version: 66.14
glider: 194
mission: 12
dive: 266
start: 2 12 118 7 36 35
data:
$ID,194
$MISSION,12
$DIVE,266
$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,47
$R_STBD_OVSHOOT,68
$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
$GPS1,120218,073031,4737.5630,-12255.9375,8,0.9,22,16.4,0.3,193.6,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.24
$_SM_ANGLEo,-65.7
$GPS2,120218,073556,4737.5200,-12255.9609,5,0.9,14,16.4,0.5,212.2,8,4.8
$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,32.5,1823,-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,-244.4,205,2078,371,364,0.0,0.0,0,17,0.00,0.00,-6.15,0.000,16386,0.000,0.000,205,2078,537,530,544,0,0,0,0,0,0,26.34,28.83,26.34,8.07,39.60
$GC,20,-0.81,-244.4,204,2078,530,545,9.3,0.0,1,140,10.52,2.17,-101.18,0.000,18948,0.228,0.054,2891,686,3064,3141,2987,0,0,0,0,0,0,25.70,24.55,25.94,8.09,39.48
$GC,173,-0.68,-244.4,2890,686,3142,2988,20.1,-19.0,26,180,0.12,2.08,0.00,0.000,3078,0.151,0.027,2931,2075,3064,3141,2987,0,0,0,0,0,0,25.90,26.09,26.06,8.30,38.77
$GC,301,-0.68,-244.4,2931,2075,3142,2988,36.1,-11.2,39,311,0.00,2.15,0.00,0.000,260,0.000,0.043,2931,3465,3065,3142,2988,0,0,0,0,0,0,26.47,26.11,26.48,8.30,39.21
$GC,355,-0.68,-244.4,2931,3466,3142,2988,41.7,-10.3,44,363,0.00,2.03,0.00,0.000,1030,0.000,0.023,2932,2073,3064,3141,2988,0,0,0,0,0,0,26.25,26.21,26.26,8.30,39.88
$GC,484,-0.68,-244.4,2931,2073,3142,2988,54.7,-10.1,57,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2073,3064,3141,2987,0,0,0,0,0,0,26.54,26.55,26.55,8.30,39.99
$GC,604,-0.68,-244.4,2931,2073,3142,2987,66.7,-9.8,69,614,0.00,2.17,0.00,0.000,260,0.000,0.041,2931,3473,3065,3142,2988,0,0,0,0,0,0,26.58,26.22,26.59,8.30,40.27
$GC,647,-0.68,-244.4,2931,3472,3142,2988,70.7,-9.4,73,657,0.00,2.08,0.00,0.000,1030,0.000,0.023,2932,2069,3064,3141,2988,0,0,0,0,0,0,26.37,26.31,26.39,8.31,40.66
$GC,777,-0.68,-244.4,2931,2069,3142,2987,83.1,-9.1,86,786,0.00,2.10,0.00,0.000,516,0.000,0.040,2931,688,3065,3142,2988,0,0,0,0,0,0,26.62,26.28,26.63,8.31,40.66
$GC,820,-0.68,-244.4,2931,687,3142,2988,87.0,-9.2,90,828,0.00,2.05,0.00,0.000,1030,0.000,0.025,2932,2077,3064,3141,2988,0,0,0,0,0,0,26.36,26.33,26.39,8.32,40.07
$GC,953,-0.68,-244.4,2931,2077,3141,2988,98.5,-8.6,103,965,0.00,2.15,0.00,0.000,260,0.000,0.041,2931,3476,3065,3142,2988,0,0,0,0,0,0,26.63,26.28,26.64,8.32,41.10
$GC,1024,-0.75,-244.4,2930,3476,3141,2988,104.2,-8.3,108,1028,0.00,2.05,0.00,0.000,1030,0.000,0.023,2932,2070,3065,3142,2988,0,0,0,0,0,0,26.44,26.37,26.45,8.33,40.43
$GC,1222,-0.75,-244.4,2931,2069,3141,2988,121.4,-8.8,127,1226,0.00,2.10,0.00,0.000,516,0.000,0.039,2932,692,3065,3142,2988,0,0,0,0,0,0,26.65,26.32,26.66,8.33,40.82
$GC,1264,-0.75,-244.4,2931,690,3142,2988,125.1,-9.1,130,1267,0.00,2.05,0.00,0.000,1030,0.000,0.025,2931,2084,3064,3141,2988,0,0,0,0,0,0,26.44,26.36,26.46,8.32,40.35
$GC,1459,-0.75,-244.4,2931,2085,3141,2988,142.0,-8.2,149,1471,0.00,2.12,0.00,0.000,260,0.000,0.042,2931,3475,3064,3141,2988,0,0,0,0,0,0,26.66,26.31,26.67,8.33,40.23
$GC,1517,-0.81,-244.4,2930,3476,3141,2987,146.6,-8.2,153,1530,0.03,2.03,0.00,0.000,5126,0.151,0.023,2897,2081,3064,3141,2988,0,0,0,0,0,0,26.30,26.41,26.33,8.34,40.27
$GC,1712,-0.81,-244.4,2897,2081,3141,2988,166.2,-10.4,172,1716,0.00,2.12,0.00,0.000,516,0.000,0.039,2897,688,3064,3141,2987,0,0,0,0,0,0,26.67,26.34,26.68,8.34,40.51
$GC,1740,-0.81,-244.4,2896,688,3141,2988,169.0,-10.2,174,1756,0.00,2.05,0.00,0.000,1030,0.000,0.026,2897,2083,3065,3142,2988,0,0,0,0,0,0,26.41,26.39,26.44,8.34,40.47
$STATE,1935,end dive,NO_VERTICAL_VELOCITY
$STATE,1935,begin apogee
$GC,1941,-0.22,0.0,2897,2083,3141,2988,173.5,0.0,193,2144,0.50,0.00,196.93,0.756,10246,0.069,0.000,3088,2083,2063,2113,2014,0,0,0,0,0,0,26.32,24.81,24.27,8.34,40.07
$STATE,2147,end apogee,CONTROL_FINISHED_OK
$STATE,2147,begin climb
$GC,2149,0.81,244.4,3088,2083,2113,2014,173.5,0.0,214,2358,0.82,2.30,198.77,0.723,10756,0.060,0.040,3391,697,1067,1128,1006,0,0,0,0,0,0,24.96,24.44,24.06,8.26,38.38
$GC,2524,0.81,244.4,3390,697,1126,1005,138.5,12.3,251,2531,0.00,2.12,0.00,0.000,1030,0.000,0.024,3391,2095,1065,1126,1005,0,0,0,0,0,0,25.59,25.53,25.60,8.19,38.46
$GC,2711,0.81,244.4,3390,2096,1126,1005,116.2,11.6,270,2716,0.00,2.25,0.00,0.000,516,0.000,0.042,3391,687,1065,1126,1005,0,0,0,0,0,0,26.11,25.79,26.13,8.18,39.48
$GC,2817,0.81,244.4,3391,687,1126,1005,104.3,11.2,280,2824,0.00,2.10,0.00,0.000,1030,0.000,0.025,3391,2093,1065,1126,1005,0,0,0,0,0,0,26.03,25.96,26.05,8.18,39.40
$GC,3004,0.81,244.4,3390,2093,1126,1005,83.1,11.1,299,3008,0.00,2.20,0.00,0.000,516,0.000,0.042,3390,686,1065,1126,1005,0,0,0,0,0,0,26.37,26.04,26.38,8.18,39.64
$GC,3087,0.81,244.4,3390,686,1126,1005,74.0,11.1,307,3091,0.00,2.08,0.00,0.000,1030,0.000,0.025,3391,2081,1065,1126,1005,0,0,0,0,0,0,26.21,26.15,26.22,8.18,39.48
$GC,3219,0.81,244.4,3390,2081,1126,1005,60.1,10.3,320,3228,0.00,2.17,0.00,0.000,516,0.000,0.041,3392,694,1065,1126,1005,0,0,0,0,0,0,26.48,26.14,26.49,8.18,39.44
$GC,3255,0.81,244.4,3391,694,1126,1005,56.6,11.1,323,3261,0.00,2.05,0.00,0.000,1030,0.000,0.024,3392,2083,1065,1126,1005,0,0,0,0,0,0,26.28,26.22,26.29,8.17,39.52
$GC,3381,0.81,244.4,3391,2083,1126,1005,42.5,10.5,336,3390,0.00,2.17,0.00,0.000,516,0.000,0.041,3392,693,1066,1126,1006,0,0,0,0,0,0,26.54,26.20,26.55,8.17,39.52
$GC,3436,0.81,244.4,3391,693,1126,1006,37.3,10.2,341,3443,0.00,2.05,0.00,0.000,1030,0.000,0.024,3392,2084,1066,1126,1006,0,0,0,0,0,0,26.34,26.27,26.36,8.16,40.31
$GC,3568,0.81,244.4,3392,2085,1126,1005,24.6,8.9,354,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2084,1066,1126,1006,0,0,0,0,0,0,26.56,26.58,26.57,8.16,40.03
$GC,3735,1.06,489.1,3392,2085,1126,1006,15.7,3.2,374,3831,0.17,2.22,87.03,0.549,10500,0.057,0.037,3508,3468,371,357,385,0,0,0,0,0,0,26.38,25.23,24.91,8.15,39.84
$GC,3946,1.62,844.3,3507,3468,357,380,8.4,0.2,399,3957,0.40,2.08,0.00,0.000,3078,0.063,0.024,3661,2086,368,357,380,0,0,0,0,0,0,25.72,25.79,25.82,8.09,39.52
$STATE,3996,end climb,NO_VERTICAL_VELOCITY
$STATE,3996,begin surface
$SM_CCo,4324,0.00,0.000,0,0,366,416.76
$SM_GC,9.46,9.23,0.00,0.00,0.044,0.000,0.000,215,2084,366,-9.12,0.06,416.76,0,0,0,0,0,0,26.02,26.37,26.10
$IRIDIUM_FIX,4737.86,-12251.79,120218,061316
$TT8_MAMPS,0.026215,0.605941
$HUMID,39.84
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,24.06,19.892
$10V_AH,9.93,8.327
$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,21.800,59.300,482.725,0.000,0.000,0.000,0.000,225.975,84.750,0.000,16.323,990.717,1441.810,543.422,1510.508,182.738,0.000,1333.938,0.000,754.992,0.000,857.557,0.000
$DEVICE_MAMPS,227.970,53.550,755.820,0.000,0.000,0.000,0.000,74.205,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.024,535.478,540.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312148
$DATA_FILE_SIZE,27922,405
$CAP_FILE_SIZE,91658,0
$CFSIZE,2097872896,2064515072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.134,229.18,1
$GPS,120218,084933,4737.553,-12255.723,8,0.9,13,16.4,0.7,234.1,9,5.0