version: 66.14
glider: 194
mission: 12
dive: 220
start: 2 9 118 21 49 44
data:
$ID,194
$MISSION,12
$DIVE,220
$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,51
$R_STBD_OVSHOOT,71
$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
$GPS1,090218,214126,4737.9824,-12254.8828,4,0.9,34,16.4,0.0,0.0,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.19
$_SM_ANGLEo,-71.7
$GPS2,090218,214905,4737.9658,-12254.9199,6,0.9,15,16.4,0.0,0.0,9,4.6
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$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,13.1,318,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.25,-63.1,212,2090,368,365,0.0,0.0,0,16,0.00,0.00,-5.55,0.000,16386,0.000,0.000,212,2090,523,517,530,0,0,0,0,0,0,26.26,28.83,26.27,8.08,39.13
$GC,19,-1.25,-63.1,212,2090,517,530,7.2,0.0,1,105,10.27,2.12,-67.72,0.000,18692,0.242,0.054,2743,3456,2324,2359,2290,0,0,0,0,0,0,25.60,25.39,25.87,8.10,39.32
$GC,156,-1.17,-63.1,2743,3456,2360,2291,20.7,-20.0,24,164,0.08,2.08,0.00,0.000,3078,0.193,0.023,2777,2073,2325,2360,2290,0,0,0,0,0,0,25.77,26.08,25.98,8.25,39.76
$GC,282,-1.17,-63.1,2776,2073,2360,2288,37.3,-11.5,37,286,0.00,2.17,0.00,0.000,260,0.000,0.041,2777,3466,2324,2360,2288,0,0,0,0,0,0,26.42,26.08,26.43,8.24,39.60
$GC,357,-1.17,-63.1,2776,3466,2360,2287,46.4,-12.8,44,364,0.00,2.03,0.00,0.000,1030,0.000,0.023,2777,2086,2323,2360,2287,0,0,0,0,0,0,26.25,26.18,26.27,8.25,39.56
$GC,484,-1.17,-63.1,2776,2085,2360,2285,63.2,-12.4,57,489,0.00,2.15,0.00,0.000,260,0.000,0.041,2777,3467,2322,2359,2285,0,0,0,0,0,0,26.51,26.17,26.52,8.25,40.47
$GC,520,-1.17,-63.1,2776,3467,2360,2285,67.4,-12.6,60,527,0.00,2.05,0.00,0.000,1030,0.000,0.022,2777,2072,2322,2360,2285,0,0,0,0,0,0,26.31,26.25,26.33,8.25,39.95
$GC,647,-1.17,-63.1,2776,2071,2360,2283,84.7,-12.9,73,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2072,2321,2360,2283,0,0,0,0,0,0,26.56,26.58,26.58,8.25,40.31
$GC,772,-1.17,-63.1,2776,2072,2360,2282,101.1,-13.6,85,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2072,2321,2360,2282,0,0,0,0,0,0,26.57,26.58,26.58,8.26,40.35
$GC,967,-1.17,-63.1,2776,2071,2360,2281,125.9,-12.9,104,971,0.00,2.12,0.00,0.000,516,0.000,0.040,2777,690,2320,2360,2281,0,0,0,0,0,0,26.60,26.28,26.60,8.27,40.15
$GC,1052,-1.17,-63.1,2776,690,2360,2280,136.7,-12.8,110,1063,0.00,2.03,0.00,0.000,1030,0.000,0.025,2777,2066,2320,2360,2280,0,0,0,0,0,0,26.41,26.34,26.42,8.27,40.27
$GC,1246,-1.17,-63.1,2776,2066,2359,2280,160.1,-11.8,129,1259,0.00,2.12,0.00,0.000,260,0.000,0.041,2777,3478,2320,2360,2280,0,0,0,0,0,0,26.63,26.29,26.63,8.27,39.88
$GC,1317,-1.17,-63.1,2776,3478,2360,2280,168.2,-11.4,134,1320,0.00,2.05,0.00,0.000,1030,0.000,0.023,2777,2071,2320,2360,2280,0,0,0,0,0,0,26.44,26.36,26.45,8.28,40.66
$STATE,1499,end dive,NO_VERTICAL_VELOCITY
$STATE,1499,begin apogee
$GC,1505,-0.22,0.0,2777,2070,2359,2280,171.3,0.0,152,1568,0.85,0.00,54.75,0.760,10246,0.090,0.000,3083,2070,2065,2108,2022,0,0,0,0,0,0,26.22,25.30,24.89,8.28,39.88
$STATE,1569,end apogee,CONTROL_FINISHED_OK
$STATE,1569,begin climb
$GC,1572,1.25,63.1,3083,2070,2108,2021,171.2,0.0,159,1639,1.25,2.22,55.47,0.741,10500,0.075,0.034,3530,3470,1805,1852,1759,0,0,0,0,0,0,25.53,24.87,24.47,8.26,39.68
$GC,1934,1.17,63.1,3529,3470,1852,1757,133.2,12.3,195,1943,0.00,2.05,0.00,0.000,1030,0.000,0.023,3541,2091,1804,1852,1757,0,0,0,0,0,0,26.00,25.95,25.98,8.23,39.84
$GC,2125,1.11,63.1,3540,2092,1852,1756,110.7,11.6,214,2126,0.10,0.00,0.00,0.000,4102,0.187,0.000,3515,2093,1804,1852,1756,0,0,0,0,0,0,25.90,26.10,26.05,8.23,39.95
$GC,2305,1.11,63.1,3514,2092,1852,1755,91.2,10.0,232,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2092,1803,1852,1755,0,0,0,0,0,0,26.47,26.47,26.47,8.23,40.31
$GC,2425,1.11,63.1,3515,2092,1852,1755,79.2,9.6,244,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2092,1803,1852,1755,0,0,0,0,0,0,26.51,26.53,26.52,8.23,40.47
$GC,2546,1.11,63.1,3515,2092,1852,1754,67.4,10.0,256,2555,0.00,2.15,0.00,0.000,516,0.000,0.040,3523,687,1803,1852,1755,0,0,0,0,0,0,26.55,26.23,26.55,8.23,40.90
$GC,2581,1.11,63.1,3523,687,1851,1754,64.0,9.9,259,2588,0.00,2.08,0.00,0.000,1030,0.000,0.025,3523,2100,1803,1851,1755,0,0,0,0,0,0,26.35,26.29,26.37,8.23,40.11
$GC,2709,1.11,63.1,3522,2101,1851,1755,51.4,9.2,272,2718,0.00,2.10,0.00,0.000,260,0.000,0.037,3524,3478,1803,1851,1755,0,0,0,0,0,0,26.60,26.27,26.60,8.23,40.27
$GC,2856,1.05,63.1,3522,3478,1851,1755,37.8,9.7,286,2864,0.15,2.05,0.00,0.000,5126,0.170,0.023,3490,2070,1802,1851,1754,0,0,0,0,0,0,26.08,26.36,26.27,8.23,40.07
$GC,2988,1.08,92.6,3490,2070,1851,1754,27.8,6.9,299,3013,0.00,2.17,16.10,0.608,8452,0.000,0.037,3490,3464,1686,1736,1636,0,0,0,0,0,0,26.65,25.86,25.46,8.23,40.35
$GC,3160,1.12,132.4,3490,3464,1735,1633,15.9,5.8,315,3190,0.00,2.03,20.48,0.555,9222,0.000,0.022,3499,2081,1522,1578,1467,0,0,0,0,0,0,26.30,26.25,25.35,8.22,40.03
$GC,3284,1.32,230.2,3498,2081,1577,1465,13.2,-0.4,330,3344,0.12,2.25,48.85,0.555,10756,0.067,0.041,3613,694,1123,1172,1074,0,0,0,0,0,0,26.14,25.49,24.98,8.20,39.99
$GC,3355,1.38,295.6,3613,694,1171,1074,11.7,3.0,337,3394,0.00,2.10,32.60,0.525,9222,0.000,0.024,3613,2097,856,900,813,0,0,0,0,0,0,25.71,25.65,24.85,8.17,39.25
$GC,3487,1.75,390.0,3613,2097,900,808,6.2,-0.0,353,3548,0.17,2.17,46.67,0.508,10500,0.052,0.036,3730,3468,471,490,453,0,0,0,0,0,0,25.76,25.13,24.82,8.15,38.97
$STATE,3584,end climb,NO_VERTICAL_VELOCITY
$STATE,3584,begin surface
$SM_CCo,3588,12.15,0.469,0,0,374,414.56
$SM_GC,7.09,9.57,2.15,0.00,0.050,0.024,0.000,216,2079,370,-9.13,1.39,415.78,0,0,0,0,0,0,25.88,25.96,25.96
$IRIDIUM_FIX,4736.40,-12251.79,090218,202626
$TT8_MAMPS,0.026215,0.280875
$HUMID,39.17
$INTERNAL_PRESSURE,8.0592
$TCM_TEMP,10.30
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,24.47,15.687
$10V_AH,10.26,6.336
$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,22.575,46.450,274.925,12.150,0.000,0.000,0.000,362.250,78.500,0.000,16.783,959.771,1425.849,332.808,1451.072,240.677,0.000,1187.448,0.000,675.915,0.000,789.446,0.000
$DEVICE_MAMPS,241.740,54.315,760.410,468.945,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.545,482.138,486.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312316
$DATA_FILE_SIZE,24613,364
$CAP_FILE_SIZE,86046,0
$CFSIZE,2097872896,2072772608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,63.64,1
$GPS,090218,225609,4738.233,-12254.685,5,0.9,14,16.4,0.0,0.0,9,4.9