version: 66.14
glider: 195
mission: 15
dive: 543
start: 2 21 118 1 13 55
data:
$ID,195
$MISSION,15
$DIVE,543
$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,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
$GPS1,210218,010813,4737.5630,-12255.4707,4,0.9,13,16.4,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-61.0
$GPS2,210218,011315,4737.5620,-12255.4824,7,1.0,14,16.4,0.0,0.0,9,4.7
$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,43.0,1252,-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,-244.4,170,1850,514,443,0.0,0.0,0,58,0.00,0.00,-47.33,0.000,16386,0.000,0.000,170,1850,1622,1678,1566,0,0,0,0,0,0,26.51,28.83,26.53,8.29,48.26
$GC,62,-0.79,-244.4,170,1850,1678,1566,2.2,-1.9,7,131,9.10,2.25,-51.62,0.000,18948,0.194,0.050,2551,442,3243,3310,3177,0,0,0,0,0,0,24.91,25.46,25.30,8.40,48.46
$GC,166,-0.67,-244.4,2550,441,3311,3179,12.7,-18.4,23,174,0.15,2.17,0.00,0.000,3078,0.117,0.031,2606,1837,3244,3310,3179,0,0,0,0,0,0,25.49,25.98,25.64,8.54,47.67
$GC,244,-0.67,-244.4,2605,1837,3311,3179,24.8,-14.2,34,253,0.00,2.20,0.00,0.000,260,0.000,0.041,2598,3239,3245,3311,3179,0,0,0,0,0,0,26.60,25.81,26.60,8.53,47.99
$GC,311,-0.67,-244.4,2597,3239,3311,3179,33.1,-12.6,40,319,0.00,2.15,0.00,0.000,1030,0.000,0.028,2598,1832,3244,3311,3178,0,0,0,0,0,0,26.04,26.01,26.07,8.54,48.42
$GC,439,-0.67,-244.4,2597,1832,3311,3179,50.1,-12.6,53,444,0.00,2.20,0.00,0.000,516,0.000,0.041,2598,454,3245,3311,3179,0,0,0,0,0,0,26.63,25.78,26.63,8.54,48.89
$GC,495,-0.67,-244.4,2597,454,3311,3179,56.9,-12.5,58,503,0.00,2.17,0.00,0.000,1030,0.000,0.030,2589,1851,3245,3311,3179,0,0,0,0,0,0,26.03,25.98,26.05,8.54,49.64
$GC,624,-0.67,-244.4,2589,1851,3311,3178,72.9,-12.1,71,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1851,3245,3311,3179,0,0,0,0,0,0,26.63,26.65,26.64,8.55,48.85
$GC,743,-0.67,-244.4,2588,1851,3311,3179,87.1,-11.9,83,753,0.00,2.17,0.00,0.000,260,0.000,0.040,2580,3245,3245,3311,3179,0,0,0,0,0,0,26.64,25.82,26.65,8.55,49.21
$GC,781,-0.67,-244.4,2579,3245,3311,3179,91.0,-11.7,86,788,0.00,2.15,0.00,0.000,1030,0.000,0.028,2580,1837,3245,3311,3179,0,0,0,0,0,0,26.03,26.01,26.07,8.56,50.35
$GC,908,-0.67,-244.4,2579,1837,3311,3179,106.5,-12.0,99,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1837,3245,3311,3179,0,0,0,0,0,0,26.63,26.65,26.64,8.56,49.72
$GC,1088,-0.67,-244.4,2579,1837,3311,3178,127.9,-12.0,117,1092,0.00,2.17,0.00,0.000,516,0.000,0.041,2580,454,3244,3311,3178,0,0,0,0,0,0,26.64,25.75,26.65,8.57,49.72
$GC,1117,-0.67,-244.4,2579,453,3311,3179,130.8,-12.4,119,1125,0.00,2.15,0.00,0.000,1030,0.000,0.030,2571,1843,3245,3311,3179,0,0,0,0,0,0,26.01,25.98,26.04,8.57,49.52
$GC,1306,-0.67,-244.4,2570,1843,3311,3179,155.2,-12.7,138,1310,0.00,2.20,0.00,0.000,260,0.000,0.040,2561,3245,3244,3311,3178,0,0,0,0,0,0,26.64,25.79,26.65,8.58,49.92
$STATE,1337,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1337,begin apogee
$GC,1344,-0.21,0.0,2561,1842,3310,3179,159.4,-12.8,141,1549,0.50,0.00,194.65,0.648,10246,0.096,0.000,2738,1842,2246,2376,2116,0,0,0,0,0,0,25.44,24.85,24.03,8.57,50.27
$STATE,1550,end apogee,CONTROL_FINISHED_OK
$STATE,1550,begin climb
$GC,1554,0.79,244.4,2738,1841,2376,2116,165.8,0.0,162,1770,0.88,0.00,204.00,0.633,10502,0.064,0.000,3054,1842,1248,1354,1142,0,0,0,0,0,0,25.27,24.77,23.99,8.50,48.70
$GC,1950,0.71,244.4,3054,1841,1353,1139,123.4,12.8,202,1954,0.00,2.22,0.00,0.000,516,0.000,0.042,3064,448,1246,1353,1139,0,0,0,0,0,0,26.44,25.73,26.45,8.41,48.03
$GC,2003,0.63,244.4,3064,448,1351,1139,116.0,14.1,207,2013,0.12,2.12,0.00,0.000,5126,0.106,0.028,3021,1845,1244,1351,1138,0,0,0,0,0,0,25.65,25.98,25.72,8.41,49.01
$GC,2195,0.63,244.4,3020,1845,1351,1137,95.1,10.4,226,2204,0.00,2.17,0.00,0.000,260,0.000,0.038,3021,3252,1243,1351,1136,0,0,0,0,0,0,26.58,25.87,26.59,8.41,48.77
$GC,2219,0.63,244.4,3020,3252,1351,1137,92.4,10.5,228,2227,0.00,2.15,0.00,0.000,1030,0.000,0.028,3026,1847,1244,1351,1137,0,0,0,0,0,0,26.04,26.01,26.07,8.42,49.25
$GC,2348,0.63,244.4,3025,1847,1351,1137,79.0,10.4,241,2352,0.00,2.20,0.00,0.000,516,0.000,0.041,3036,449,1244,1351,1137,0,0,0,0,0,0,26.61,25.80,26.62,8.40,48.93
$GC,2431,0.63,244.4,3036,449,1351,1137,69.9,11.0,249,2435,0.00,2.15,0.00,0.000,1030,0.000,0.028,3037,1850,1244,1351,1137,0,0,0,0,0,0,26.12,26.03,26.15,8.40,49.09
$GC,2564,0.63,244.4,3036,1850,1351,1136,55.6,10.8,262,2573,0.00,2.17,0.00,0.000,260,0.000,0.037,3036,3252,1244,1351,1137,0,0,0,0,0,0,26.63,25.87,26.63,8.40,49.60
$GC,2699,0.63,244.4,3036,3252,1351,1136,41.4,10.4,275,2704,0.00,2.12,0.00,0.000,1030,0.000,0.028,3043,1842,1244,1351,1137,0,0,0,0,0,0,26.09,26.01,26.13,8.40,48.77
$GC,2832,0.63,244.4,3043,1842,1351,1136,27.5,10.0,288,2842,0.00,2.17,0.00,0.000,260,0.000,0.037,3044,3246,1243,1351,1136,0,0,0,0,0,0,26.63,25.87,26.64,8.39,49.17
$GC,2877,0.63,244.4,3043,3246,1351,1136,23.1,10.2,292,2885,0.00,2.15,0.00,0.000,1030,0.000,0.028,3044,1842,1243,1351,1136,0,0,0,0,0,0,26.03,26.00,26.07,8.39,48.97
$GC,3009,0.70,318.3,3044,1842,1351,1136,11.9,7.9,314,3057,0.00,2.25,38.67,0.492,8708,0.000,0.041,3045,452,946,1034,858,0,0,0,0,0,0,26.63,25.27,24.47,8.38,49.09
$STATE,3125,end climb,SURFACE_DEPTH_REACHED
$STATE,3127,begin surface coast
$FINISH,0.8,1.021370
$STATE,3173,end surface coast,CONTROL_FINISHED_OK
$STATE,3173,begin surface
$SM_CCo,3192,48.72,0.050,0,0,532,420.20
$SM_GC,1.72,7.47,2.20,48.72,0.028,0.028,0.050,170,1849,532,-8.09,-1.27,420.20,0,0,0,0,0,0,26.14,25.96,25.75
$IRIDIUM_FIX,4739.22,-12211.84,210218,000852
$TT8_MAMPS,0.026964,0.266644
$HUMID,48.03
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.6
$ALTIM_BOTTOM_PING,145.1,23.6
$24V_AH,23.99,95.344
$10V_AH,9.83,64.167
$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,18.225,52.275,437.325,48.725,0.000,0.000,0.000,210.350,4.000,0.000,15.551,843.496,970.426,515.538,1112.434,129.731,0.000,1213.215,0.000,690.436,0.000,32.904,0.000
$DEVICE_MAMPS,193.545,50.490,647.955,50.490,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,229.219,738.401,448.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312092
$DATA_FILE_SIZE,24589,343
$CAP_FILE_SIZE,56626,0
$CFSIZE,2097872896,2041315328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,250.56,1
$GPS,210218,020912,4737.717,-12255.020,24,0.8,33,16.4,0.0,0.0,10,5.0