version: 66.14
glider: 194
mission: 12
dive: 216
start: 2 9 118 16 18 22
data:
$ID,194
$MISSION,12
$DIVE,216
$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,46
$R_STBD_OVSHOOT,72
$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
$GPS1,090218,160830,4738.1260,-12254.8086,5,1.2,15,16.4,0.0,0.0,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.97
$_SM_ANGLEo,-69.2
$GPS2,090218,161744,4738.1313,-12254.7783,7,0.8,17,16.4,0.0,0.0,10,4.8
$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,228.3,2038,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-0.81,-244.4,212,2086,366,372,0.0,0.0,0,16,0.00,0.00,-5.70,0.000,16386,0.000,0.000,212,2086,527,520,535,0,0,0,0,0,0,26.27,28.83,26.28,8.08,38.85
$GC,19,-0.81,-244.4,212,2085,520,536,7.0,0.0,1,128,10.70,2.15,-90.25,0.000,18692,0.235,0.054,2885,3461,3063,3139,2987,0,0,0,0,0,0,25.63,25.40,25.89,8.10,39.48
$GC,213,-0.75,-244.4,2884,3461,3140,2988,25.1,-13.4,32,222,0.00,2.05,0.00,0.000,1030,0.000,0.024,2885,2076,3064,3140,2988,0,0,0,0,0,0,26.15,26.12,26.16,8.31,39.25
$GC,343,-0.69,-244.4,2884,2075,3140,2988,43.4,-13.3,45,345,0.12,0.00,0.00,0.000,2054,0.145,0.000,2926,2075,3064,3141,2987,0,0,0,0,0,0,26.03,26.20,26.15,8.31,39.76
$GC,463,-0.69,-244.4,2925,2075,3140,2988,56.4,-10.6,57,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2075,3064,3140,2988,0,0,0,0,0,0,26.51,26.52,26.52,8.31,39.56
$GC,583,-0.69,-244.4,2925,2075,3140,2988,68.3,-9.7,69,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2075,3063,3139,2988,0,0,0,0,0,0,26.55,26.56,26.56,8.31,39.99
$GC,703,-0.69,-244.4,2925,2075,3140,2988,79.4,-9.1,81,708,0.00,2.15,0.00,0.000,260,0.000,0.042,2926,3458,3063,3139,2988,0,0,0,0,0,0,26.59,26.24,26.60,8.31,40.07
$GC,736,-0.69,-244.4,2925,3459,3140,2988,82.2,-8.7,84,745,0.00,2.05,0.00,0.000,1030,0.000,0.024,2926,2068,3063,3139,2988,0,0,0,0,0,0,26.39,26.32,26.40,8.32,40.11
$GC,866,-0.69,-244.4,2925,2068,3140,2988,93.7,-8.6,97,870,0.00,2.12,0.00,0.000,516,0.000,0.041,2926,690,3064,3140,2988,0,0,0,0,0,0,26.63,26.29,26.63,8.32,40.70
$GC,898,-0.69,-244.4,2925,690,3140,2988,96.7,-9.3,100,907,0.00,2.05,0.00,0.000,1030,0.000,0.026,2926,2067,3064,3140,2988,0,0,0,0,0,0,26.41,26.35,26.44,8.32,40.51
$GC,1030,-0.69,-244.4,2925,2067,3140,2987,107.9,-8.6,113,1034,0.00,2.15,0.00,0.000,260,0.000,0.042,2926,3479,3064,3140,2988,0,0,0,0,0,0,26.66,26.31,26.67,8.33,40.19
$GC,1076,-0.75,-244.4,2925,3478,3140,2988,111.6,-8.2,117,1083,0.00,2.05,0.00,0.000,1030,0.000,0.023,2926,2074,3064,3140,2988,0,0,0,0,0,0,26.45,26.39,26.47,8.33,40.27
$GC,1265,-0.75,-244.4,2925,2074,3140,2988,128.1,-8.7,136,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2074,3063,3139,2987,0,0,0,0,0,0,26.70,26.71,26.71,8.33,40.74
$GC,1453,-0.75,-244.4,2925,2074,3140,2988,144.2,-8.3,155,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2073,3063,3140,2987,0,0,0,0,0,0,26.72,26.74,26.73,8.33,40.47
$GC,1633,-0.75,-244.4,2925,2074,3139,2987,160.0,-8.8,173,1642,0.00,2.15,0.00,0.000,260,0.000,0.041,2926,3478,3063,3139,2987,0,0,0,0,0,0,26.74,26.40,26.76,8.34,40.11
$STATE,1645,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1645,begin apogee
$GC,1654,-0.22,0.0,2926,2081,3140,2987,160.8,-8.9,174,1853,0.40,0.00,195.55,0.744,10246,0.099,0.000,3078,2080,2064,2113,2016,0,0,0,0,0,0,26.30,24.83,24.30,8.34,40.54
$STATE,1854,end apogee,CONTROL_FINISHED_OK
$STATE,1854,begin climb
$GC,1859,0.81,244.4,3078,2080,2113,2014,168.4,0.0,194,2071,0.90,2.28,199.82,0.714,10500,0.073,0.037,3394,3478,1066,1126,1007,0,0,0,0,0,0,24.95,24.65,24.13,8.26,38.85
$GC,2105,0.72,244.4,3393,3478,1126,1006,148.3,13.4,219,2114,0.00,2.15,0.00,0.000,1030,0.000,0.023,3400,2099,1066,1126,1006,0,0,0,0,0,0,25.13,25.10,25.15,8.19,37.71
$GC,2295,0.65,244.4,3400,2099,1126,1005,122.8,13.6,238,2305,0.10,2.22,0.00,0.000,4612,0.151,0.041,3371,680,1065,1126,1005,0,0,0,0,0,0,25.57,25.63,25.63,8.18,39.68
$GC,2451,0.65,244.4,3370,680,1126,1005,104.7,11.4,253,2458,0.00,2.12,0.00,0.000,1030,0.000,0.024,3371,2102,1065,1126,1005,0,0,0,0,0,0,25.96,25.90,25.98,8.18,39.64
$GC,2639,0.65,244.4,3370,2102,1126,1005,83.1,11.1,272,2648,0.00,2.22,0.00,0.000,516,0.000,0.042,3371,678,1065,1126,1005,0,0,0,0,0,0,26.33,26.05,26.34,8.18,39.80
$GC,2741,0.65,244.4,3371,678,1126,1005,71.8,11.1,282,2750,0.00,2.08,0.00,0.000,1030,0.000,0.025,3371,2084,1065,1126,1005,0,0,0,0,0,0,26.16,26.13,26.18,8.18,40.11
$GC,2871,0.65,244.4,3371,2084,1126,1005,57.6,10.6,295,2875,0.00,2.20,0.00,0.000,516,0.000,0.042,3372,676,1065,1126,1005,0,0,0,0,0,0,26.46,26.13,26.46,8.18,39.91
$GC,2916,0.65,244.4,3371,676,1126,1005,53.0,10.6,299,2924,0.00,2.08,0.00,0.000,1030,0.000,0.024,3371,2085,1065,1126,1005,0,0,0,0,0,0,26.27,26.21,26.29,8.17,39.88
$GC,3043,0.65,244.4,3370,2084,1126,1005,39.6,10.3,312,3052,0.00,2.17,0.00,0.000,516,0.000,0.043,3371,677,1066,1126,1006,0,0,0,0,0,0,26.53,26.19,26.53,8.16,40.23
$GC,3106,0.65,244.4,3370,677,1126,1006,33.2,10.2,318,3110,0.00,2.08,0.00,0.000,1030,0.000,0.024,3372,2087,1065,1126,1005,0,0,0,0,0,0,26.34,26.28,26.36,8.16,39.95
$GC,3239,0.65,244.4,3370,2087,1126,1006,20.8,9.1,331,3250,0.00,2.20,0.00,0.000,516,0.000,0.042,3371,670,1066,1126,1006,0,0,0,0,0,0,26.59,26.25,26.60,8.15,39.91
$GC,3278,0.65,244.4,3371,670,1126,1006,17.4,8.2,337,3284,0.00,2.08,0.00,0.000,1030,0.000,0.025,3371,2086,1066,1126,1006,0,0,0,0,0,0,26.39,26.32,26.40,8.16,39.99
$GC,3348,0.77,367.7,3371,2086,1126,1006,11.9,6.6,350,3416,0.00,2.30,62.28,0.545,8708,0.000,0.042,3371,676,563,602,524,0,0,0,0,0,0,26.61,25.60,25.10,8.16,39.99
$GC,3487,1.17,626.7,3370,676,600,522,6.1,2.8,374,3518,0.38,2.10,22.92,0.501,11270,0.059,0.024,3524,2091,371,368,375,0,0,0,0,0,0,25.81,25.85,25.06,8.11,39.32
$GC,3584,1.64,988.5,3523,2091,369,373,6.0,-0.0,391,3592,0.32,2.12,0.00,0.000,2308,0.045,0.036,3680,3461,370,369,372,0,0,0,0,0,0,25.84,25.77,25.85,8.10,39.64
$STATE,3622,end climb,NO_VERTICAL_VELOCITY
$STATE,3622,begin surface
$SM_CCo,3953,0.00,0.000,0,0,368,416.27
$SM_GC,7.12,9.43,2.15,0.00,0.052,0.023,0.000,207,2057,368,-9.15,0.90,416.27,0,0,0,0,0,0,26.03,26.11,26.11
$IRIDIUM_FIX,4736.01,-12258.89,090218,161012
$TT8_MAMPS,0.026215,0.279377
$HUMID,40.23
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,13.8
$ALTIM_BOTTOM_PING,135.7,34.9
$24V_AH,24.13,15.293
$10V_AH,10.27,6.157
$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,22.350,55.575,480.575,0.000,0.000,0.000,0.000,398.675,3.000,0.000,18.702,959.589,1741.578,555.486,1115.304,157.027,0.000,1438.748,0.000,717.867,0.000,24.116,0.000
$DEVICE_MAMPS,234.855,54.315,744.345,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,268.858,526.011,531.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312156
$DATA_FILE_SIZE,28052,398
$CAP_FILE_SIZE,66367,0
$CFSIZE,2097872896,2073264128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.019,356.29,1
$GPS,090218,172526,4737.991,-12255.569,4,1.1,30,16.4,0.0,0.0,10,4.9