version: 66.14
glider: 195
mission: 15
dive: 331
start: 2 12 118 13 22 1
data:
$ID,195
$MISSION,15
$DIVE,331
$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,50
$R_STBD_OVSHOOT,45
$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
$GPS1,120218,131534,4737.7544,-12254.6270,7,0.9,14,16.4,0.4,223.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.5
$GPS2,120218,132119,4737.6963,-12254.6680,5,0.9,16,16.4,0.0,216.5,8,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$TGT_LATLONG,4737.883,-12254.600
$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,2.2,356,-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,-63.7,184,1851,553,477,0.0,0.0,0,46,0.00,0.00,-34.92,0.000,16386,0.000,0.000,183,1851,1377,1430,1324,0,0,0,0,0,0,26.60,28.83,26.60,8.28,47.12
$GC,49,-1.28,-144.1,184,1851,1430,1326,2.1,-1.5,5,120,8.30,2.25,-53.15,0.000,18948,0.192,0.051,2390,428,2836,2916,2757,0,0,0,0,0,0,25.03,25.61,25.20,8.37,46.77
$GC,155,-1.14,-144.1,2389,427,2918,2757,14.2,-27.1,21,164,0.15,2.20,0.00,0.000,3078,0.152,0.034,2440,1835,2837,2918,2757,0,0,0,0,0,0,25.51,26.12,25.72,8.49,46.14
$GC,233,-1.08,-144.1,2439,1836,2919,2757,30.6,-19.8,30,243,0.00,2.20,0.00,0.000,260,0.000,0.040,2430,3256,2837,2918,2757,0,0,0,0,0,0,26.67,26.05,26.68,8.49,46.61
$GC,364,-1.08,-144.1,2430,3257,2918,2757,56.4,-19.7,42,372,0.10,2.15,0.00,0.000,3078,0.143,0.029,2461,1842,2838,2918,2758,0,0,0,0,0,0,25.82,26.19,25.88,8.50,46.73
$GC,491,-1.08,-144.1,2461,1841,2918,2757,80.5,-17.7,55,501,0.00,2.17,0.00,0.000,516,0.000,0.041,2462,444,2838,2918,2758,0,0,0,0,0,0,26.72,26.04,26.73,8.51,47.99
$GC,564,-1.08,-144.1,2461,444,2918,2757,93.7,-19.8,61,576,0.00,2.17,0.00,0.000,1030,0.000,0.031,2452,1852,2837,2918,2757,0,0,0,0,0,0,26.22,26.18,26.25,8.51,47.59
$GC,702,-1.08,-144.1,2451,1851,2918,2757,118.1,-17.6,74,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1851,2837,2918,2757,0,0,0,0,0,0,26.70,26.71,26.71,8.52,47.83
$GC,896,-1.08,-144.1,2451,1851,2918,2757,151.9,-15.9,93,901,0.00,2.22,0.00,0.000,516,0.000,0.041,2451,444,2838,2918,2758,0,0,0,0,0,0,26.68,26.02,26.69,8.53,48.07
$GC,939,-1.08,-144.1,2451,444,2918,2757,159.5,-17.5,96,953,0.00,2.10,0.00,0.000,1030,0.000,0.031,2442,1841,2838,2918,2758,0,0,0,0,0,0,26.22,26.18,26.25,8.53,47.95
$STATE,1113,end dive,NO_VERTICAL_VELOCITY
$STATE,1113,begin apogee
$GC,1118,-0.21,0.0,2441,1841,2918,2757,161.4,0.0,113,1242,0.88,0.00,116.43,0.667,10246,0.107,0.000,2733,1841,2245,2366,2124,0,0,0,0,0,0,25.52,24.40,23.86,8.53,47.75
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1245,1.28,144.1,2733,1840,2367,2124,161.4,0.0,126,1372,1.42,0.00,120.28,0.649,10246,0.104,0.000,3200,1841,1658,1781,1535,0,0,0,0,0,0,25.23,24.70,23.83,8.49,46.81
$STATE,1410,end climb,NO_VERTICAL_VELOCITY
$STATE,1410,begin surface
$SM_CCo,1413,248.05,0.634,2,0,499,428.54
$SM_GC,1.84,7.78,0.00,0.00,0.027,0.000,0.000,177,1842,484,-8.09,-0.03,432.46,0,0,0,0,0,0,26.26,26.67,26.31
$IRIDIUM_FIX,4736.40,-12251.79,120218,121022
$TT8_MAMPS,0.026964,0.23968
$HUMID,47.67
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,24
$24V_AH,23.83,78.023
$10V_AH,9.80,53.710
$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,18.625,17.475,236.700,248.050,0.000,0.000,0.000,260.825,36.250,0.000,17.692,382.800,690.054,551.638,789.352,101.663,0.000,1065.091,0.000,299.592,0.000,306.010,0.000
$DEVICE_MAMPS,192.015,51.255,667.080,634.185,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,93.743,307.788,186.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312072
$DATA_FILE_SIZE,10747,143
$CAP_FILE_SIZE,43417,0
$CFSIZE,2097872896,2062090240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.095,184.74,1
$GPS,120218,135910,4737.712,-12254.606,7,1.1,47,16.4,0.4,192.8,7,3.0