version: 66.14
glider: 195
mission: 15
dive: 24
start: 2 1 118 18 44 59
data:
$ID,195
$MISSION,15
$DIVE,24
$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,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,1
$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,45
$R_STBD_OVSHOOT,39
$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,15
$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
$GPS1,010218,184003,4738.7183,-12252.3994,5,0.8,14,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.2
$GPS2,010218,184351,4738.7456,-12252.3730,8,0.8,16,16.3,0.0,352.1,10,4.8
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.220240,-0.133753
$KALMAN_X,423.596741,-184.424606,75.947601,813.699219,394.462769
$KALMAN_Y,77.300598,-168.103180,-8.405266,921.432556,225.655975
$MHEAD_RNG_PITCHd_Wd,222.4,4848,-17.6,-10.000,-21.21,2209
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.88,-146.6,193,1848,522,431,0.0,0.0,0,44,0.00,0.00,-33.08,0.000,16386,0.000,0.000,193,1848,1315,1362,1268,0,0,0,0,0,0,26.71,28.83,26.72,8.27,47.44
$GC,47,-0.88,-146.6,193,1848,1362,1271,2.2,-2.4,5,114,9.10,2.28,-48.05,0.000,18948,0.201,0.056,2560,445,2846,2932,2761,0,0,0,0,0,0,25.09,23.91,25.49,8.34,48.03
$GC,148,-0.77,-146.6,2559,444,2933,2761,11.6,-13.2,21,156,0.15,2.17,0.00,0.000,3078,0.122,0.034,2614,1841,2847,2934,2761,0,0,0,0,0,0,25.67,26.13,25.83,8.49,46.85
$GC,219,-0.77,-146.6,2613,1841,2934,2761,18.2,-8.4,34,226,0.00,2.25,0.00,0.000,516,0.000,0.044,2614,445,2847,2934,2761,0,0,0,0,0,0,26.72,25.97,26.73,8.48,46.73
$GC,306,-0.77,-146.6,2614,445,2934,2761,26.8,-10.3,44,316,0.00,2.12,0.00,0.000,1030,0.000,0.034,2608,1838,2848,2934,2762,0,0,0,0,0,0,26.18,26.14,26.20,8.48,47.40
$GC,435,-0.77,-146.6,2607,1837,2934,2761,39.1,-9.5,57,445,0.00,2.22,0.00,0.000,260,0.000,0.044,2597,3253,2847,2934,2761,0,0,0,0,0,0,26.75,26.02,26.77,8.49,47.59
$GC,498,-0.77,-146.6,2597,3253,2934,2761,45.0,-9.3,63,508,0.00,2.15,0.00,0.000,1030,0.000,0.031,2597,1831,2848,2935,2762,0,0,0,0,0,0,26.25,26.16,26.29,8.49,47.16
$GC,628,-0.77,-146.6,2597,1832,2933,2761,58.0,-10.2,76,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1831,2847,2934,2761,0,0,0,0,0,0,26.77,26.77,26.77,8.49,47.44
$GC,748,-0.77,-146.6,2597,1831,2934,2761,70.5,-10.2,88,758,0.00,2.20,0.00,0.000,260,0.000,0.044,2588,3243,2847,2934,2761,0,0,0,0,0,0,26.77,26.01,26.77,8.49,47.83
$GC,782,-0.77,-146.6,2587,3243,2934,2761,73.9,-10.3,91,791,0.00,2.12,0.00,0.000,1030,0.000,0.032,2587,1850,2847,2934,2761,0,0,0,0,0,0,26.20,26.16,26.23,8.50,47.79
$GC,911,-0.77,-146.6,2587,1850,2934,2761,86.4,-8.9,104,920,0.00,2.20,0.00,0.000,260,0.000,0.043,2578,3249,2848,2934,2762,0,0,0,0,0,0,26.77,26.00,26.78,8.50,48.14
$GC,954,-0.77,-146.6,2577,3249,2934,2761,90.4,-9.4,108,963,0.00,2.12,0.00,0.000,1030,0.000,0.031,2578,1834,2847,2934,2761,0,0,0,0,0,0,26.25,26.16,26.29,8.50,48.58
$GC,1084,-0.77,-146.6,2577,1833,2934,2761,102.1,-8.9,121,1093,0.00,2.17,0.00,0.000,516,0.000,0.044,2578,451,2847,2934,2761,0,0,0,0,0,0,26.77,25.93,26.78,8.50,48.77
$GC,1158,-0.77,-146.6,2577,451,2934,2761,109.5,-10.5,128,1167,0.10,2.15,0.00,0.000,3078,0.123,0.034,2602,1836,2847,2934,2761,0,0,0,0,0,0,25.83,26.14,25.89,8.51,48.54
$GC,1349,-0.84,-146.6,2602,1836,2934,2761,126.0,-9.0,147,1358,0.00,2.20,0.00,0.000,260,0.000,0.043,2594,3246,2847,2934,2761,0,0,0,0,0,0,26.78,25.98,26.79,8.51,48.81
$GC,1393,-0.91,-146.6,2593,3246,2934,2761,130.1,-9.4,151,1402,0.05,2.15,0.00,0.000,5126,0.073,0.031,2530,1843,2847,2934,2761,0,0,0,0,0,0,26.05,26.14,26.09,8.51,48.46
$STATE,1460,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1460,begin apogee
$GC,1465,-0.21,0.0,2530,1843,2934,2761,138.1,-12.3,158,1584,0.73,0.00,115.25,0.696,10246,0.107,0.000,2776,1841,2246,2375,2118,0,0,0,0,0,0,25.44,25.01,24.13,8.52,48.18
$STATE,1585,end apogee,CONTROL_FINISHED_OK
$STATE,1585,begin climb
$GC,1587,0.88,146.6,2776,1841,2374,2118,141.4,0.0,170,1715,0.93,2.30,120.50,0.678,10756,0.056,0.044,3131,455,1648,1775,1521,0,0,0,0,0,0,25.44,24.94,24.03,8.47,46.88
$GC,1744,0.70,146.6,3130,455,1773,1518,123.5,17.5,186,1754,0.17,2.17,0.00,0.000,5126,0.131,0.032,3078,1840,1645,1773,1517,0,0,0,0,0,0,25.26,25.58,25.36,8.42,46.85
$GC,1935,0.61,146.6,3077,1840,1771,1514,94.8,14.0,205,1943,0.10,0.00,0.00,0.000,4102,0.151,0.000,3046,1840,1642,1771,1514,0,0,0,0,0,0,26.02,26.13,26.08,8.42,47.32
$GC,2063,0.61,146.6,3045,1841,1771,1513,78.8,11.8,218,2073,0.00,2.22,0.00,0.000,516,0.000,0.044,3054,444,1641,1770,1513,0,0,0,0,0,0,26.61,25.98,26.62,8.42,47.75
$GC,2109,0.61,146.6,3053,443,1769,1513,73.5,12.6,222,2117,0.00,2.17,0.00,0.000,1030,0.000,0.033,3054,1839,1641,1769,1513,0,0,0,0,0,0,26.20,26.15,26.22,8.41,47.40
$GC,2236,0.61,146.6,3053,1839,1769,1513,57.4,12.2,235,2240,0.00,2.20,0.00,0.000,260,0.000,0.042,3054,3250,1641,1769,1513,0,0,0,0,0,0,26.68,26.07,26.70,8.42,47.67
$GC,2279,0.56,146.6,3053,3252,1769,1513,51.8,13.1,239,2289,0.10,2.12,0.00,0.000,5126,0.143,0.032,3030,1835,1641,1769,1513,0,0,0,0,0,0,25.94,26.17,26.08,8.41,47.55
$GC,2408,0.56,146.6,3030,1835,1769,1513,38.0,10.2,252,2418,0.00,2.20,0.00,0.000,516,0.000,0.044,3039,448,1641,1769,1513,0,0,0,0,0,0,26.72,26.03,26.73,8.41,47.95
$GC,2502,0.56,146.6,3038,448,1767,1512,28.0,10.6,261,2511,0.00,2.15,0.00,0.000,1030,0.000,0.032,3039,1851,1640,1768,1512,0,0,0,0,0,0,26.29,26.20,26.34,8.41,47.83
$GC,2633,0.56,146.6,3038,1851,1768,1512,15.4,8.8,278,2640,0.00,2.20,0.00,0.000,260,0.000,0.042,3039,3247,1639,1767,1512,0,0,0,0,0,0,26.75,26.09,26.76,8.40,47.55
$GC,2653,0.56,146.6,3038,3247,1767,1512,13.2,10.3,281,2661,0.00,2.15,0.00,0.000,1030,0.000,0.032,3047,1845,1639,1767,1512,0,0,0,0,0,0,26.23,26.19,26.27,8.40,47.36
$GC,2724,0.65,244.7,3047,1845,1769,1512,7.1,5.5,294,2784,0.00,2.25,49.10,0.526,8708,0.000,0.044,3055,451,1247,1366,1128,0,0,0,0,0,0,26.75,25.49,24.68,8.40,47.59
$STATE,2862,end climb,SURFACE_DEPTH_REACHED
$STATE,2862,begin surface coast
$FINISH,0.6,1.009748
$STATE,3003,end surface coast,CONTROL_FINISHED_OK
$STATE,3003,begin surface
$SM_CCo,3021,83.62,0.060,0,0,532,420.20
$SM_GC,1.44,7.47,2.22,83.62,0.033,0.036,0.060,191,1845,532,-8.19,-1.16,420.20,0,0,0,0,0,0,26.20,26.08,25.89
$IRIDIUM_FIX,4735.45,-12242.96,010218,183653
$TT8_MAMPS,0.026964,0.268142
$HUMID,47.00
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.3
$ALTIM_BOTTOM_PING,75.9,77.0
$24V_AH,23.91,59.367
$10V_AH,9.91,39.677
$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,18.900,56.900,284.850,83.625,0.000,0.000,0.000,0.000,0.750,0.000,18.072,824.415,937.786,467.286,887.681,73.880,33.444,913.743,0.000,660.624,0.000,7.266,0.000
$DEVICE_MAMPS,201.195,55.845,696.150,59.670,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.436,744.938,452.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312124
$DATA_FILE_SIZE,24501,346
$CAP_FILE_SIZE,71604,0
$CFSIZE,2097872896,2092400640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010218,193750,4738.662,-12252.650,5,0.9,25,16.3,0.6,73.7,9,4.8