version: 66.14
glider: 195
mission: 15
dive: 274
start: 2 10 118 0 49 39
data:
$ID,195
$MISSION,15
$DIVE,274
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,41
$R_STBD_OVSHOOT,40
$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
$GPS1,100218,004254,4737.8521,-12254.5391,21,0.9,46,16.4,0.4,229.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-66.5
$GPS2,100218,004858,4737.8071,-12254.6133,7,0.8,13,16.4,0.0,0.0,11,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE3
$TGT_LATLONG,4737.343,-12255.988
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.289812,-0.137217
$KALMAN_X,24982.394531,32.228821,-582.533447,-24351.066406,911.770996
$KALMAN_Y,5615.479492,-3.337315,-424.696045,-5543.971191,423.217987
$MHEAD_RNG_PITCHd_Wd,228.4,1919,-13.1,-10.000,-17.32,3645
$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,-0.79,-244.4,166,1839,551,474,0.0,0.0,0,39,0.00,0.00,-28.30,0.000,16386,0.000,0.000,166,1839,1242,1314,1171,0,0,0,0,0,0,26.59,28.83,26.60,8.30,46.88
$GC,42,-0.79,-244.4,166,1839,1314,1172,2.3,-3.5,4,120,9.00,2.22,-60.58,0.000,19204,0.194,0.053,2537,3255,3244,3313,3176,0,0,0,0,0,0,25.04,25.62,25.22,8.37,47.12
$GC,370,-0.69,-244.4,2536,3255,3313,3177,49.9,-15.7,45,379,0.15,2.15,0.00,0.000,3078,0.107,0.030,2588,1834,3245,3313,3177,0,0,0,0,0,0,25.87,26.21,25.94,8.55,47.67
$GC,499,-0.69,-244.4,2587,1833,3313,3177,66.7,-12.3,58,509,0.00,2.15,0.00,0.000,516,0.000,0.042,2587,458,3245,3313,3177,0,0,0,0,0,0,26.73,26.04,26.74,8.56,47.63
$GC,534,-0.69,-244.4,2587,457,3313,3177,71.0,-12.6,61,542,0.00,2.15,0.00,0.000,1030,0.000,0.032,2582,1847,3245,3314,3177,0,0,0,0,0,0,26.23,26.20,26.26,8.55,47.63
$GC,663,-0.69,-244.4,2581,1848,3314,3177,86.8,-11.6,74,666,0.00,2.17,0.00,0.000,260,0.000,0.041,2571,3252,3245,3313,3177,0,0,0,0,0,0,26.74,26.08,26.74,8.56,48.38
$GC,713,-0.69,-244.4,2571,3253,3313,3177,92.2,-11.9,78,725,0.00,2.12,0.00,0.000,1030,0.000,0.029,2571,1850,3245,3314,3177,0,0,0,0,0,0,26.25,26.20,26.31,8.56,48.11
$GC,848,-0.69,-244.4,2571,1850,3313,3177,108.4,-12.1,91,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1850,3245,3313,3177,0,0,0,0,0,0,26.70,26.71,26.71,8.56,48.58
$GC,1041,-0.69,-244.4,2571,1850,3313,3177,132.0,-12.7,110,1046,0.00,2.20,0.00,0.000,516,0.000,0.042,2571,450,3245,3313,3177,0,0,0,0,0,0,26.69,26.01,26.70,8.57,48.54
$GC,1071,-0.69,-244.4,2571,449,3313,3177,135.6,-12.5,112,1076,0.00,2.12,0.00,0.000,1030,0.000,0.031,2563,1845,3245,3313,3177,0,0,0,0,0,0,26.27,26.18,26.31,8.57,47.59
$GC,1270,-0.69,-244.4,2563,1846,3313,3177,160.1,-12.0,131,1274,0.00,2.15,0.00,0.000,260,0.000,0.041,2563,3246,3245,3313,3177,0,0,0,0,0,0,26.69,26.07,26.70,8.58,48.03
$STATE,1445,end dive,NO_VERTICAL_VELOCITY
$STATE,1445,begin apogee
$GC,1452,-0.21,0.0,2563,1840,3313,3177,160.3,0.0,144,1653,0.50,0.00,193.12,0.665,10246,0.056,0.000,2759,1839,2246,2379,2113,0,0,0,0,0,0,26.10,24.80,23.88,8.57,48.14
$STATE,1655,end apogee,CONTROL_FINISHED_OK
$STATE,1655,begin climb
$GC,1657,0.79,244.4,2759,1839,2379,2113,160.1,0.0,165,1874,0.80,2.28,201.48,0.647,10756,0.059,0.041,3068,452,1248,1357,1139,0,0,0,0,0,0,25.42,24.47,23.93,8.49,46.10
$GC,1964,0.70,244.4,3067,452,1355,1136,126.3,14.6,195,1973,0.10,2.17,0.00,0.000,5126,0.116,0.031,3034,1842,1246,1356,1136,0,0,0,0,0,0,25.72,25.96,25.78,8.41,45.66
$GC,2152,0.70,244.4,3033,1842,1355,1135,102.6,12.4,214,2161,0.00,2.17,0.00,0.000,516,0.000,0.043,3041,457,1245,1355,1135,0,0,0,0,0,0,26.61,26.02,26.62,8.41,46.77
$GC,2217,0.70,244.4,3041,457,1355,1135,94.2,13.1,220,2226,0.00,2.10,0.00,0.000,1030,0.000,0.030,3041,1842,1244,1354,1134,0,0,0,0,0,0,26.23,26.20,26.28,8.41,46.61
$GC,2347,0.64,244.4,3041,1842,1354,1134,77.6,12.6,233,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1842,1244,1354,1134,0,0,0,0,0,0,26.69,26.70,26.70,8.41,47.95
$GC,2467,0.59,244.4,3041,1842,1355,1134,62.9,12.2,245,2478,0.10,2.17,0.00,0.000,4612,0.132,0.041,3012,457,1244,1354,1134,0,0,0,0,0,0,26.26,26.08,26.28,8.41,47.79
$GC,2512,0.59,244.4,3012,457,1354,1134,58.2,10.1,249,2523,0.00,2.12,0.00,0.000,1030,0.000,0.030,3012,1848,1244,1354,1134,0,0,0,0,0,0,26.33,26.24,26.36,8.40,47.12
$GC,2643,0.59,244.4,3011,1848,1354,1134,45.6,9.5,262,2652,0.00,2.20,0.00,0.000,516,0.000,0.044,3019,451,1244,1354,1134,0,0,0,0,0,0,26.73,26.07,26.73,8.40,47.44
$GC,2668,0.59,244.4,3018,450,1354,1134,43.3,9.4,264,2676,0.00,2.15,0.00,0.000,1030,0.000,0.030,3019,1847,1244,1354,1134,0,0,0,0,0,0,26.29,26.25,26.32,8.40,47.71
$GC,2797,0.59,244.4,3018,1848,1354,1134,30.7,9.3,277,2807,0.00,2.20,0.00,0.000,516,0.000,0.043,3026,451,1244,1354,1134,0,0,0,0,0,0,26.73,26.08,26.74,8.39,47.16
$GC,2837,0.59,244.4,3026,451,1354,1134,27.3,9.3,280,2850,0.00,2.10,0.00,0.000,1030,0.000,0.030,3026,1840,1244,1354,1134,0,0,0,0,0,0,26.27,26.25,26.31,8.39,47.20
$GC,3004,0.67,320.9,3026,1841,1354,1134,12.4,7.9,298,3058,0.00,2.22,40.08,0.510,8708,0.000,0.042,3028,452,936,1045,828,0,0,0,0,0,0,26.70,24.81,24.37,8.38,47.08
$GC,3135,0.90,486.4,3027,452,1045,824,4.3,5.4,312,3180,0.12,2.15,38.47,0.473,11266,0.042,0.030,3138,1848,629,706,552,0,0,0,0,0,0,26.05,26.08,26.09,8.35,46.57
$STATE,3181,end climb,SURFACE_DEPTH_REACHED
$STATE,3181,begin surface coast
$FINISH,2.2,1.019374
$STATE,3191,end surface coast,CONTROL_FINISHED_OK
$STATE,3191,begin surface
$SM_CCo,3207,11.35,0.054,0,0,530,420.20
$SM_GC,2.59,7.88,0.00,11.35,0.040,0.000,0.054,199,1848,530,-8.06,0.14,420.20,0,0,0,0,0,0,25.96,26.31,25.77
$IRIDIUM_FIX,4738.33,-12256.21,090218,234433
$TT8_MAMPS,0.026964,0.24717
$HUMID,46.61
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.80
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.88,73.191
$10V_AH,9.81,50.312
$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,18.650,47.675,473.150,11.350,0.000,0.000,0.000,286.600,60.500,0.000,14.537,780.197,745.468,475.113,1434.462,179.115,0.000,1287.507,0.000,675.835,0.000,577.529,0.000
$DEVICE_MAMPS,193.545,52.785,664.785,53.550,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.719,682.306,414.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,21051,317
$CAP_FILE_SIZE,72995,0
$CFSIZE,2097872896,2067660800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,87.00,1
$GPS,100218,014413,4737.767,-12255.105,5,0.9,14,16.4,0.5,241.3,10,4.8