version: 66.14
glider: 195
mission: 15
dive: 509
start: 2 19 118 17 47 18
data:
$ID,195
$MISSION,15
$DIVE,509
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,190218,174240,4737.4692,-12256.0020,5,0.9,19,16.4,0.0,242.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.8
$GPS2,190218,174636,4737.4482,-12256.0273,8,0.7,24,16.4,0.0,232.2,11,5.0
$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,58.8,1955,-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,-244.4,164,1846,526,448,0.0,0.0,0,59,0.00,0.00,-48.25,0.000,16386,0.000,0.000,163,1846,1671,1731,1612,0,0,0,0,0,0,26.58,28.83,26.58,8.31,48.30
$GC,63,-0.79,-244.4,163,1846,1731,1614,2.5,-2.9,7,127,9.05,2.22,-47.58,0.000,18948,0.190,0.050,2554,442,3245,3311,3179,0,0,0,0,0,0,24.82,25.51,25.20,8.42,48.11
$GC,201,-0.63,-244.4,2554,442,3312,3180,20.7,-20.3,29,209,0.17,2.17,0.00,0.000,3078,0.111,0.032,2603,1836,3245,3311,3180,0,0,0,0,0,0,25.63,26.03,25.70,8.56,48.14
$GC,328,-0.63,-244.4,2603,1836,3313,3180,40.6,-13.0,42,334,0.00,2.20,0.00,0.000,260,0.000,0.041,2596,3255,3246,3312,3180,0,0,0,0,0,0,26.64,25.91,26.65,8.56,48.58
$GC,373,-0.63,-244.4,2595,3255,3312,3180,46.6,-13.3,46,383,0.00,2.12,0.00,0.000,1030,0.000,0.028,2596,1839,3246,3312,3180,0,0,0,0,0,0,26.17,26.08,26.20,8.56,48.54
$GC,503,-0.63,-244.4,2596,1839,3312,3180,63.1,-13.0,59,508,0.00,2.20,0.00,0.000,516,0.000,0.041,2596,448,3246,3312,3180,0,0,0,0,0,0,26.65,25.87,26.66,8.56,48.22
$GC,567,-0.63,-244.4,2595,448,3313,3180,71.4,-13.5,65,571,0.00,2.15,0.00,0.000,1030,0.000,0.031,2587,1848,3245,3312,3179,0,0,0,0,0,0,26.15,26.06,26.18,8.56,48.77
$GC,700,-0.63,-244.4,2587,1848,3312,3180,88.4,-12.4,78,709,0.00,2.17,0.00,0.000,260,0.000,0.041,2577,3242,3246,3312,3180,0,0,0,0,0,0,26.66,25.92,26.67,8.56,48.70
$GC,754,-0.63,-244.4,2577,3242,3312,3180,94.5,-12.3,82,765,0.00,2.12,0.00,0.000,1030,0.000,0.028,2577,1843,3246,3312,3180,0,0,0,0,0,0,26.12,26.08,26.14,8.56,48.77
$GC,888,-0.63,-244.4,2577,1843,3312,3180,112.3,-13.2,95,893,0.10,2.20,0.00,0.000,2308,0.135,0.040,2606,3245,3246,3312,3180,0,0,0,0,0,0,26.14,25.89,26.16,8.56,49.25
$GC,932,-0.63,-244.4,2605,3245,3312,3180,117.5,-12.0,98,945,0.00,2.10,0.00,0.000,1030,0.000,0.028,2606,1842,3246,3312,3180,0,0,0,0,0,0,26.12,26.06,26.14,8.56,48.50
$GC,1129,-0.63,-244.4,2606,1842,3312,3180,138.5,-10.6,117,1141,0.00,2.17,0.00,0.000,516,0.000,0.041,2606,454,3246,3312,3180,0,0,0,0,0,0,26.62,25.88,26.63,8.57,48.85
$GC,1176,-0.63,-244.4,2605,454,3312,3180,143.6,-11.3,120,1187,0.00,2.15,0.00,0.000,1030,0.000,0.032,2598,1835,3246,3312,3180,0,0,0,0,0,0,26.07,26.03,26.10,8.57,48.70
$GC,1373,-0.73,-244.4,2597,1836,3313,3180,163.3,-6.4,139,1377,0.00,2.20,0.00,0.000,260,0.000,0.041,2598,3250,3246,3312,3180,0,0,0,0,0,0,26.63,25.88,26.63,8.57,48.97
$STATE,1522,end dive,NO_VERTICAL_VELOCITY
$STATE,1522,begin apogee
$GC,1530,-0.21,0.0,2597,1837,3311,3180,163.3,0.0,150,1731,0.40,0.00,191.10,0.654,10246,0.054,0.000,2760,1836,2246,2378,2114,0,0,0,0,0,0,26.05,24.46,23.96,8.58,49.64
$STATE,1733,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1735,0.79,244.4,2760,1836,2378,2114,163.2,0.0,171,1952,0.77,2.25,201.65,0.633,10756,0.046,0.041,3072,459,1248,1357,1140,0,0,0,0,0,0,25.44,24.46,23.94,8.49,47.48
$GC,2008,0.71,244.4,3071,458,1356,1139,137.9,14.1,198,2019,0.08,2.12,0.00,0.000,5126,0.121,0.030,3046,1840,1247,1356,1138,0,0,0,0,0,0,25.55,25.77,25.60,8.41,46.53
$GC,2200,0.65,244.4,3045,1840,1356,1137,115.2,11.8,217,2210,0.00,2.17,0.00,0.000,516,0.000,0.042,3053,454,1246,1356,1137,0,0,0,0,0,0,26.53,25.84,26.54,8.41,48.22
$GC,2225,0.60,244.4,3053,454,1356,1137,112.1,11.6,219,2234,0.12,2.15,0.00,0.000,5126,0.102,0.031,3009,1839,1246,1356,1137,0,0,0,0,0,0,25.75,26.03,25.82,8.41,48.85
$GC,2415,0.60,244.4,3008,1839,1356,1136,93.2,9.3,238,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1839,1246,1356,1136,0,0,0,0,0,0,26.62,26.63,26.63,8.41,48.18
$GC,2543,0.60,244.4,3008,1838,1356,1136,81.6,8.9,251,2548,0.00,2.20,0.00,0.000,516,0.000,0.042,3016,449,1246,1356,1136,0,0,0,0,0,0,26.64,25.88,26.65,8.41,49.44
$GC,2597,0.60,244.4,3015,449,1355,1136,76.6,9.6,256,2606,0.00,2.15,0.00,0.000,1030,0.000,0.030,3016,1848,1245,1354,1136,0,0,0,0,0,0,26.17,26.08,26.20,8.41,49.25
$GC,2727,0.60,244.4,3015,1848,1354,1135,65.2,8.6,269,2731,0.00,2.22,0.00,0.000,516,0.000,0.042,3023,450,1244,1354,1135,0,0,0,0,0,0,26.65,25.87,26.66,8.41,49.09
$GC,2772,0.60,244.4,3023,449,1354,1136,61.4,8.7,273,2776,0.00,2.15,0.00,0.000,1030,0.000,0.030,3023,1851,1244,1354,1135,0,0,0,0,0,0,26.17,26.09,26.20,8.41,48.81
$GC,2904,0.60,244.4,3022,1851,1354,1135,48.9,9.1,286,2908,0.00,2.17,0.00,0.000,260,0.000,0.040,3023,3252,1244,1354,1135,0,0,0,0,0,0,26.65,25.93,26.66,8.40,49.01
$GC,2947,0.60,244.4,3023,3252,1354,1135,44.8,9.8,290,2957,0.00,2.12,0.00,0.000,1030,0.000,0.030,3027,1838,1244,1354,1135,0,0,0,0,0,0,26.15,26.07,26.19,8.41,49.21
$GC,3077,0.60,244.4,3027,1838,1354,1135,33.1,9.1,303,3082,0.00,2.20,0.00,0.000,516,0.000,0.043,3029,451,1245,1355,1135,0,0,0,0,0,0,26.66,25.85,26.67,8.40,48.74
$GC,3167,0.68,332.0,3029,450,1354,1135,26.7,7.5,310,3227,0.00,2.15,51.40,0.555,9222,0.000,0.030,3029,1838,890,972,808,0,0,0,0,0,0,26.12,26.08,24.34,8.40,49.37
$GC,3397,0.87,449.3,3029,1839,972,806,11.8,6.7,334,3462,0.10,2.22,51.42,0.488,10756,0.075,0.040,3147,454,494,535,454,0,0,0,0,0,0,26.27,24.81,24.37,8.36,48.30
$STATE,3471,end climb,SURFACE_DEPTH_REACHED
$STATE,3471,begin surface coast
$FINISH,0.6,1.013361
$STATE,3493,end surface coast,CONTROL_FINISHED_OK
$STATE,3493,begin surface
$SM_CCo,3572,0.00,0.000,0,0,488,431.24
$SM_GC,1.48,7.75,2.20,0.00,0.029,0.025,0.000,170,1862,488,-8.08,-1.02,431.24,0,0,0,0,0,0,26.03,25.95,26.07
$IRIDIUM_FIX,4735.41,-12112.61,190218,170120
$TT8_MAMPS,0.026964,0.266644
$HUMID,47.87
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,9.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.94,92.462
$10V_AH,9.83,62.616
$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,18.550,60.875,495.575,0.000,0.000,0.000,0.000,149.050,56.500,0.000,25.592,859.242,928.037,475.331,1446.683,132.126,0.000,1202.476,0.000,723.215,0.000,572.326,0.000
$DEVICE_MAMPS,189.720,49.725,654.075,0.000,0.000,0.000,0.000,72.675,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.117,742.589,451.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312120
$DATA_FILE_SIZE,24568,345
$CAP_FILE_SIZE,77697,0
$CFSIZE,2097872896,2044592128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,330.27,0x2367ba,0,24
$CURRENT,0.079,5.71,1
$GPS,190218,184801,4737.614,-12255.304,5,0.9,31,16.4,0.8,230.0,9,4.7