version: 66.14
glider: 194
mission: 12
dive: 368
start: 2 17 118 10 21 29
data:
$ID,194
$MISSION,12
$DIVE,368
$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,56
$R_STBD_OVSHOOT,70
$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
$GPS1,170218,101556,4737.3965,-12256.3359,4,0.9,14,16.4,0.0,247.8,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.40
$_SM_ANGLEo,-73.3
$GPS2,170218,102051,4737.3882,-12256.3477,5,0.8,16,16.4,0.0,0.0,10,4.6
$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,35.4,2357,-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,-244.4,212,2091,362,374,0.0,0.0,0,17,0.00,0.00,-6.38,0.000,16386,0.000,0.000,213,2091,546,532,560,0,0,0,0,0,0,26.32,28.83,26.32,8.07,39.99
$GC,20,-0.81,-244.4,213,2091,532,560,12.5,0.0,1,129,10.93,2.22,-87.90,0.000,18948,0.239,0.051,2882,690,3063,3138,2989,0,0,0,0,0,0,25.49,24.32,25.82,8.08,40.15
$GC,156,-0.64,-244.4,2882,690,3139,2989,25.0,-22.7,22,163,0.20,2.05,0.00,0.000,3078,0.135,0.026,2948,2060,3064,3139,2989,0,0,0,0,0,0,25.79,26.03,25.96,8.30,39.88
$GC,282,-0.64,-244.4,2947,2060,3139,2989,41.4,-11.1,35,287,0.00,2.22,0.00,0.000,260,0.000,0.043,2948,3482,3064,3140,2989,0,0,0,0,0,0,26.44,26.04,26.45,8.30,40.51
$GC,355,-0.64,-244.4,2946,3481,3139,2989,48.6,-9.9,42,364,0.00,2.08,0.00,0.000,1030,0.000,0.023,2948,2083,3065,3140,2990,0,0,0,0,0,0,26.25,26.17,26.26,8.29,40.39
$GC,485,-0.64,-244.4,2947,2082,3139,2989,61.9,-9.8,55,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2082,3064,3140,2989,0,0,0,0,0,0,26.53,26.53,26.53,8.30,41.02
$GC,605,-0.64,-244.4,2947,2082,3140,2989,73.5,-9.2,67,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2082,3064,3140,2989,0,0,0,0,0,0,26.57,26.58,26.58,8.30,40.90
$GC,725,-0.64,-244.4,2947,2082,3139,2989,84.5,-9.2,79,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2082,3064,3140,2989,0,0,0,0,0,0,26.60,26.61,26.61,8.31,41.37
$GC,845,-0.64,-244.4,2947,2082,3140,2989,95.4,-9.0,91,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2082,3064,3140,2989,0,0,0,0,0,0,26.63,26.64,26.64,8.32,41.02
$GC,965,-0.64,-244.4,2947,2082,3139,2989,106.0,-8.7,103,969,0.00,2.17,0.00,0.000,260,0.000,0.043,2948,3477,3064,3139,2989,0,0,0,0,0,0,26.65,26.23,26.66,8.32,41.37
$GC,1011,-0.70,-244.4,2947,3477,3139,2989,109.5,-8.1,107,1018,0.00,2.05,0.00,0.000,1030,0.000,0.023,2948,2078,3064,3140,2989,0,0,0,0,0,0,26.41,26.35,26.44,8.32,41.06
$GC,1197,-0.70,-244.4,2947,2077,3140,2989,125.4,-8.6,126,1202,0.00,2.15,0.00,0.000,516,0.000,0.039,2948,683,3064,3140,2989,0,0,0,0,0,0,26.69,26.29,26.70,8.33,41.33
$GC,1220,-0.70,-244.4,2947,683,3139,2989,127.5,-8.4,128,1224,0.00,2.10,0.00,0.000,1030,0.000,0.026,2947,2093,3064,3140,2989,0,0,0,0,0,0,26.44,26.36,26.46,8.33,41.65
$GC,1415,-0.75,-244.4,2947,2092,3140,2989,142.9,-7.9,147,1420,0.00,2.12,0.00,0.000,4356,0.000,0.042,2947,3478,3064,3139,2989,0,0,0,0,0,0,26.72,26.29,26.72,8.33,41.73
$GC,1512,-0.82,-244.4,2947,3478,3140,2989,149.9,-7.4,156,1519,0.10,2.05,0.00,0.000,5126,0.084,0.022,2878,2072,3064,3139,2989,0,0,0,0,0,0,26.37,26.41,26.44,8.33,41.92
$GC,1698,-0.82,-244.4,2877,2072,3139,2989,172.1,-12.4,175,1702,0.00,2.12,0.00,0.000,516,0.000,0.039,2877,688,3064,3140,2989,0,0,0,0,0,0,26.75,26.34,26.76,8.33,41.37
$GC,1734,-0.82,-244.4,2877,688,3140,2989,176.2,-12.7,178,1740,0.00,2.05,0.00,0.000,1030,0.000,0.024,2877,2093,3064,3139,2989,0,0,0,0,0,0,26.49,26.41,26.51,8.34,41.80
$STATE,1898,end dive,NO_VERTICAL_VELOCITY
$STATE,1898,begin apogee
$GC,1904,-0.22,0.0,2877,2093,3140,2989,177.0,0.0,195,2110,0.55,0.00,197.12,0.751,10246,0.054,0.000,3101,2093,2063,2112,2015,0,0,0,0,0,0,26.37,24.63,24.22,8.34,41.69
$STATE,2113,end apogee,CONTROL_FINISHED_OK
$STATE,2113,begin climb
$GC,2115,0.81,244.4,3100,2093,2112,2014,177.1,0.0,216,2326,0.85,2.35,200.73,0.721,10756,0.050,0.038,3424,694,1066,1126,1007,0,0,0,0,0,0,25.00,24.37,23.99,8.26,39.60
$GC,2423,0.73,244.4,3423,694,1123,1007,148.8,13.3,246,2432,0.10,2.12,0.00,0.000,5126,0.119,0.024,3392,2084,1064,1123,1006,0,0,0,0,0,0,25.15,25.30,25.22,8.19,39.40
$GC,2611,0.73,244.4,3391,2084,1123,1006,128.2,10.0,265,2619,0.00,2.22,0.00,0.000,516,0.000,0.041,3392,693,1064,1122,1006,0,0,0,0,0,0,26.03,25.70,26.04,8.18,39.80
$GC,2682,0.73,244.4,3391,693,1123,1006,120.5,11.0,272,2687,0.00,2.10,0.00,0.000,1030,0.000,0.024,3392,2083,1064,1123,1006,0,0,0,0,0,0,25.92,25.86,25.94,8.19,40.27
$GC,2875,0.73,244.4,3391,2084,1123,1006,99.1,11.3,291,2880,0.00,2.17,0.00,0.000,516,0.000,0.041,3392,691,1064,1123,1005,0,0,0,0,0,0,26.32,25.96,26.33,8.18,40.70
$GC,2948,0.73,244.4,3391,691,1123,1006,90.9,11.1,298,2957,0.00,2.08,0.00,0.000,1030,0.000,0.024,3392,2082,1064,1123,1006,0,0,0,0,0,0,26.15,26.08,26.16,8.18,40.82
$GC,3078,0.73,244.4,3391,2082,1123,1006,77.9,9.6,311,3083,0.00,2.17,0.00,0.000,516,0.000,0.041,3392,689,1064,1123,1006,0,0,0,0,0,0,26.44,26.07,26.45,8.18,40.70
$GC,3111,0.73,244.4,3391,689,1123,1006,74.6,9.7,314,3119,0.00,2.08,0.00,0.000,1030,0.000,0.024,3392,2083,1064,1123,1006,0,0,0,0,0,0,26.22,26.16,26.25,8.18,40.27
$GC,3241,0.73,244.4,3391,2083,1123,1006,61.6,10.1,327,3245,0.00,2.17,0.00,0.000,516,0.000,0.041,3392,695,1064,1123,1006,0,0,0,0,0,0,26.51,26.13,26.51,8.18,40.31
$GC,3283,0.73,244.4,3391,695,1123,1006,57.6,9.5,331,3288,0.00,2.08,0.00,0.000,1030,0.000,0.024,3392,2094,1064,1123,1006,0,0,0,0,0,0,26.29,26.22,26.31,8.17,40.54
$GC,3416,0.73,244.4,3391,2094,1123,1006,44.9,9.4,344,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2094,1064,1123,1006,0,0,0,0,0,0,26.56,26.58,26.57,8.16,40.94
$GC,3536,0.73,244.4,3391,2094,1122,1006,33.9,9.5,356,3545,0.00,2.20,0.00,0.000,516,0.000,0.041,3393,687,1064,1123,1006,0,0,0,0,0,0,26.60,26.21,26.60,8.16,40.54
$GC,3641,0.73,244.4,3391,687,1123,1006,25.3,8.2,366,3648,0.00,2.05,0.00,0.000,1030,0.000,0.025,3392,2083,1064,1123,1006,0,0,0,0,0,0,26.38,26.31,26.40,8.16,40.35
$GC,3772,0.99,501.7,3391,2083,1123,1006,17.7,2.9,384,3869,0.15,2.20,87.30,0.545,11012,0.061,0.037,3497,3475,371,357,385,0,0,0,0,0,0,26.41,25.25,24.91,8.14,40.58
$GC,3889,1.13,641.9,3496,3475,357,384,11.3,6.1,403,3897,0.00,2.10,0.00,0.000,1030,0.000,0.023,3497,2101,370,357,384,0,0,0,0,0,0,25.67,25.62,25.70,8.09,40.15
$GC,3961,1.70,1009.4,3497,2101,357,382,11.3,-0.2,416,3969,0.45,2.15,0.00,0.000,2308,0.044,0.036,3695,3470,369,358,381,0,0,0,0,0,0,25.77,25.71,25.80,8.09,39.48
$GC,3983,2.25,1365.6,3695,3470,357,380,11.3,0.1,419,3991,0.43,2.12,0.00,0.000,3078,0.041,0.024,3882,2049,369,357,381,0,0,0,0,0,0,25.80,25.77,25.86,8.09,39.60
$STATE,4031,end climb,NO_VERTICAL_VELOCITY
$STATE,4032,begin surface
$SM_CCo,4360,0.00,0.000,0,0,367,416.52
$SM_GC,12.62,9.82,0.00,0.00,0.043,0.000,0.000,212,2048,367,-9.13,-0.96,416.52,0,0,0,0,0,0,25.98,26.39,26.08
$IRIDIUM_FIX,4736.40,-12251.79,170218,090846
$TT8_MAMPS,0.026215,0.283871
$HUMID,40.98
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.00
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.8,8.5
$ALTIM_BOTTOM_PING,100.7,91.3
$24V_AH,23.99,28.904
$10V_AH,10.20,11.580
$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,23.575,59.775,485.150,0.000,0.000,0.000,0.000,195.575,3.000,0.000,18.176,1049.609,1931.899,565.877,971.858,157.464,0.000,1267.814,0.000,774.235,0.000,10.460,0.000
$DEVICE_MAMPS,238.680,51.255,751.230,0.000,0.000,0.000,0.000,71.910,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.072,566.072,571.644,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312164
$DATA_FILE_SIZE,31414,428
$CAP_FILE_SIZE,68570,0
$CFSIZE,2097872896,2054488064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067,234.63,1
$GPS,170218,113505,4737.584,-12255.769,4,1.0,15,16.4,0.3,35.7,9,5.0