version: 66.14
glider: 194
mission: 12
dive: 409
start: 2 19 118 10 7 12
data:
$ID,194
$MISSION,12
$DIVE,409
$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,49
$R_STBD_OVSHOOT,28
$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
$GPS1,190218,095919,4737.8086,-12254.9180,5,0.9,20,16.4,0.8,231.0,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.25
$_SM_ANGLEo,-69.3
$GPS2,190218,100628,4737.7495,-12255.0479,5,0.8,19,16.4,0.0,241.8,10,5.0
$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,20.4,748,-15.4,-10.000,-19.22,2774
$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,9,-0.85,-183.1,209,2068,369,368,0.0,0.0,0,17,0.00,0.00,-5.80,0.000,16386,0.000,0.000,209,2068,524,523,525,0,0,0,0,0,0,26.38,28.83,26.39,8.06,39.91
$GC,20,-0.85,-183.1,209,2068,524,525,13.2,0.0,1,146,10.45,2.30,-107.45,0.000,19204,0.223,0.055,2873,3499,2813,2868,2758,0,0,0,0,0,0,25.61,24.25,25.88,8.08,39.88
$GC,181,-0.62,-183.1,2871,3499,2868,2758,21.2,-23.9,28,189,0.25,2.15,0.00,0.000,3078,0.153,0.024,2950,2074,2812,2867,2758,0,0,0,0,0,0,25.70,26.11,25.92,8.27,39.64
$GC,308,-0.56,-183.1,2949,2073,2868,2759,41.4,-12.6,41,312,0.00,2.22,0.00,0.000,260,0.000,0.042,2950,3500,2813,2868,2758,0,0,0,0,0,0,26.49,26.06,26.50,8.27,39.80
$GC,403,-0.56,-183.1,2949,3500,2868,2758,53.0,-12.9,50,410,0.00,2.10,0.00,0.000,1030,0.000,0.023,2949,2074,2813,2868,2758,0,0,0,0,0,0,26.27,26.21,26.29,8.27,40.51
$GC,530,-0.56,-183.1,2949,2073,2867,2758,69.0,-11.8,63,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2073,2813,2868,2758,0,0,0,0,0,0,26.57,26.58,26.58,8.28,40.90
$GC,650,-0.56,-183.1,2949,2073,2868,2758,84.0,-12.5,75,655,0.00,2.25,0.00,0.000,260,0.000,0.044,2949,3506,2813,2868,2758,0,0,0,0,0,0,26.60,26.16,26.61,8.28,41.49
$GC,726,-0.56,-183.1,2949,3506,2868,2758,91.9,-10.1,82,733,0.00,2.10,0.00,0.000,1030,0.000,0.023,2949,2076,2813,2868,2758,0,0,0,0,0,0,26.36,26.29,26.38,8.30,41.41
$GC,853,-0.56,-183.1,2949,2076,2868,2758,106.6,-11.9,95,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2076,2813,2868,2758,0,0,0,0,0,0,26.65,26.65,26.65,8.30,41.69
$GC,1033,-0.56,-183.1,2949,2076,2867,2757,125.0,-10.4,113,1042,0.00,2.22,0.00,0.000,260,0.000,0.042,2949,3502,2812,2868,2757,0,0,0,0,0,0,26.67,26.22,26.68,8.30,41.96
$GC,1078,-0.56,-183.1,2949,3502,2868,2757,129.4,-10.4,117,1085,0.00,2.08,0.00,0.000,1030,0.000,0.022,2949,2080,2812,2868,2757,0,0,0,0,0,0,26.41,26.35,26.44,8.31,41.37
$GC,1265,-0.56,-183.1,2949,2079,2868,2757,150.7,-11.1,136,1274,0.00,2.10,0.00,0.000,516,0.000,0.039,2949,692,2812,2868,2757,0,0,0,0,0,0,26.71,26.27,26.72,8.31,41.77
$GC,1301,-0.56,-183.1,2949,692,2868,2757,154.5,-11.6,139,1307,0.00,2.10,0.00,0.000,1030,0.000,0.026,2949,2112,2812,2868,2757,0,0,0,0,0,0,26.44,26.35,26.46,8.31,40.94
$GC,1487,-0.56,-183.1,2949,2112,2868,2757,176.0,-11.0,158,1492,0.00,2.12,0.00,0.000,260,0.000,0.044,2949,3484,2812,2868,2757,0,0,0,0,0,0,26.73,26.27,26.74,8.32,41.84
$STATE,1659,end dive,NO_VERTICAL_VELOCITY
$STATE,1659,begin apogee
$GC,1668,-0.22,0.0,2949,2075,2868,2758,176.8,0.0,175,1822,0.35,0.00,150.93,0.759,10246,0.068,0.000,3090,2075,2064,2113,2016,0,0,0,0,0,0,26.29,24.87,24.27,8.31,42.00
$STATE,1823,end apogee,CONTROL_FINISHED_OK
$STATE,1823,begin climb
$GC,1826,0.85,183.1,3089,2075,2112,2017,176.9,0.0,191,1987,0.90,2.30,150.70,0.728,11012,0.080,0.037,3402,3477,1317,1386,1248,0,0,0,0,0,0,24.96,24.44,24.05,8.26,39.99
$GC,2013,0.85,183.1,3402,3477,1386,1247,166.3,8.6,209,2021,0.00,2.15,0.00,0.000,1030,0.000,0.021,3402,2093,1316,1386,1247,0,0,0,0,0,0,25.09,25.03,25.10,8.20,38.93
$GC,2200,0.85,183.1,3401,2093,1386,1244,150.6,8.0,228,2210,0.00,2.25,0.00,0.000,516,0.000,0.040,3402,670,1315,1386,1244,0,0,0,0,0,0,25.96,25.61,25.96,8.20,40.58
$GC,2276,0.98,250.6,3402,670,1385,1244,145.6,7.5,235,2338,0.12,2.15,55.05,0.706,11270,0.072,0.025,3478,2097,1042,1102,982,0,0,0,0,0,0,25.78,25.79,24.48,8.21,39.99
$GC,2518,0.98,250.6,3478,2098,1100,979,114.8,13.8,259,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2097,1039,1100,979,0,0,0,0,0,0,26.08,26.08,26.08,8.18,40.11
$GC,2698,0.98,250.6,3478,2097,1100,979,91.6,12.5,277,2707,0.00,2.22,0.00,0.000,516,0.000,0.040,3483,684,1039,1099,979,0,0,0,0,0,0,26.29,25.92,26.29,8.18,40.62
$GC,2743,0.98,250.6,3484,684,1099,979,86.1,13.1,281,2750,0.00,2.10,0.00,0.000,1030,0.000,0.026,3484,2086,1039,1099,979,0,0,0,0,0,0,26.08,26.01,26.10,8.19,40.66
$GC,2870,0.98,250.6,3483,2085,1099,979,69.5,13.0,294,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,2085,1039,1099,979,0,0,0,0,0,0,26.40,26.41,26.41,8.18,40.47
$GC,2990,0.98,250.6,3483,2086,1099,979,53.5,12.8,306,2994,0.00,2.20,0.00,0.000,516,0.000,0.041,3484,684,1039,1099,979,0,0,0,0,0,0,26.46,26.08,26.47,8.18,40.94
$GC,3025,0.98,250.6,3484,685,1099,979,49.5,12.1,309,3032,0.00,2.10,0.00,0.000,1030,0.000,0.026,3484,2092,1039,1099,979,0,0,0,0,0,0,26.22,26.15,26.25,8.17,40.74
$GC,3153,0.98,250.6,3484,2093,1100,979,35.3,8.7,322,3157,0.00,2.15,0.00,0.000,260,0.000,0.039,3484,3482,1039,1099,979,0,0,0,0,0,0,26.52,26.13,26.53,8.16,40.82
$GC,3301,1.04,309.2,3484,3483,1099,979,23.8,7.8,336,3339,0.00,2.08,30.75,0.565,9222,0.000,0.024,3484,2076,801,854,749,0,0,0,0,0,0,26.33,26.26,25.22,8.15,40.47
$GC,3465,1.59,574.0,3484,2076,850,748,12.3,0.2,363,3526,0.40,2.28,53.20,0.522,10756,0.072,0.041,3640,680,372,361,384,0,0,0,0,0,0,25.94,25.46,24.93,8.12,39.99
$STATE,3584,end climb,NO_VERTICAL_VELOCITY
$STATE,3584,begin surface
$SM_CCo,3914,0.00,0.000,0,0,367,416.52
$SM_GC,13.19,9.15,2.17,0.00,0.041,0.027,0.000,207,2073,367,-9.14,-1.72,416.52,0,0,0,0,0,0,25.96,26.00,26.03
$IRIDIUM_FIX,4737.86,-12251.79,190218,100052
$TT8_MAMPS,0.026215,0.280875
$HUMID,40.39
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.30
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.2,6.8
$ALTIM_BOTTOM_PING,100.6,89.7
$24V_AH,24.05,32.810
$10V_AH,10.21,12.828
$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,21.625,52.025,440.625,0.000,0.000,0.000,0.000,266.250,2.500,0.000,21.121,940.317,1773.302,516.685,995.082,145.134,0.000,1253.312,0.000,722.807,0.000,10.456,0.000
$DEVICE_MAMPS,223.380,55.080,758.880,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.205,507.696,512.973,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312152
$DATA_FILE_SIZE,28048,384
$CAP_FILE_SIZE,61572,0
$CFSIZE,2097872896,2050490368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136,238.10,1
$GPS,190218,111324,4737.923,-12254.941,5,0.9,17,16.4,0.6,230.6,9,4.6