version: 66.14
glider: 194
mission: 12
dive: 206
start: 2 9 118 4 16 26
data:
$ID,194
$MISSION,12
$DIVE,206
$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,67
$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
$GPS1,090218,041035,4738.1592,-12254.7451,5,0.8,14,16.4,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.51
$_SM_ANGLEo,-72.8
$GPS2,090218,041548,4738.1699,-12254.7314,7,0.8,16,16.4,0.0,0.0,10,4.7
$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,220.7,2124,-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,-244.4,206,2085,378,357,0.0,0.0,0,16,0.00,0.00,-5.53,0.000,16386,0.000,0.000,206,2085,523,520,526,0,0,0,0,0,0,26.28,28.83,26.29,8.09,39.17
$GC,19,-0.81,-244.4,206,2085,520,526,6.6,0.0,1,149,10.82,2.22,-112.80,0.000,18692,0.238,0.057,2886,3466,3063,3142,2985,0,0,0,0,0,0,25.65,24.68,25.91,8.10,39.84
$GC,337,-0.76,-244.4,2884,3465,3142,2986,34.1,-12.6,49,344,0.00,2.05,0.00,0.000,1030,0.000,0.024,2885,2077,3063,3141,2986,0,0,0,0,0,0,26.25,26.18,26.27,8.31,40.07
$GC,464,-0.76,-244.4,2884,2077,3141,2986,50.6,-12.8,62,469,0.00,2.17,0.00,0.000,516,0.000,0.041,2885,664,3064,3142,2986,0,0,0,0,0,0,26.51,26.17,26.51,8.31,40.43
$GC,510,-0.76,-244.4,2884,664,3142,2986,56.1,-12.6,66,517,0.00,2.08,0.00,0.000,1030,0.000,0.025,2885,2061,3064,3142,2986,0,0,0,0,0,0,26.31,26.24,26.33,8.31,39.91
$GC,637,-0.76,-244.4,2884,2061,3142,2986,71.7,-11.6,79,646,0.00,2.17,0.00,0.000,260,0.000,0.042,2886,3479,3064,3142,2986,0,0,0,0,0,0,26.57,26.23,26.58,8.31,39.72
$GC,693,-0.76,-244.4,2884,3479,3141,2986,77.4,-10.8,84,699,0.00,2.05,0.00,0.000,1030,0.000,0.023,2885,2081,3064,3142,2986,0,0,0,0,0,0,26.37,26.31,26.39,8.31,40.19
$GC,819,-0.76,-244.4,2884,2080,3142,2986,91.5,-10.9,97,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2080,3064,3142,2986,0,0,0,0,0,0,26.62,26.63,26.62,8.32,39.95
$GC,939,-0.76,-244.4,2884,2080,3142,2986,104.8,-11.4,109,951,0.00,2.17,0.00,0.000,260,0.000,0.042,2885,3484,3064,3142,2986,0,0,0,0,0,0,26.64,26.30,26.65,8.33,40.74
$GC,964,-0.76,-244.4,2885,3484,3142,2986,107.6,-11.2,111,973,0.00,2.08,0.00,0.000,1030,0.000,0.023,2885,2074,3064,3142,2986,0,0,0,0,0,0,26.44,26.37,26.45,8.33,40.27
$GC,1156,-0.76,-244.4,2884,2073,3141,2986,128.6,-10.8,130,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2073,3064,3142,2986,0,0,0,0,0,0,26.67,26.69,26.68,8.32,40.74
$GC,1347,-0.76,-244.4,2884,2073,3142,2986,148.8,-10.6,149,1355,0.00,2.15,0.00,0.000,260,0.000,0.042,2885,3474,3064,3142,2986,0,0,0,0,0,0,26.71,26.36,26.72,8.33,40.23
$GC,1381,-0.76,-244.4,2884,3474,3142,2986,152.6,-11.0,152,1388,0.00,2.03,0.00,0.000,1030,0.000,0.023,2885,2082,3063,3141,2986,0,0,0,0,0,0,26.50,26.44,26.51,8.33,40.11
$STATE,1466,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1467,begin apogee
$GC,1473,-0.22,0.0,2885,2082,3142,2986,162.1,-10.7,161,1672,0.52,0.00,195.02,0.747,10246,0.109,0.000,3075,2081,2064,2114,2015,0,0,0,0,0,0,26.25,24.82,24.29,8.33,40.58
$STATE,1673,end apogee,CONTROL_FINISHED_OK
$STATE,1673,begin climb
$GC,1677,0.81,244.4,3075,2081,2114,2015,168.2,0.0,181,1891,0.88,2.30,200.80,0.719,11012,0.066,0.041,3389,693,1067,1127,1007,0,0,0,0,0,0,24.94,24.50,24.13,8.26,38.50
$GC,1924,0.74,244.4,3389,693,1126,1010,147.3,12.5,206,1929,0.00,2.17,0.00,0.000,1030,0.000,0.024,3389,2091,1068,1126,1010,0,0,0,0,0,0,25.16,25.10,25.18,8.19,37.75
$GC,2118,0.68,244.4,3389,2092,1126,1008,122.1,13.5,225,2122,0.00,2.25,0.00,0.000,516,0.000,0.042,3390,688,1067,1126,1008,0,0,0,0,0,0,25.94,25.63,25.94,8.18,39.72
$GC,2224,0.61,244.4,3389,688,1126,1008,108.2,13.3,235,2231,0.12,2.10,0.00,0.000,5126,0.132,0.024,3350,2090,1067,1127,1008,0,0,0,0,0,0,25.70,25.84,25.83,8.19,39.44
$GC,2412,0.61,244.4,3349,2091,1126,1008,89.1,9.5,254,2416,0.00,2.22,0.00,0.000,516,0.000,0.043,3350,687,1067,1126,1008,0,0,0,0,0,0,26.29,25.97,26.30,8.18,39.36
$GC,2484,0.61,244.4,3349,687,1126,1008,82.0,9.4,261,2493,0.00,2.10,0.00,0.000,1030,0.000,0.025,3350,2093,1067,1126,1008,0,0,0,0,0,0,26.14,26.08,26.16,8.19,40.23
$GC,2614,0.61,244.4,3349,2093,1126,1008,69.5,9.3,274,2619,0.00,2.20,0.00,0.000,516,0.000,0.042,3350,692,1067,1126,1008,0,0,0,0,0,0,26.42,26.10,26.42,8.17,39.76
$GC,2647,0.61,244.4,3349,692,1126,1008,66.3,9.5,277,2656,0.00,2.08,0.00,0.000,1030,0.000,0.025,3350,2091,1067,1126,1008,0,0,0,0,0,0,26.23,26.17,26.25,8.18,39.84
$GC,2777,0.61,244.4,3349,2092,1126,1008,54.2,9.4,290,2782,0.00,2.20,0.00,0.000,516,0.000,0.042,3350,688,1067,1126,1008,0,0,0,0,0,0,26.48,26.17,26.50,8.17,39.72
$GC,2823,0.61,244.4,3349,688,1126,1007,50.4,8.9,294,2830,0.00,2.05,0.00,0.000,1030,0.000,0.025,3350,2080,1066,1125,1008,0,0,0,0,0,0,26.30,26.25,26.32,8.17,39.76
$GC,2950,0.61,244.4,3349,2081,1126,1008,38.8,8.7,307,2954,0.00,2.15,0.00,0.000,516,0.000,0.042,3350,691,1067,1126,1008,0,0,0,0,0,0,26.55,26.22,26.55,8.16,39.76
$GC,3012,0.61,244.4,3349,692,1126,1008,33.3,8.9,313,3021,0.00,2.08,0.00,0.000,1030,0.000,0.024,3350,2094,1067,1126,1009,0,0,0,0,0,0,26.36,26.30,26.38,8.16,39.80
$GC,3142,0.61,244.4,3349,2094,1126,1008,22.0,8.5,326,3147,0.00,2.10,0.00,0.000,260,0.000,0.038,3350,3470,1067,1126,1009,0,0,0,0,0,0,26.60,26.28,26.61,8.16,39.40
$GC,3176,0.61,244.4,3349,3470,1126,1008,19.1,8.2,329,3183,0.00,2.08,0.00,0.000,1030,0.000,0.023,3350,2084,1067,1126,1008,0,0,0,0,0,0,26.38,26.35,26.39,8.16,40.03
$GC,3246,0.76,394.6,3349,2084,1126,1008,14.2,5.8,342,3332,0.08,2.28,77.50,0.558,10756,0.106,0.043,3423,689,453,470,437,0,0,0,0,0,0,26.41,25.47,24.97,8.16,39.84
$GC,3340,0.89,517.2,3423,690,470,436,8.9,6.6,357,3360,0.00,2.10,9.95,0.468,9222,0.000,0.024,3423,2087,371,370,373,0,0,0,0,0,0,25.67,25.62,24.96,8.11,38.97
$GC,3424,1.45,883.5,3422,2087,370,371,5.5,-0.2,372,3432,0.45,2.22,0.00,0.000,2564,0.049,0.040,3619,688,370,370,371,0,0,0,0,0,0,25.74,25.70,25.77,8.10,39.01
$STATE,3539,end climb,NO_VERTICAL_VELOCITY
$STATE,3539,begin surface
$SM_CCo,3870,0.00,0.000,0,0,367,416.52
$SM_GC,6.60,9.20,2.12,0.00,0.050,0.024,0.000,212,2087,367,-9.14,-1.92,416.52,0,0,0,0,0,0,26.06,26.14,26.14
$IRIDIUM_FIX,4739.67,-12257.95,090218,025925
$TT8_MAMPS,0.026964,0.277879
$HUMID,39.99
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.1,13.3
$ALTIM_BOTTOM_PING,145.6,25.5
$24V_AH,24.13,14.363
$10V_AH,10.28,5.844
$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,22.075,59.975,483.275,0.000,0.000,0.000,0.000,214.900,5.000,0.000,17.818,943.421,1585.221,592.980,935.624,147.233,0.000,1280.315,0.000,707.770,0.000,32.952,0.000
$DEVICE_MAMPS,237.915,56.610,747.405,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.441,520.509,525.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312196
$DATA_FILE_SIZE,28062,394
$CAP_FILE_SIZE,63661,0
$CFSIZE,2097872896,2074279936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,341.99,1
$GPS,090218,052203,4738.001,-12255.466,8,1.3,26,16.4,0.0,0.0,9,4.7