version: 66.14
glider: 195
mission: 15
dive: 223
start: 2 7 118 21 42 58
data:
$ID,195
$MISSION,15
$DIVE,223
$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,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,2812
$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,38
$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,100
$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
$GPS1,070218,213739,4738.3569,-12253.4307,8,0.8,32,16.4,0.2,46.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-72.2
$GPS2,070218,214146,4738.3696,-12253.3945,6,0.8,15,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.144420,-0.095619
$KALMAN_X,17280.486328,-11.662707,62.805763,-17611.273438,312.233643
$KALMAN_Y,2926.554932,78.397400,89.004562,-3548.324707,150.568771
$MHEAD_RNG_PITCHd_Wd,220.1,248,-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,8,-1.20,-63.7,182,1840,509,438,0.0,0.0,0,30,0.00,0.00,-19.75,0.000,16386,0.000,0.000,182,1840,982,1054,910,0,0,0,0,0,0,26.62,28.83,26.63,8.29,47.44
$GC,33,-1.20,-63.7,182,1840,1054,911,2.0,-2.1,3,106,8.55,2.25,-55.47,0.000,18692,0.196,0.050,2406,3282,2506,2585,2428,0,0,0,0,0,0,24.95,25.61,25.15,8.34,46.96
$GC,614,-1.06,-63.7,2405,3282,2586,2430,63.0,-11.9,74,625,0.20,2.17,0.00,0.000,3078,0.146,0.030,2466,1821,2508,2586,2431,0,0,0,0,0,0,25.54,26.21,25.63,8.48,47.48
$GC,744,-1.06,-63.7,2466,1821,2586,2430,76.7,-11.0,87,754,0.00,2.15,0.00,0.000,516,0.000,0.041,2466,453,2508,2586,2430,0,0,0,0,0,0,26.75,26.03,26.77,8.49,47.44
$GC,1079,-1.00,-63.7,2465,452,2586,2430,116.0,-11.6,119,1089,0.08,2.10,0.00,0.000,3078,0.156,0.031,2480,1842,2508,2586,2430,0,0,0,0,0,0,25.86,26.19,25.91,8.49,48.07
$GC,1267,-1.00,-63.7,2479,1843,2586,2430,134.8,-9.2,138,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1842,2508,2586,2430,0,0,0,0,0,0,26.77,26.77,26.77,8.49,48.89
$GC,1448,-1.00,-63.7,2479,1842,2586,2430,151.9,-9.5,156,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1842,2508,2586,2430,0,0,0,0,0,0,26.77,26.77,26.77,8.50,48.11
$STATE,1576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1576,begin apogee
$GC,1580,-0.21,0.0,2480,1842,2586,2430,164.2,-9.1,169,1638,0.75,0.00,51.50,0.682,10246,0.097,0.000,2741,1842,2246,2346,2147,0,0,0,0,0,0,25.58,25.02,24.06,8.51,48.70
$STATE,1639,end apogee,CONTROL_FINISHED_OK
$STATE,1639,begin climb
$GC,1641,1.20,63.7,2741,1843,2346,2147,164.1,0.0,175,1708,1.27,2.22,54.80,0.676,10756,0.086,0.038,3190,457,1985,2124,1847,0,0,0,0,0,0,25.53,24.48,23.91,8.49,47.67
$GC,1722,1.10,63.7,3189,457,2123,1847,160.0,8.1,183,1731,0.00,2.15,0.00,0.000,1030,0.000,0.031,3189,1841,1984,2123,1846,0,0,0,0,0,0,25.75,25.72,25.75,8.46,46.77
$GC,1912,0.98,63.7,3189,1841,2122,1844,129.4,17.1,202,1914,0.20,0.00,0.00,0.000,4102,0.151,0.000,3132,1840,1983,2122,1844,0,0,0,0,0,0,25.67,25.90,25.82,8.46,47.24
$GC,2092,0.98,63.7,3131,1841,2122,1843,103.3,13.5,220,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1841,1982,2122,1843,0,0,0,0,0,0,26.68,26.70,26.69,8.46,47.87
$GC,2272,0.98,63.7,3131,1841,2121,1841,78.0,13.7,238,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1841,1982,2122,1842,0,0,0,0,0,0,26.72,26.74,26.74,8.47,48.07
$GC,2392,0.98,63.7,3131,1841,2122,1842,62.1,13.3,250,2402,0.00,2.15,0.00,0.000,516,0.000,0.041,3140,460,1981,2121,1841,0,0,0,0,0,0,26.74,26.03,26.75,8.46,48.81
$GC,2447,0.98,63.7,3139,460,2121,1841,55.3,13.3,255,2455,0.00,2.12,0.00,0.000,1030,0.000,0.031,3140,1838,1981,2121,1841,0,0,0,0,0,0,26.25,26.22,26.27,8.45,47.87
$GC,2575,0.98,63.7,3139,1838,2121,1841,38.7,12.6,268,2585,0.00,2.20,0.00,0.000,260,0.000,0.040,3140,3258,1980,2120,1841,0,0,0,0,0,0,26.75,26.08,26.76,8.45,47.99
$GC,2600,0.98,63.7,3139,3258,2121,1841,35.8,12.6,270,2608,0.00,2.15,0.00,0.000,1030,0.000,0.030,3150,1845,1980,2120,1841,0,0,0,0,0,0,26.24,26.20,26.30,8.45,47.75
$GC,2728,0.98,63.7,3149,1844,2121,1842,20.0,11.4,283,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1844,1981,2121,1841,0,0,0,0,0,0,26.75,26.77,26.76,8.44,47.24
$GC,2850,1.02,111.7,3149,1844,2121,1841,10.4,4.9,306,2885,0.00,2.22,24.33,0.514,8708,0.000,0.041,3161,451,1789,1932,1647,0,0,0,0,0,0,26.76,25.30,24.39,8.44,47.79
$STATE,3172,end climb,NO_VERTICAL_VELOCITY
$STATE,3172,begin surface
$SM_CCo,3175,159.05,0.488,0,0,497,428.54
$SM_GC,2.49,7.88,2.22,0.00,0.034,0.029,0.000,184,1857,481,-8.06,-1.07,433.20,0,0,0,0,0,0,25.89,25.80,25.94
$IRIDIUM_FIX,4738.33,-12256.21,070218,204310
$TT8_MAMPS,0.026964,0.264397
$HUMID,46.57
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,17.9
$ALTIM_BOTTOM_PING,145.1,28.5
$24V_AH,23.91,69.513
$10V_AH,9.78,47.637
$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,18.925,26.125,130.625,159.050,0.000,0.000,0.000,171.775,3.500,0.000,16.348,926.189,1190.856,374.361,1139.613,89.856,33.448,947.091,0.000,703.589,0.000,27.288,0.000
$DEVICE_MAMPS,195.840,49.725,681.615,488.070,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.177,792.221,483.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312572
$DATA_FILE_SIZE,24536,368
$CAP_FILE_SIZE,51873,0
$CFSIZE,2097872896,2072805376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070218,224116,4738.313,-12253.390,4,0.9,14,16.4,0.0,47.7,9,5.0