version: 66.14
glider: 195
mission: 15
dive: 335
start: 2 12 118 17 23 10
data:
$ID,195
$MISSION,15
$DIVE,335
$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,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
$GPS1,120218,171821,4738.0708,-12253.7998,4,1.0,19,16.4,0.5,221.6,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.8
$GPS2,120218,172223,4738.0366,-12253.8506,5,0.8,21,16.4,0.4,230.8,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.289812,-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,31.3,1071,-14.9,-10.000,-18.84,2955
$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,-0.82,-197.2,197,1834,554,478,0.0,0.0,0,46,0.00,0.00,-34.75,0.000,16386,0.000,0.000,197,1834,1354,1400,1308,0,0,0,0,0,0,26.68,28.83,26.69,8.27,46.85
$GC,49,-0.87,-244.4,197,1834,1400,1309,2.1,-1.3,5,128,8.82,2.22,-59.50,0.000,18948,0.193,0.053,2521,451,3247,3316,3178,0,0,0,0,0,0,24.96,23.95,25.15,8.35,46.81
$GC,151,-0.67,-244.4,2520,451,3316,3179,13.3,-23.7,20,159,0.20,2.17,0.00,0.000,3078,0.113,0.033,2593,1847,3248,3317,3179,0,0,0,0,0,0,25.67,26.13,25.84,8.52,46.22
$GC,224,-0.67,-244.4,2592,1847,3317,3179,24.7,-14.4,30,233,0.00,2.17,0.00,0.000,260,0.000,0.041,2585,3247,3248,3317,3179,0,0,0,0,0,0,26.70,26.05,26.71,8.52,46.18
$GC,279,-0.67,-244.4,2584,3248,3318,3179,31.2,-12.2,35,288,0.00,2.12,0.00,0.000,1030,0.000,0.028,2585,1846,3248,3317,3179,0,0,0,0,0,0,26.23,26.19,26.27,8.52,46.41
$GC,408,-0.67,-244.4,2584,1846,3317,3179,48.2,-13.1,48,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1846,3248,3317,3179,0,0,0,0,0,0,26.72,26.73,26.73,8.52,47.08
$GC,528,-0.67,-244.4,2584,1846,3317,3179,63.7,-12.4,60,538,0.00,2.17,0.00,0.000,516,0.000,0.041,2585,456,3248,3317,3179,0,0,0,0,0,0,26.73,26.01,26.74,8.53,47.48
$GC,561,-0.67,-244.4,2584,456,3317,3179,67.8,-12.4,63,572,0.00,2.12,0.00,0.000,1030,0.000,0.031,2582,1847,3248,3317,3179,0,0,0,0,0,0,26.27,26.17,26.29,8.54,47.00
$GC,692,-0.67,-244.4,2582,1847,3317,3179,83.7,-11.9,76,695,0.00,2.17,0.00,0.000,260,0.000,0.041,2574,3249,3248,3317,3179,0,0,0,0,0,0,26.73,26.06,26.74,8.54,47.63
$GC,755,-0.67,-244.4,2573,3250,3317,3179,91.0,-11.3,82,765,0.00,2.10,0.00,0.000,1030,0.000,0.028,2574,1835,3248,3317,3179,0,0,0,0,0,0,26.24,26.21,26.27,8.54,48.46
$GC,885,-0.67,-244.4,2573,1835,3316,3179,107.0,-12.5,95,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1835,3248,3317,3179,0,0,0,0,0,0,26.73,26.74,26.74,8.55,48.26
$GC,1065,-0.67,-244.4,2573,1835,3317,3179,129.2,-12.1,113,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1835,3247,3316,3179,0,0,0,0,0,0,26.73,26.74,26.74,8.56,47.83
$GC,1245,-0.67,-244.4,2573,1835,3317,3179,150.8,-11.7,131,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1834,3248,3317,3179,0,0,0,0,0,0,26.74,26.74,26.74,8.57,48.11
$STATE,1364,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1364,begin apogee
$GC,1368,-0.21,0.0,2574,1834,3316,3179,165.1,-12.0,143,1569,0.45,0.00,196.12,0.669,10246,0.097,0.000,2737,1834,2247,2378,2116,0,0,0,0,0,0,25.76,24.74,23.81,8.56,48.97
$STATE,1570,end apogee,CONTROL_FINISHED_OK
$STATE,1570,begin climb
$GC,1573,0.87,244.4,2736,1834,2378,2114,167.1,0.0,163,1787,0.95,2.25,203.62,0.652,10756,0.066,0.041,3089,454,1248,1354,1142,0,0,0,0,0,0,25.34,24.41,23.86,8.49,47.04
$GC,1842,0.77,244.4,3089,454,1353,1139,136.2,15.5,190,1851,0.00,2.10,0.00,0.000,1030,0.000,0.028,3089,1831,1246,1353,1139,0,0,0,0,0,0,25.86,25.84,25.89,8.40,45.55
$GC,2032,0.68,244.4,3089,1832,1353,1137,105.8,16.2,209,2042,0.15,2.17,0.00,0.000,4612,0.124,0.040,3044,454,1244,1352,1137,0,0,0,0,0,0,25.96,25.99,26.02,8.40,47.51
$GC,2058,0.61,244.4,3043,454,1352,1136,102.3,15.4,211,2066,0.10,2.15,0.00,0.000,5126,0.104,0.029,3008,1846,1244,1352,1136,0,0,0,0,0,0,25.91,26.15,25.98,8.40,46.96
$GC,2247,0.61,244.4,3007,1846,1353,1135,82.0,10.3,230,2256,0.00,2.17,0.00,0.000,516,0.000,0.041,3015,455,1243,1352,1135,0,0,0,0,0,0,26.67,26.06,26.68,8.40,47.00
$GC,2279,0.61,244.4,3015,455,1352,1135,78.7,9.9,233,2284,0.00,2.10,0.00,0.000,1030,0.000,0.029,3015,1845,1243,1352,1135,0,0,0,0,0,0,26.29,26.22,26.32,8.40,47.28
$GC,2412,0.61,244.4,3015,1846,1352,1135,65.2,10.3,246,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1845,1243,1352,1135,0,0,0,0,0,0,26.70,26.71,26.71,8.39,47.24
$GC,2532,0.61,244.4,3015,1845,1352,1135,53.3,9.5,258,2541,0.00,2.20,0.00,0.000,516,0.000,0.041,3022,448,1243,1352,1135,0,0,0,0,0,0,26.71,26.06,26.72,8.39,47.83
$GC,2574,0.61,244.4,3022,448,1351,1135,49.0,10.1,262,2579,0.00,2.15,0.00,0.000,1030,0.000,0.029,3022,1840,1243,1352,1135,0,0,0,0,0,0,26.27,26.25,26.30,8.39,47.67
$GC,2707,0.61,244.4,3022,1841,1352,1135,36.2,9.7,275,2711,0.00,2.17,0.00,0.000,516,0.000,0.041,3029,452,1243,1352,1135,0,0,0,0,0,0,26.72,26.06,26.73,8.39,47.44
$GC,2721,0.61,244.4,3028,451,1352,1135,35.1,9.7,276,2729,0.00,2.15,0.00,0.000,1030,0.000,0.028,3029,1848,1243,1352,1135,0,0,0,0,0,0,26.27,26.24,26.30,8.38,47.48
$GC,2850,0.61,244.4,3028,1848,1352,1135,22.6,9.2,289,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1848,1243,1352,1135,0,0,0,0,0,0,26.72,26.74,26.73,8.38,47.48
$GC,2973,0.81,367.8,3028,1848,1352,1135,13.9,5.7,310,3042,0.08,0.00,64.32,0.506,10758,0.096,0.000,3123,1848,745,837,653,0,0,0,0,0,0,26.51,25.01,24.25,8.38,47.75
$STATE,3079,end climb,SURFACE_DEPTH_REACHED
$STATE,3079,begin surface coast
$FINISH,0.7,1.001415
$STATE,3107,end surface coast,CONTROL_FINISHED_OK
$STATE,3107,begin surface
$SM_CCo,3123,26.00,0.054,0,0,532,420.20
$SM_GC,1.77,7.65,0.00,26.00,0.028,0.000,0.054,174,1849,532,-8.08,0.17,420.20,0,0,0,0,0,0,26.10,26.45,25.84
$IRIDIUM_FIX,4738.33,-12256.21,120218,171418
$TT8_MAMPS,0.026964,0.265146
$HUMID,47.12
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,7.90
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,140.1,34.2
$24V_AH,23.81,78.405
$10V_AH,9.69,53.947
$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,18.400,38.900,464.075,26.000,0.000,0.000,0.000,0.000,4.250,0.000,22.797,801.732,1028.966,499.449,850.944,72.116,0.000,952.509,0.000,636.727,0.000,19.973,0.000
$DEVICE_MAMPS,192.780,52.785,668.610,53.550,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.503,714.699,434.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,24434,332
$CAP_FILE_SIZE,66087,0
$CFSIZE,2097872896,2061729792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.011,249.98,1
$GPS,120218,181701,4738.317,-12253.275,7,0.7,40,16.4,0.3,215.3,11,4.6