version: 66.14
glider: 194
mission: 12
dive: 84
start: 2 3 118 17 4 14
data:
$ID,194
$MISSION,12
$DIVE,84
$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,75
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,3060
$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,48
$R_STBD_OVSHOOT,63
$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,75
$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
$GPS1,030218,165803,4739.1895,-12252.6797,11,0.8,51,16.4,0.3,63.2,11,15.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.69
$_SM_ANGLEo,-71.6
$GPS2,030218,170305,4739.1992,-12252.6309,13,1.1,33,16.4,0.2,0.0,10,4.5
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.134255,-0.127912
$KALMAN_X,9400.555664,-1212.274658,-75.542389,-8256.750977,558.801270
$KALMAN_Y,3539.819580,-1380.865479,88.280655,-2156.645264,371.165100
$MHEAD_RNG_PITCHd_Wd,210.0,118,-25.5,-10.000,-28.34,1097
$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,-1.18,-72.0,216,2098,355,422,0.0,0.0,0,16,0.00,0.00,-6.12,0.000,16386,0.000,0.000,216,2098,574,556,593,0,0,0,0,0,0,26.21,28.83,26.22,8.07,38.97
$GC,20,-1.18,-72.0,216,2098,556,593,3.7,0.0,1,95,10.30,2.17,-59.53,0.000,18692,0.253,0.054,2675,3464,2360,2397,2323,0,0,0,0,0,0,25.56,24.73,25.86,8.09,39.52
$GC,121,-0.93,-72.0,2674,3464,2397,2324,16.3,-31.8,18,128,0.28,2.08,0.00,0.000,3078,0.181,0.024,2753,2077,2361,2398,2324,0,0,0,0,0,0,25.75,25.99,25.94,8.24,38.89
$GC,197,-0.80,-72.0,2753,2077,2397,2323,31.3,-16.7,26,199,0.15,0.00,0.00,0.000,2054,0.190,0.000,2795,2075,2360,2397,2323,0,0,0,0,0,0,25.82,26.06,26.01,8.24,38.62
$GC,318,-0.74,-72.0,2794,2076,2397,2322,47.7,-13.5,38,326,0.00,2.15,0.00,0.000,260,0.000,0.042,2795,3459,2360,2398,2322,0,0,0,0,0,0,26.38,26.06,26.39,8.24,38.89
$GC,472,-0.74,-72.0,2794,3458,2397,2322,67.9,-13.4,53,479,0.00,2.05,0.00,0.000,1030,0.000,0.024,2795,2069,2359,2397,2321,0,0,0,0,0,0,26.26,26.20,26.27,8.23,38.93
$GC,600,-0.74,-72.0,2794,2069,2397,2321,85.1,-12.4,66,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2069,2358,2397,2320,0,0,0,0,0,0,26.48,26.50,26.49,8.24,39.01
$GC,719,-0.74,-72.0,2794,2069,2397,2320,101.2,-13.4,78,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2069,2358,2397,2320,0,0,0,0,0,0,26.54,26.55,26.55,8.24,39.44
$GC,899,-0.74,-72.0,2794,2069,2396,2319,125.3,-13.3,96,903,0.00,2.15,0.00,0.000,260,0.000,0.042,2795,3463,2358,2397,2319,0,0,0,0,0,0,26.59,26.27,26.60,8.25,40.23
$GC,961,-0.74,-72.0,2794,3463,2397,2319,133.4,-12.9,102,970,0.00,2.05,0.00,0.000,1030,0.000,0.024,2795,2070,2358,2397,2319,0,0,0,0,0,0,26.41,26.34,26.42,8.25,39.91
$GC,1154,-0.98,-177.7,2794,2070,2397,2319,144.1,-0.1,121,1163,0.08,2.10,0.00,0.000,4612,0.112,0.040,2745,689,2357,2397,2318,0,0,0,0,0,0,26.41,26.34,26.44,8.25,40.58
$STATE,1214,end dive,NO_VERTICAL_VELOCITY
$STATE,1214,begin apogee
$GC,1222,-0.22,0.0,2744,2077,2397,2318,144.1,0.0,127,1288,0.75,0.00,61.85,0.755,10246,0.127,0.000,2987,2077,2064,2106,2023,0,0,0,0,0,0,26.20,25.38,24.79,8.26,40.15
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1292,1.28,177.7,2987,2077,2106,2023,144.2,0.0,134,1451,1.38,2.33,148.32,0.734,11012,0.108,0.043,3444,693,1337,1387,1288,0,0,0,0,0,0,25.38,24.76,24.22,8.24,39.80
$GC,1469,1.41,177.7,3443,693,1386,1288,133.7,10.5,152,1479,0.10,2.15,0.00,0.000,3078,0.056,0.026,3507,2078,1337,1386,1288,0,0,0,0,0,0,25.10,25.12,25.13,8.19,38.81
$GC,1661,1.41,177.7,3506,2078,1385,1287,104.9,15.3,171,1669,0.00,2.17,0.00,0.000,260,0.000,0.038,3507,3481,1336,1385,1287,0,0,0,0,0,0,25.96,25.67,25.97,8.18,39.09
$GC,1685,1.41,177.7,3506,3481,1385,1287,101.0,16.2,173,1692,0.00,2.10,0.00,0.000,1030,0.000,0.024,3517,2090,1335,1384,1287,0,0,0,0,0,0,25.82,25.76,25.83,8.18,39.36
$GC,1873,1.41,177.7,3516,2090,1385,1287,70.7,16.2,192,1881,0.00,2.22,0.00,0.000,516,0.000,0.043,3528,673,1335,1384,1287,0,0,0,0,0,0,26.22,25.92,26.23,8.18,39.36
$GC,1965,1.41,177.7,3527,673,1384,1286,55.3,17.6,201,1974,0.00,2.10,0.00,0.000,1030,0.000,0.026,3527,2088,1335,1384,1287,0,0,0,0,0,0,26.10,26.03,26.11,8.18,39.80
$GC,2095,1.41,177.7,3527,2089,1384,1287,34.4,16.0,214,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2089,1335,1384,1287,0,0,0,0,0,0,26.37,26.39,26.38,8.18,39.91
$GC,2215,1.41,177.7,3527,2089,1384,1287,16.9,14.5,228,2222,0.00,2.12,0.00,0.000,260,0.000,0.038,3528,3473,1335,1384,1287,0,0,0,0,0,0,26.44,26.13,26.44,8.17,39.91
$GC,2235,1.41,177.7,3527,3474,1385,1286,14.0,14.8,231,2242,0.00,2.08,0.00,0.000,1030,0.000,0.023,3536,2073,1335,1384,1287,0,0,0,0,0,0,26.25,26.19,26.26,8.17,40.62
$GC,2306,1.63,318.2,3536,2074,1384,1286,11.7,-3.1,244,2386,0.08,0.00,72.32,0.582,11014,0.103,0.000,3603,2074,763,796,730,0,0,0,0,0,0,26.25,25.18,24.85,8.17,40.03
$GC,2449,1.65,341.5,3602,2074,794,729,6.5,7.8,270,2468,0.00,2.20,11.27,0.499,8708,0.000,0.044,3612,688,669,698,641,0,0,0,0,0,0,25.91,25.48,24.96,8.12,38.30
$GC,2496,1.72,409.0,3611,688,697,641,3.5,3.7,278,2533,0.00,2.12,30.88,0.514,9218,0.000,0.024,3611,2100,417,418,417,0,0,0,0,0,0,25.72,25.67,25.74,8.11,38.73
$STATE,2534,end climb,SURFACE_DEPTH_REACHED
$STATE,2534,begin surface coast
$FINISH,2.2,1.018110
$STATE,2700,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2700,begin surface
$SM_CCo,2720,2.70,0.073,0,0,391,410.14
$SM_GC,4.95,9.38,0.00,2.70,0.055,0.000,0.073,213,2100,391,-8.85,0.51,410.14,0,0,0,0,0,0,25.75,26.08,25.74
$IRIDIUM_FIX,4739.20,-12253.53,030218,160918
$TT8_MAMPS,0.026215,0.281624
$HUMID,38.85
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.6
$ALTIM_BOTTOM_PING,90.3,90.0
$24V_AH,24.22,6.441
$10V_AH,10.35,2.312
$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,22.475,38.475,324.650,2.700,0.000,0.000,0.000,196.150,1.500,0.000,34.577,738.578,1030.448,394.294,765.061,122.792,33.429,948.294,0.000,551.213,0.000,12.138,0.000
$DEVICE_MAMPS,253.215,54.315,755.055,72.675,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.926,418.934,423.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311944
$DATA_FILE_SIZE,21077,317
$CAP_FILE_SIZE,51565,0
$CFSIZE,2097872896,2086338560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030218,175054,4739.161,-12252.720,5,1.2,33,16.4,0.4,68.2,9,5.0