version: 66.14
glider: 194
mission: 12
dive: 572
start: 2 27 118 1 35 0
data:
$ID,194
$MISSION,12
$DIVE,572
$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,60
$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
$GPS1,270218,012904,4737.7607,-12256.1377,5,0.9,13,16.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.16
$_SM_ANGLEo,-71.3
$GPS2,270218,013410,4737.7876,-12256.0811,7,0.9,15,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW3
$TGT_LATLONG,4737.577,-12256.188
$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,199.2,412,-18.8,-10.000,-22.26,1941
$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,-0.95,-127.7,207,2071,352,381,0.0,0.0,0,17,0.00,0.00,-5.55,0.000,16386,0.000,0.000,207,2071,515,500,531,0,0,0,0,0,0,26.36,28.83,26.36,8.07,41.65
$GC,20,-0.95,-127.7,207,2071,501,531,16.2,0.0,1,128,10.75,0.00,-91.18,0.000,18950,0.230,0.000,2846,2069,2588,2639,2537,0,0,0,0,0,0,25.41,24.34,25.73,8.08,41.14
$GC,196,-0.77,-127.7,2846,2069,2639,2536,30.3,-18.8,27,198,0.20,0.00,0.00,0.000,2054,0.170,0.000,2904,2069,2588,2639,2537,0,0,0,0,0,0,25.63,25.94,25.84,8.25,40.86
$GC,317,-0.69,-127.7,2904,2069,2639,2537,51.5,-16.2,39,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2069,2588,2639,2537,0,0,0,0,0,0,26.51,26.51,26.51,8.26,41.06
$GC,437,-0.62,-127.7,2904,2069,2639,2536,71.0,-16.2,51,446,0.12,2.17,0.00,0.000,2308,0.169,0.040,2946,3465,2587,2639,2535,0,0,0,0,0,0,25.92,26.05,25.98,8.26,42.28
$GC,500,-0.62,-127.7,2945,3464,2639,2535,79.5,-12.4,57,509,0.00,2.05,0.00,0.000,1030,0.000,0.024,2946,2086,2587,2639,2535,0,0,0,0,0,0,26.28,26.21,26.31,8.27,41.92
$GC,630,-0.62,-127.7,2945,2086,2639,2533,95.3,-12.2,70,634,0.00,2.17,0.00,0.000,516,0.000,0.040,2946,679,2586,2639,2533,0,0,0,0,0,0,26.60,26.13,26.62,8.27,41.77
$GC,686,-0.62,-127.7,2946,679,2639,2533,102.9,-14.0,75,695,0.00,2.10,0.00,0.000,1030,0.000,0.025,2946,2084,2586,2639,2533,0,0,0,0,0,0,26.31,26.22,26.33,8.27,41.92
$GC,876,-0.62,-127.7,2945,2084,2638,2532,125.8,-12.1,94,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2084,2586,2639,2533,0,0,0,0,0,0,26.66,26.67,26.67,8.28,42.47
$GC,1056,-0.62,-127.7,2945,2084,2639,2532,146.6,-11.2,112,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2084,2585,2639,2532,0,0,0,0,0,0,26.69,26.70,26.70,8.29,42.59
$GC,1237,-0.62,-127.7,2945,2084,2639,2532,166.6,-11.2,130,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2084,2585,2639,2532,0,0,0,0,0,0,26.71,26.72,26.72,8.29,42.63
$STATE,1345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1345,begin apogee
$GC,1351,-0.22,0.0,2946,2085,2639,2532,179.1,-11.1,141,1467,0.35,0.00,108.85,0.767,10246,0.084,0.000,3085,2084,2064,2112,2016,0,0,0,0,0,0,26.14,24.96,24.25,8.30,42.55
$STATE,1468,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1470,0.95,127.7,3085,2084,2111,2016,179.7,0.0,153,1587,1.02,0.00,107.93,0.744,10246,0.086,0.000,3437,2085,1542,1610,1474,0,0,0,0,0,0,25.10,24.46,24.00,8.26,41.61
$GC,1767,1.10,188.0,3436,2085,1609,1470,163.1,6.8,183,1827,0.10,2.30,49.38,0.724,10756,0.083,0.041,3514,695,1296,1365,1228,0,0,0,0,0,0,25.79,25.06,24.30,8.22,41.65
$GC,1894,1.10,188.0,3513,695,1363,1227,148.9,12.9,195,1902,0.00,2.12,0.00,0.000,1030,0.000,0.024,3514,2094,1294,1362,1227,0,0,0,0,0,0,25.67,25.60,25.69,8.20,40.74
$GC,2081,1.10,188.0,3513,2094,1363,1225,124.8,12.4,214,2091,0.00,2.22,0.00,0.000,516,0.000,0.041,3524,687,1294,1363,1225,0,0,0,0,0,0,26.25,25.84,26.26,8.20,41.88
$GC,2154,1.10,188.0,3523,687,1363,1225,115.4,12.8,221,2163,0.00,2.08,0.00,0.000,1030,0.000,0.024,3524,2076,1294,1363,1225,0,0,0,0,0,0,26.02,26.00,26.06,8.21,41.49
$GC,2344,1.10,188.0,3523,2076,1363,1225,91.5,11.9,240,2353,0.00,2.17,0.00,0.000,516,0.000,0.041,3534,691,1294,1363,1225,0,0,0,0,0,0,26.45,26.02,26.46,8.20,41.69
$GC,2399,1.10,188.0,3533,691,1363,1225,84.9,12.8,245,2407,0.00,2.08,0.00,0.000,1030,0.000,0.024,3534,2089,1294,1363,1225,0,0,0,0,0,0,26.20,26.13,26.22,8.20,42.04
$GC,2527,1.10,188.0,3533,2090,1363,1225,68.4,12.4,258,2531,0.00,2.20,0.00,0.000,516,0.000,0.041,3541,686,1294,1363,1225,0,0,0,0,0,0,26.53,26.08,26.53,8.19,40.86
$GC,2619,1.10,188.0,3540,685,1363,1225,57.0,12.1,267,2629,0.10,2.10,0.00,0.000,5126,0.145,0.024,3511,2096,1294,1363,1225,0,0,0,0,0,0,25.96,26.21,26.10,8.19,41.29
$GC,2750,1.10,188.0,3510,2096,1363,1225,43.0,10.5,280,2758,0.00,2.10,0.00,0.000,260,0.000,0.037,3511,3467,1294,1363,1225,0,0,0,0,0,0,26.60,26.13,26.60,8.18,41.29
$GC,2764,1.10,188.0,3510,3467,1363,1225,42.2,10.5,281,2772,0.00,2.05,0.00,0.000,1030,0.000,0.023,3511,2091,1294,1363,1225,0,0,0,0,0,0,26.32,26.26,26.34,8.18,41.80
$GC,2893,1.19,226.5,3509,2090,1363,1225,30.4,8.0,294,2921,0.00,2.20,20.38,0.584,8708,0.000,0.042,3510,680,1138,1201,1075,0,0,0,0,0,0,26.63,25.80,25.03,8.17,41.65
$GC,3080,1.48,326.6,3510,680,1197,1075,15.2,4.7,318,3140,0.25,2.08,49.78,0.524,11270,0.057,0.025,3623,2080,730,783,678,0,0,0,0,0,0,26.11,26.13,24.87,8.15,41.10
$GC,3205,1.94,520.1,3623,2080,782,675,15.3,-0.2,340,3220,0.32,0.00,11.30,0.480,10242,0.047,0.000,3777,2080,636,679,593,0,0,0,0,0,0,25.86,28.83,25.89,8.11,40.58
$STATE,3221,end climb,NO_VERTICAL_VELOCITY
$STATE,3221,begin surface
$SM_CCo,3224,33.17,0.511,0,0,373,414.56
$SM_GC,16.22,9.65,0.00,0.00,0.044,0.000,0.000,208,2080,369,-9.14,-0.08,416.03,0,0,0,0,0,0,25.87,26.32,25.96
$IRIDIUM_FIX,4740.65,-12253.53,270218,003034
$TT8_MAMPS,0.026215,0.30709
$HUMID,41.06
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,101.1,87.4
$24V_AH,24.00,48.293
$10V_AH,10.08,17.600
$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,22.875,34.200,347.600,33.175,0.000,0.000,0.000,207.175,0.750,0.000,16.569,863.377,1633.068,482.110,812.931,135.998,0.000,1083.972,0.000,606.757,0.000,10.484,0.000
$DEVICE_MAMPS,230.265,42.075,767.295,511.020,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.836,452.196,456.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,24535,342
$CAP_FILE_SIZE,55653,0
$CFSIZE,2097872896,2034466816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.121,53.96,1
$GPS,270218,023549,4737.620,-12256.231,5,0.8,21,16.4,0.3,0.0,9,4.9