version: 66.14
glider: 195
mission: 15
dive: 552
start: 2 21 118 9 44 33
data:
$ID,195
$MISSION,15
$DIVE,552
$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,48
$R_STBD_OVSHOOT,42
$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
$GPS1,210218,093915,4737.7930,-12255.2490,4,0.9,13,16.4,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.5
$GPS2,210218,094352,4737.7734,-12255.2861,6,0.8,14,16.4,0.0,0.0,10,4.9
$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,210.4,1185,-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,-244.4,173,1846,553,485,0.0,0.0,0,59,0.00,0.00,-47.47,0.000,16386,0.000,0.000,173,1846,1669,1722,1616,0,0,0,0,0,0,26.51,28.83,26.53,8.29,48.03
$GC,63,-0.79,-244.4,173,1846,1723,1616,2.2,-1.8,7,132,9.07,2.25,-50.97,0.000,18692,0.193,0.051,2540,3253,3245,3312,3178,0,0,0,0,0,0,24.91,23.72,25.29,8.40,48.42
$GC,282,-0.72,-244.4,2539,3253,3313,3180,34.6,-15.7,38,288,0.12,2.12,0.00,0.000,3078,0.125,0.027,2580,1840,3246,3313,3180,0,0,0,0,0,0,25.69,25.98,25.79,8.54,48.38
$GC,416,-0.72,-244.4,2579,1840,3313,3180,53.2,-13.4,51,420,0.00,2.20,0.00,0.000,516,0.000,0.040,2580,446,3246,3313,3179,0,0,0,0,0,0,26.62,25.75,26.63,8.54,49.25
$GC,440,-0.72,-244.4,2579,445,3313,3180,56.5,-13.9,53,449,0.00,2.12,0.00,0.000,1030,0.000,0.030,2573,1836,3246,3313,3179,0,0,0,0,0,0,26.01,25.96,26.03,8.54,49.09
$GC,568,-0.72,-244.4,2573,1836,3313,3179,74.0,-13.2,66,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1836,3246,3313,3179,0,0,0,0,0,0,26.63,26.63,26.63,8.55,49.56
$GC,689,-0.72,-244.4,2573,1836,3313,3179,90.0,-13.2,78,693,0.00,2.22,0.00,0.000,260,0.000,0.039,2563,3252,3246,3313,3179,0,0,0,0,0,0,26.63,25.77,26.64,8.55,49.60
$GC,722,-0.72,-244.4,2563,3252,3312,3180,94.2,-12.4,81,732,0.00,2.10,0.00,0.000,1030,0.000,0.027,2563,1845,3246,3313,3179,0,0,0,0,0,0,26.06,25.98,26.09,8.56,49.84
$GC,852,-0.72,-244.4,2563,1845,3313,3180,112.0,-13.8,94,857,0.00,2.20,0.00,0.000,516,0.000,0.040,2563,452,3246,3313,3179,0,0,0,0,0,0,26.63,25.72,26.63,8.56,49.72
$GC,896,-0.66,-244.4,2563,451,3313,3180,118.1,-13.7,98,901,0.12,2.15,0.00,0.000,3078,0.128,0.030,2595,1851,3245,3312,3179,0,0,0,0,0,0,25.65,25.94,25.75,8.56,49.72
$GC,1090,-0.66,-244.4,2595,1851,3313,3179,138.6,-10.5,117,1094,0.00,2.20,0.00,0.000,260,0.000,0.040,2588,3249,3245,3312,3179,0,0,0,0,0,0,26.63,25.75,26.64,8.57,50.11
$GC,1163,-0.66,-244.4,2587,3249,3312,3180,145.4,-10.0,123,1171,0.00,2.15,0.00,0.000,1030,0.000,0.028,2588,1842,3246,3312,3180,0,0,0,0,0,0,26.00,25.96,26.03,8.57,50.66
$GC,1354,-0.75,-244.4,2587,1842,3312,3180,165.0,-8.6,142,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1842,3245,3312,3179,0,0,0,0,0,0,26.63,26.64,26.63,8.58,49.56
$STATE,1499,end dive,NO_VERTICAL_VELOCITY
$STATE,1499,begin apogee
$GC,1504,-0.21,0.0,2587,1842,3313,3180,165.0,0.0,157,1711,0.38,0.00,196.65,0.644,10246,0.050,0.000,2748,1842,2245,2374,2116,0,0,0,0,0,0,26.05,24.84,24.00,8.57,49.76
$STATE,1713,end apogee,CONTROL_FINISHED_OK
$STATE,1713,begin climb
$GC,1715,0.79,244.4,2747,1842,2374,2116,165.0,0.0,178,1934,0.85,2.28,206.23,0.628,11012,0.067,0.041,3063,453,1248,1353,1144,0,0,0,0,0,0,25.23,24.51,24.01,8.50,47.83
$GC,1950,0.70,244.4,3062,452,1352,1142,146.0,12.6,201,1957,0.00,2.20,0.00,0.000,1030,0.000,0.029,3063,1841,1246,1352,1141,0,0,0,0,0,0,25.58,25.55,25.61,8.41,47.00
$GC,2139,0.61,244.4,3062,1841,1352,1139,118.7,14.4,220,2147,0.17,0.00,0.00,0.000,4102,0.114,0.000,3005,1842,1245,1352,1139,0,0,0,0,0,0,25.82,25.94,25.89,8.41,48.50
$GC,2328,0.61,244.4,3005,1841,1352,1138,99.8,9.3,239,2333,0.00,2.25,0.00,0.000,516,0.000,0.041,3013,448,1244,1351,1138,0,0,0,0,0,0,26.57,25.76,26.58,8.41,48.77
$GC,2382,0.61,244.4,3013,448,1350,1138,94.7,9.8,244,2392,0.00,2.15,0.00,0.000,1030,0.000,0.028,3013,1851,1243,1350,1137,0,0,0,0,0,0,26.09,26.01,26.12,8.41,49.17
$GC,2513,0.61,244.4,3013,1851,1350,1137,82.4,9.3,257,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1851,1243,1350,1137,0,0,0,0,0,0,26.60,26.61,26.61,8.41,49.09
$GC,2632,0.61,244.4,3013,1851,1350,1137,71.2,9.0,269,2637,0.00,2.22,0.00,0.000,516,0.000,0.041,3021,451,1243,1350,1137,0,0,0,0,0,0,26.61,25.77,26.63,8.40,49.25
$GC,2667,0.61,244.4,3020,451,1350,1138,68.1,9.4,272,2676,0.00,2.08,0.00,0.000,1030,0.000,0.028,3021,1836,1244,1350,1138,0,0,0,0,0,0,26.05,26.02,26.08,8.40,49.44
$GC,2795,0.61,244.4,3021,1836,1350,1137,55.5,9.4,285,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1836,1243,1350,1137,0,0,0,0,0,0,26.62,26.63,26.63,8.40,49.56
$GC,2916,0.61,244.4,3021,1836,1350,1137,44.4,9.0,297,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1836,1243,1350,1137,0,0,0,0,0,0,26.63,26.63,26.63,8.40,49.72
$GC,3035,0.61,244.4,3020,1836,1350,1137,33.5,8.7,309,3040,0.00,2.20,0.00,0.000,516,0.000,0.041,3028,452,1243,1350,1137,0,0,0,0,0,0,26.63,25.75,26.63,8.40,49.33
$GC,3092,0.61,244.4,3027,453,1350,1137,29.0,8.8,314,3099,0.00,2.15,0.00,0.000,1030,0.000,0.028,3028,1842,1243,1350,1137,0,0,0,0,0,0,26.05,26.01,26.08,8.39,49.44
$GC,3220,0.71,343.6,3028,1842,1350,1137,18.7,7.2,328,3283,0.00,2.28,53.58,0.521,8708,0.000,0.041,3030,449,844,916,773,0,0,0,0,0,0,26.63,25.23,24.43,8.39,49.13
$GC,3328,0.84,421.6,3029,449,916,770,12.0,7.8,345,3379,0.08,2.17,41.70,0.479,11270,0.051,0.027,3123,1850,524,565,484,0,0,0,0,0,0,25.79,25.86,24.34,8.35,48.38
$STATE,3401,end climb,SURFACE_DEPTH_REACHED
$STATE,3401,begin surface coast
$FINISH,0.7,1.010102
$STATE,3425,end surface coast,CONTROL_FINISHED_OK
$STATE,3425,begin surface
$SM_CCo,3502,0.00,0.000,0,0,515,424.86
$SM_GC,1.82,7.62,0.00,0.00,0.024,0.000,0.000,181,1850,515,-8.08,0.20,424.86,0,0,0,0,0,0,25.96,26.32,26.00
$IRIDIUM_FIX,4739.67,-12257.95,210218,083934
$TT8_MAMPS,0.026964,0.244174
$HUMID,48.26
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.5
$24V_AH,23.72,96.075
$10V_AH,9.84,64.614
$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,18.425,43.700,498.150,0.000,0.000,0.000,0.000,186.925,5.000,0.000,16.003,875.813,1197.534,503.103,1103.251,126.273,0.000,1179.755,0.000,690.627,0.000,40.482,0.000
$DEVICE_MAMPS,192.780,51.255,644.130,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,240.259,774.965,470.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312104
$DATA_FILE_SIZE,24556,360
$CAP_FILE_SIZE,57069,0
$CFSIZE,2097872896,2040430592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.022,241.81,1
$GPS,210218,104358,4737.446,-12255.918,18,0.9,23,16.4,0.2,216.9,9,4.7