version: 66.14
glider: 194
mission: 12
dive: 273
start: 2 12 118 16 15 35
data:
$ID,194
$MISSION,12
$DIVE,273
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,120218,160952,4738.2759,-12254.1016,5,0.9,38,16.4,0.4,219.3,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.57
$_SM_ANGLEo,-67.5
$GPS2,120218,161455,4738.2407,-12254.1484,7,0.8,7,16.4,0.0,0.0,12,0.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$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,29.5,1199,-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,6,begin dive
$GC,9,-0.81,-244.4,213,2063,367,372,0.0,0.0,0,17,0.00,0.00,-5.75,0.000,16386,0.000,0.000,213,2063,527,519,535,0,0,0,0,0,0,26.32,28.83,26.33,8.06,39.01
$GC,20,-0.81,-244.4,212,2063,519,535,9.6,0.0,1,147,10.55,0.00,-109.93,0.000,19206,0.230,0.000,2886,2064,3063,3141,2986,0,0,0,0,0,0,25.66,24.71,25.91,8.07,38.93
$GC,212,-0.70,-244.4,2885,2064,3142,2986,23.9,-18.0,32,214,0.12,0.00,0.00,0.000,2054,0.155,0.000,2925,2064,3063,3141,2986,0,0,0,0,0,0,25.95,26.13,26.08,8.28,39.68
$GC,332,-0.70,-244.4,2925,2064,3142,2986,39.2,-11.7,44,342,0.00,2.25,0.00,0.000,260,0.000,0.044,2925,3509,3064,3142,2986,0,0,0,0,0,0,26.47,26.10,26.48,8.29,39.72
$GC,375,-0.70,-244.4,2925,3509,3142,2986,43.8,-10.5,48,385,0.00,2.15,0.00,0.000,1030,0.000,0.024,2925,2064,3064,3142,2986,0,0,0,0,0,0,26.27,26.20,26.29,8.29,39.88
$GC,506,-0.70,-244.4,2924,2065,3142,2986,57.5,-10.7,61,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2064,3064,3142,2986,0,0,0,0,0,0,26.54,26.55,26.55,8.30,40.39
$GC,626,-0.70,-244.4,2924,2064,3142,2986,70.1,-10.6,73,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2064,3064,3142,2986,0,0,0,0,0,0,26.58,26.59,26.58,8.30,40.66
$GC,746,-0.70,-244.4,2924,2064,3142,2986,82.1,-9.8,85,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2065,3064,3142,2986,0,0,0,0,0,0,26.61,26.62,26.62,8.30,40.27
$GC,869,-0.70,-244.4,2924,2065,3142,2986,93.4,-9.4,97,881,0.00,2.22,0.00,0.000,260,0.000,0.043,2925,3499,3064,3142,2986,0,0,0,0,0,0,26.62,26.26,26.63,8.32,40.62
$GC,912,-0.70,-244.4,2924,3499,3142,2986,97.3,-9.7,100,923,0.00,2.08,0.00,0.000,1030,0.000,0.023,2925,2082,3064,3142,2986,0,0,0,0,0,0,26.41,26.35,26.44,8.31,40.98
$GC,1045,-0.70,-244.4,2924,2082,3142,2986,109.8,-9.4,113,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2082,3064,3142,2986,0,0,0,0,0,0,26.63,26.65,26.64,8.32,40.86
$GC,1240,-0.70,-244.4,2924,2082,3142,2986,127.9,-9.5,132,1245,0.00,2.20,0.00,0.000,260,0.000,0.042,2925,3495,3064,3142,2986,0,0,0,0,0,0,26.65,26.29,26.65,8.32,40.82
$GC,1272,-0.70,-244.4,2924,3495,3141,2986,130.5,-9.4,134,1282,0.00,2.08,0.00,0.000,1030,0.000,0.023,2925,2082,3063,3141,2986,0,0,0,0,0,0,26.44,26.38,26.46,8.33,41.14
$GC,1463,-0.70,-244.4,2925,2081,3142,2986,148.4,-9.1,153,1467,0.00,2.12,0.00,0.000,516,0.000,0.040,2925,687,3063,3141,2986,0,0,0,0,0,0,26.66,26.32,26.67,8.33,40.27
$GC,1494,-0.70,-244.4,2925,688,3142,2986,150.8,-8.9,155,1504,0.00,2.10,0.00,0.000,1030,0.000,0.026,2925,2113,3064,3142,2986,0,0,0,0,0,0,26.44,26.36,26.46,8.33,40.94
$GC,1686,-0.70,-244.4,2925,2113,3142,2986,168.0,-9.0,174,1690,0.00,2.10,0.00,0.000,260,0.000,0.042,2925,3476,3064,3142,2986,0,0,0,0,0,0,26.67,26.31,26.67,8.33,40.90
$STATE,1916,end dive,NO_VERTICAL_VELOCITY
$STATE,1916,begin apogee
$GC,1924,-0.22,0.0,2925,2071,3141,2986,172.5,0.0,192,2126,0.43,0.00,196.15,0.756,10246,0.075,0.000,3088,2070,2063,2114,2013,0,0,0,0,0,0,25.98,24.80,24.26,8.33,40.35
$STATE,2129,end apogee,CONTROL_FINISHED_OK
$STATE,2129,begin climb
$GC,2131,0.81,244.4,3087,2070,2114,2013,172.5,0.0,213,2348,0.85,2.30,199.35,0.722,10756,0.064,0.041,3395,690,1066,1127,1006,0,0,0,0,0,0,24.94,24.43,24.05,8.26,38.38
$GC,2404,0.81,244.4,3394,690,1128,1006,150.6,12.2,240,2412,0.00,2.15,0.00,0.000,1030,0.000,0.024,3394,2084,1067,1128,1006,0,0,0,0,0,0,25.22,25.17,25.25,8.18,37.87
$GC,2591,0.81,244.4,3394,2083,1128,1005,127.6,11.6,259,2601,0.00,2.22,0.00,0.000,516,0.000,0.041,3396,690,1066,1128,1005,0,0,0,0,0,0,25.95,25.64,25.96,8.18,38.65
$GC,2674,0.81,244.4,3395,690,1128,1005,117.6,12.1,267,2683,0.00,2.10,0.00,0.000,1030,0.000,0.024,3396,2083,1066,1128,1005,0,0,0,0,0,0,25.88,25.82,25.89,8.18,39.13
$GC,2864,0.81,244.4,3395,2083,1128,1005,96.2,11.2,286,2874,0.00,2.20,0.00,0.000,516,0.000,0.041,3400,693,1066,1128,1005,0,0,0,0,0,0,26.28,25.94,26.29,8.18,39.80
$GC,2919,0.81,244.4,3400,693,1128,1005,90.0,11.5,291,2926,0.00,2.08,0.00,0.000,1030,0.000,0.024,3400,2091,1066,1128,1005,0,0,0,0,0,0,26.12,26.05,26.13,8.18,39.68
$GC,3048,0.81,244.4,3400,2091,1128,1005,75.3,11.1,304,3058,0.00,2.17,0.00,0.000,516,0.000,0.042,3400,695,1066,1128,1005,0,0,0,0,0,0,26.40,26.06,26.41,8.18,39.76
$GC,3101,0.81,244.4,3400,696,1128,1006,69.0,11.9,309,3110,0.00,2.05,0.00,0.000,1030,0.000,0.025,3400,2085,1067,1128,1006,0,0,0,0,0,0,26.17,26.15,26.20,8.18,39.56
$GC,3231,0.81,244.4,3400,2085,1128,1005,54.4,11.1,322,3241,0.00,2.17,0.00,0.000,516,0.000,0.041,3400,687,1067,1128,1006,0,0,0,0,0,0,26.48,26.15,26.49,8.17,39.72
$GC,3285,0.81,244.4,3400,687,1127,1006,48.4,11.2,327,3293,0.00,2.05,0.00,0.000,1030,0.000,0.025,3400,2081,1067,1129,1006,0,0,0,0,0,0,26.25,26.22,26.27,8.17,39.40
$GC,3414,0.81,244.4,3400,2082,1128,1006,34.8,10.2,340,3424,0.00,2.17,0.00,0.000,516,0.000,0.042,3400,691,1067,1128,1006,0,0,0,0,0,0,26.55,26.20,26.55,8.16,39.84
$GC,3473,0.81,244.4,3399,691,1128,1006,29.2,10.5,345,3482,0.00,2.05,0.00,0.000,1030,0.000,0.024,3400,2088,1067,1128,1006,0,0,0,0,0,0,26.35,26.29,26.36,8.16,40.11
$GC,3606,0.96,396.1,3399,2088,1128,1006,19.6,5.8,358,3693,0.10,2.20,79.43,0.558,11012,0.083,0.036,3482,3461,445,455,436,0,0,0,0,0,0,26.35,25.25,24.94,8.16,39.60
$GC,3719,0.96,396.1,3481,3461,455,433,8.8,10.4,370,3729,0.00,2.08,0.00,0.000,1030,0.000,0.023,3482,2080,444,455,433,0,0,0,0,0,0,25.69,25.63,25.70,8.10,38.62
$GC,3821,1.54,766.7,3481,2080,455,432,8.8,-0.3,383,3841,0.38,2.20,8.75,0.457,10756,0.060,0.041,3637,687,372,374,370,0,0,0,0,0,0,25.77,25.63,25.08,8.09,38.54
$STATE,3873,end climb,NO_VERTICAL_VELOCITY
$STATE,3873,begin surface
$SM_CCo,4203,0.00,0.000,0,0,370,415.78
$SM_GC,9.85,9.18,2.15,0.00,0.043,0.028,0.000,206,2072,370,-9.14,-1.87,415.78,0,0,0,0,0,0,26.01,26.05,26.08
$IRIDIUM_FIX,4737.86,-12251.79,120218,145739
$TT8_MAMPS,0.026215,0.277879
$HUMID,39.36
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,24.05,20.614
$10V_AH,10.26,8.623
$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,21.600,55.775,483.675,0.000,0.000,0.000,0.000,214.950,79.750,0.000,7.795,933.469,1453.251,570.490,1398.735,171.690,0.000,1331.574,0.000,711.364,0.000,781.312,0.000
$DEVICE_MAMPS,230.265,43.605,755.820,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.576,514.044,519.078,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312144
$DATA_FILE_SIZE,28119,389
$CAP_FILE_SIZE,87718,0
$CFSIZE,2097872896,2063826944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,211.43,1
$GPS,120218,172641,4738.499,-12253.511,4,0.9,22,16.4,0.3,207.2,10,4.9