,4740.56,-12242.00,260218,141108
$TT8_MAMPS,0.026215,0.274883
$HUMID,41.25
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.20
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,100.3,48.8
$24V_AH,23.72,47.297
$10V_AH,10.11,17.302
$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,22.000,30.175,530.850,0.000,0.000,0.000,0.000,323.150,3.500,0.000,14.700,675.233,1303.627,569.199,880.889,136.422,0.000,1302.124,0.000,569.371,0.000,13.565,0.000
$DEVICE_MAMPS,227.970,42.075,751.995,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,198.070,390.232,394.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21078,296
$CAP_FILE_SIZE,50277,0
$CFSIZE,2097872896,2035449856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.085,63.78,1
$GPS,260218,151007,4738.510,-12254.521,5,1.0,15,16.4,0.3,0.0,10,5.0