version: 66.14
glider: 195
mission: 15
dive: 146
start: 2 4 118 18 41 8
data:
$ID,195
$MISSION,15
$DIVE,146
$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,250
$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,0
$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,51
$R_STBD_OVSHOOT,37
$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,10
$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
$GPS1,040218,183429,4738.6475,-12252.6328,4,1.0,40,16.3,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.6
$GPS2,040218,183958,4738.6616,-12252.6162,6,0.8,13,16.3,0.0,0.0,11,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.146946,0.091690
$KALMAN_X,2692.116211,-955.263672,146.425507,-1191.354614,445.444733
$KALMAN_Y,-505.186829,-489.453125,146.249603,935.540283,370.293304
$MHEAD_RNG_PITCHd_Wd,285.7,553,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,186,1835,555,478,0.0,0.0,0,40,0.00,0.00,-29.00,0.000,16386,0.000,0.000,186,1835,1263,1321,1206,0,0,0,0,0,0,26.60,28.83,26.62,8.28,47.12
$GC,43,-1.20,-63.7,186,1835,1321,1208,2.3,-2.9,4,103,8.73,2.22,-42.60,0.000,18948,0.200,0.055,2454,456,2509,2592,2427,0,0,0,0,0,0,24.96,25.60,25.17,8.36,46.41
$GC,375,-1.09,-85.6,2454,456,2591,2427,38.3,-7.7,48,386,0.17,2.12,-1.02,0.000,19462,0.161,0.031,2496,1861,2601,2675,2527,0,0,0,0,0,0,25.62,26.19,25.76,8.46,46.77
$GC,505,-1.09,-85.6,2495,1861,2675,2527,52.1,-12.8,61,514,0.00,2.15,0.00,0.000,260,0.000,0.041,2488,3242,2601,2675,2527,0,0,0,0,0,0,26.74,26.07,26.74,8.48,47.00
$GC,579,-1.09,-85.6,2487,3242,2675,2527,61.7,-13.3,68,587,0.00,2.12,0.00,0.000,1030,0.000,0.031,2488,1849,2601,2675,2527,0,0,0,0,0,0,26.24,26.22,26.27,8.48,47.71
$GC,708,-1.09,-85.6,2487,1848,2675,2526,77.9,-12.4,81,717,0.00,2.20,0.00,0.000,516,0.000,0.042,2487,450,2601,2675,2527,0,0,0,0,0,0,26.75,26.03,26.76,8.48,47.48
$GC,731,-1.09,-85.6,2487,450,2676,2527,81.2,-13.0,83,741,0.00,2.10,0.00,0.000,1030,0.000,0.032,2477,1833,2601,2675,2527,0,0,0,0,0,0,26.22,26.20,26.27,8.49,47.40
$GC,862,-1.09,-85.6,2476,1833,2675,2527,98.5,-13.7,96,871,0.00,2.20,0.00,0.000,260,0.000,0.041,2466,3253,2601,2675,2527,0,0,0,0,0,0,26.75,26.07,26.76,8.50,47.48
$GC,910,-1.09,-85.6,2466,3254,2675,2527,105.5,-14.8,100,919,0.10,2.15,0.00,0.000,3078,0.141,0.031,2497,1839,2601,2676,2527,0,0,0,0,0,0,25.82,26.20,25.89,8.50,47.36
$GC,1098,-1.09,-85.6,2496,1839,2675,2527,128.7,-11.1,119,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1839,2601,2675,2527,0,0,0,0,0,0,26.76,26.77,26.77,8.50,47.71
$GC,1279,-1.09,-85.6,2496,1839,2675,2526,149.6,-11.1,137,1282,0.00,2.17,0.00,0.000,516,0.000,0.044,2497,455,2601,2675,2527,0,0,0,0,0,0,26.76,25.99,26.77,8.51,48.14
$STATE,1451,end dive,NO_VERTICAL_VELOCITY
$STATE,1451,begin apogee
$GC,1458,-0.21,0.0,2489,1852,2675,2527,150.6,0.0,154,1533,0.82,0.00,69.47,0.680,10246,0.084,0.000,2785,1852,2247,2354,2140,0,0,0,0,0,0,25.73,25.07,24.13,8.51,47.71
$STATE,1535,end apogee,CONTROL_FINISHED_OK
$STATE,1535,begin climb
$GC,1536,1.22,85.6,2784,1852,2353,2140,150.7,0.0,162,1617,1.20,2.25,71.90,0.675,10500,0.060,0.038,3227,3246,1896,2036,1757,0,0,0,0,0,0,25.59,24.96,23.99,8.48,47.99
$GC,1636,1.08,85.6,3227,3245,2035,1757,142.5,12.5,172,1646,0.15,2.15,0.00,0.000,5126,0.164,0.030,3192,1848,1896,2035,1757,0,0,0,0,0,0,25.22,25.64,25.34,8.46,47.24
$GC,1827,1.00,85.6,3191,1847,2031,1752,112.4,16.2,191,1831,0.00,2.22,0.00,0.000,516,0.000,0.042,3205,441,1891,2031,1752,0,0,0,0,0,0,26.53,25.92,26.54,8.45,47.44
$GC,1965,0.89,85.6,3200,440,2030,1750,90.7,16.5,204,1973,0.17,2.17,0.00,0.000,5126,0.145,0.032,3135,1833,1889,2030,1749,0,0,0,0,0,0,25.54,26.15,25.75,8.44,47.83
$GC,2091,0.89,85.6,3135,1834,2030,1749,72.3,14.0,217,2101,0.00,2.22,0.00,0.000,260,0.000,0.041,3135,3261,1889,2030,1749,0,0,0,0,0,0,26.69,26.06,26.70,8.45,48.18
$GC,2194,0.89,85.6,3134,3261,2030,1749,56.8,14.0,227,2205,0.00,2.15,0.00,0.000,1030,0.000,0.031,3143,1835,1889,2030,1749,0,0,0,0,0,0,26.28,26.19,26.32,8.45,48.11
$GC,2325,0.89,85.6,3142,1835,2031,1749,39.6,13.6,240,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1835,1889,2030,1749,0,0,0,0,0,0,26.73,26.74,26.74,8.44,47.55
$GC,2445,0.89,85.6,3143,1835,2030,1749,22.3,13.4,252,2454,0.00,2.22,0.00,0.000,260,0.000,0.040,3143,3264,1889,2030,1749,0,0,0,0,0,0,26.74,26.10,26.75,8.44,47.87
$GC,2556,0.92,117.8,3143,3264,2030,1749,10.5,6.6,271,2577,0.00,2.17,15.85,0.494,9222,0.000,0.031,3154,1836,1764,1902,1627,0,0,0,0,0,0,26.25,26.21,24.45,8.43,47.87
$GC,2641,1.07,216.8,3153,1836,1901,1626,9.7,-0.5,286,2701,0.08,2.22,50.15,0.522,10756,0.096,0.043,3238,457,1360,1467,1253,0,0,0,0,0,0,26.43,25.32,24.47,8.42,47.32
$STATE,2793,end climb,SURFACE_DEPTH_REACHED
$STATE,2793,begin surface coast
$FINISH,2.7,1.019258
$STATE,2855,end surface coast,CONTROL_FINISHED_OK
$STATE,2855,begin surface
$SM_CCo,2873,95.50,0.056,0,0,532,420.20
$SM_GC,2.07,8.48,2.20,95.50,0.064,0.031,0.056,182,1854,532,-8.20,-1.10,420.20,0,0,0,0,0,0,26.14,26.08,25.86
$IRIDIUM_FIX,4739.20,-12253.53,040218,174738
$TT8_MAMPS,0.026964,0.23968
$HUMID,45.31
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.2
$ALTIM_BOTTOM_PING,102.0,103.8
$24V_AH,23.99,65.469
$10V_AH,9.85,43.684
$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,19.900,43.650,207.375,95.500,0.000,0.000,0.000,256.400,2.000,0.000,15.061,811.025,931.433,366.891,1119.461,99.295,33.418,1041.574,0.000,658.655,0.000,15.387,0.000
$DEVICE_MAMPS,199.665,55.080,680.085,55.845,0.000,0.000,0.000,74.970,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.849,699.732,426.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312160
$DATA_FILE_SIZE,24563,325
$CAP_FILE_SIZE,54275,0
$CFSIZE,2097872896,2080440320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,16.64,0x2367b8,0,24
$GPS,040218,193134,4738.831,-12252.739,4,0.8,15,16.4,0.0,0.0,10,5.0