version: 66.14
glider: 195
mission: 15
dive: 3
start: 1 31 118 21 33 21
data:
$ID,195
$MISSION,15
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,500
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59282
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,14
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,420
$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,10
$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,207
$PITCH_MAX,3915
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,1843
$C_ROLL_CLIMB,1843
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2247
$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,150
$AH0_10V,97
$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,-48.356163
$PRESSURE_SLOPE,0.0001168043
$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,0
$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,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,101
$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,0.0043781498
$SEABIRD_T_H,0.00063190429
$SEABIRD_T_I,2.5428115e-05
$SEABIRD_T_J,2.9111013e-06
$SEABIRD_C_G,-9.7135391
$SEABIRD_C_H,1.1137754
$SEABIRD_C_I,-0.0016462026
$SEABIRD_C_J,0.00020008108
$SEABIRD_C_Z,2957.3201
$GPS1,310118,212908,4738.6333,-12252.3818,4,0.9,24,16.3,0.4,62.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.7
$GPS2,310118,213246,4738.6528,-12252.3408,5,0.9,23,16.3,0.4,55.8,9,5.0
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,223.0,4792,-17.6,-10.000,-21.21,2209
$D_GRID,150
$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,7,-0.88,-146.6,197,1839,552,462,0.0,0.0,0,37,0.00,0.00,-27.20,0.000,16386,0.000,0.000,197,1839,1209,1262,1156,0,0,0,0,0,0,26.66,28.83,26.67,8.23,46.57
$GC,39,-0.88,-146.6,197,1840,1262,1158,2.2,-4.2,4,113,9.05,2.25,-54.08,0.000,19204,0.197,0.057,2558,454,2846,2939,2753,0,0,0,0,0,0,25.01,23.78,25.41,8.30,46.92
$GC,126,-0.65,-146.6,2557,454,2940,2754,7.9,-13.7,17,135,0.28,2.20,0.00,0.000,3078,0.133,0.037,2634,1845,2847,2940,2754,0,0,0,0,0,0,25.29,25.94,25.37,8.45,46.06
$GC,197,-0.65,-146.6,2633,1845,2940,2755,16.9,-10.9,30,204,0.00,2.28,0.00,0.000,260,0.000,0.047,2626,3254,2847,2940,2754,0,0,0,0,0,0,26.68,25.77,26.69,8.45,46.22
$GC,242,-0.65,-146.6,2625,3255,2940,2754,20.6,-8.1,38,252,0.00,2.17,0.00,0.000,1030,0.000,0.034,2626,1833,2846,2939,2754,0,0,0,0,0,0,26.08,25.98,26.11,8.45,45.98
$GC,373,-0.65,-146.6,2625,1833,2940,2754,31.1,-8.2,51,382,0.00,2.20,0.00,0.000,516,0.000,0.046,2625,448,2847,2940,2754,0,0,0,0,0,0,26.72,25.76,26.72,8.45,46.77
$GC,427,-0.65,-146.6,2625,448,2940,2754,36.1,-9.4,56,436,0.00,2.20,0.00,0.000,1030,0.000,0.037,2615,1841,2847,2940,2754,0,0,0,0,0,0,25.98,25.96,26.01,8.46,47.32
$GC,556,-0.65,-146.6,2615,1841,2940,2754,47.6,-8.6,69,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1841,2847,2940,2754,0,0,0,0,0,0,26.74,26.75,26.74,8.46,47.20
$GC,676,-0.65,-146.6,2615,1841,2940,2754,58.0,-8.8,81,685,0.00,2.22,0.00,0.000,260,0.000,0.047,2606,3251,2847,2940,2754,0,0,0,0,0,0,26.75,25.77,26.76,8.47,47.59
$GC,719,-0.70,-146.6,2605,3250,2940,2754,61.7,-8.8,85,729,0.00,2.12,0.00,0.000,1030,0.000,0.034,2605,1850,2847,2940,2754,0,0,0,0,0,0,26.02,25.97,26.06,8.46,47.79
$GC,849,-0.76,-146.6,2605,1850,2940,2754,72.9,-8.6,98,859,0.00,2.22,0.00,0.000,516,0.000,0.045,2605,451,2847,2940,2754,0,0,0,0,0,0,26.76,25.73,26.77,8.47,47.95
$GC,888,-0.76,-146.6,2604,450,2939,2754,75.8,-8.7,101,896,0.00,2.20,0.00,0.000,1030,0.000,0.037,2596,1847,2847,2940,2754,0,0,0,0,0,0,25.96,25.92,26.01,8.47,47.79
$GC,1016,-0.76,-146.6,2596,1846,2940,2754,88.1,-9.5,114,1026,0.00,2.22,0.00,0.000,260,0.000,0.046,2587,3250,2847,2941,2754,0,0,0,0,0,0,26.76,25.75,26.77,8.47,47.36
$GC,1049,-0.76,-146.6,2587,3250,2940,2754,91.2,-9.4,117,1059,0.00,2.15,0.00,0.000,1030,0.000,0.033,2587,1839,2847,2940,2754,0,0,0,0,0,0,26.06,25.96,26.10,8.47,48.42
$GC,1179,-0.76,-146.6,2586,1839,2940,2754,103.4,-9.2,130,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1839,2847,2940,2754,0,0,0,0,0,0,26.77,26.77,26.77,8.47,47.79
$GC,1359,-0.76,-146.6,2587,1839,2940,2754,121.7,-10.2,148,1369,0.00,2.25,0.00,0.000,260,0.000,0.046,2582,3250,2847,2940,2754,0,0,0,0,0,0,26.77,25.72,26.78,8.48,48.03
$GC,1392,-0.76,-146.6,2582,3250,2940,2754,125.0,-10.1,151,1402,0.00,2.15,0.00,0.000,1030,0.000,0.034,2582,1836,2847,2940,2754,0,0,0,0,0,0,26.04,25.94,26.08,8.48,48.54
$GC,1582,-0.76,-146.6,2581,1835,2940,2754,143.4,-10.5,170,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1835,2846,2939,2753,0,0,0,0,0,0,26.77,26.78,26.78,8.49,47.91
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1655,-0.21,0.0,2582,1835,2940,2754,150.1,-9.7,177,1776,0.55,0.00,117.38,0.705,10246,0.098,0.000,2775,1835,2247,2374,2120,0,0,0,0,0,0,25.36,24.50,23.48,8.50,48.18
$STATE,1777,end apogee,CONTROL_FINISHED_OK
$STATE,1777,begin climb
$GC,1779,0.88,146.6,2775,1835,2373,2120,152.0,0.0,189,1912,0.93,0.00,123.95,0.692,10502,0.054,0.000,3120,1835,1649,1780,1519,0,0,0,0,0,0,25.18,23.75,23.20,8.45,47.32
$GC,2093,0.71,146.6,3119,1835,1776,1514,110.4,18.0,221,2095,0.12,0.00,0.00,0.000,4102,0.151,0.000,3083,1835,1645,1776,1514,0,0,0,0,0,0,25.69,25.82,25.77,8.40,46.85
$GC,2274,0.62,146.6,3083,1835,1776,1512,82.7,15.0,239,2284,0.10,2.20,0.00,0.000,4612,0.154,0.044,3056,446,1643,1774,1513,0,0,0,0,0,0,25.99,25.78,26.01,8.40,47.20
$GC,2329,0.56,146.6,3056,446,1773,1512,75.6,13.3,244,2337,0.00,2.20,0.00,0.000,1030,0.000,0.035,3056,1845,1642,1773,1512,0,0,0,0,0,0,26.01,25.96,26.04,8.40,47.83
$GC,2457,0.56,146.6,3056,1845,1773,1511,59.1,12.2,257,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1845,1642,1773,1511,0,0,0,0,0,0,26.64,26.65,26.65,8.39,47.67
$GC,2577,0.56,146.6,3055,1845,1772,1511,44.2,12.2,269,2587,0.00,2.20,0.00,0.000,260,0.000,0.044,3056,3250,1642,1773,1511,0,0,0,0,0,0,26.68,25.86,26.69,8.39,47.40
$GC,2620,0.56,146.6,3055,3250,1772,1511,38.8,12.6,273,2630,0.10,2.15,0.00,0.000,5126,0.148,0.033,3033,1839,1642,1773,1511,0,0,0,0,0,0,25.76,26.02,25.86,8.38,46.92
$GC,2750,0.56,146.6,3032,1840,1773,1511,25.3,9.8,286,2760,0.00,2.20,0.00,0.000,516,0.000,0.045,3041,449,1642,1773,1511,0,0,0,0,0,0,26.71,25.82,26.72,8.38,46.92
$GC,2850,0.56,146.6,3040,448,1772,1509,14.9,9.1,300,2857,0.00,2.17,0.00,0.000,1030,0.000,0.035,3041,1836,1640,1772,1509,0,0,0,0,0,0,26.07,26.03,26.10,8.38,47.12
$GC,2920,0.62,205.3,3040,1837,1772,1509,9.3,7.3,313,2955,0.00,2.28,29.77,0.532,8708,0.000,0.044,3049,448,1408,1533,1283,0,0,0,0,0,0,26.73,25.28,24.37,8.38,47.12
$STATE,3288,end climb,NO_VERTICAL_VELOCITY
$STATE,3288,begin surface
$SM_CCo,3291,113.32,0.513,0,0,498,428.54
$SM_GC,1.33,7.62,2.30,0.00,0.035,0.038,0.000,194,1852,485,-8.18,-0.85,432.22,0,0,0,0,0,0,25.73,25.62,25.78
$IRIDIUM_FIX,4739.20,-12253.53,310118,212521
$TT8_MAMPS,0.026964,0.265895
$HUMID,46.22
$INTERNAL_PRESSURE,8.21449
$TCM_TEMP,7.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,75.8,77.1
$24V_AH,23.20,57.981
$10V_AH,9.88,38.558
$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,18.750,48.550,271.100,113.325,0.000,0.000,0.000,0.000,0.750,0.000,25.004,910.316,1191.430,464.172,964.788,74.541,0.000,922.245,0.000,695.131,0.000,7.264,0.000
$DEVICE_MAMPS,197.370,57.375,704.565,512.550,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.726,826.720,503.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312152
$DATA_FILE_SIZE,28004,384
$CAP_FILE_SIZE,70372,0
$CFSIZE,2097872896,2094465024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310118,223326,4738.427,-12252.871,13,0.9,53,16.3,0.4,66.8,9,5.6