version: 66.14
glider: 195
mission: 15
dive: 26
start: 2 1 118 20 39 5
data:
$ID,195
$MISSION,15
$DIVE,26
$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,75
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59282
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2850
$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,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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$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
$GPS1,010218,203333,4738.5371,-12252.9170,14,0.8,40,16.4,0.3,73.2,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.7
$GPS2,010218,203757,4738.5542,-12252.8613,9,0.9,15,16.3,0.0,38.7,9,4.8
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.205547,-0.155390
$KALMAN_X,887.723816,-184.403931,553.976562,-729.232788,384.089966
$KALMAN_Y,434.399109,-184.696625,323.422943,-96.202255,326.704285
$MHEAD_RNG_PITCHd_Wd,216.6,4144,-17.6,-10.000,-21.21,2209
$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,8,-0.88,-146.6,183,1851,554,477,0.0,0.0,0,44,0.00,0.00,-33.33,0.000,16386,0.000,0.000,184,1851,1371,1416,1326,0,0,0,0,0,0,26.60,28.83,26.60,8.28,47.16
$GC,47,-0.88,-146.6,184,1851,1416,1327,2.3,-3.0,5,108,9.00,2.22,-45.83,0.000,19204,0.197,0.054,2547,3243,2846,2931,2761,0,0,0,0,0,0,25.18,23.91,25.68,8.36,46.85
$GC,167,-0.79,-146.6,2546,3243,2932,2762,14.5,-13.1,25,175,0.15,2.15,0.00,0.000,3078,0.122,0.031,2594,1834,2847,2932,2762,0,0,0,0,0,0,25.74,26.14,25.94,8.49,46.69
$GC,238,-0.79,-146.6,2594,1834,2932,2762,21.3,-9.4,37,248,0.00,2.17,0.00,0.000,516,0.000,0.044,2594,455,2847,2932,2762,0,0,0,0,0,0,26.69,25.98,26.70,8.49,46.96
$GC,311,-0.79,-146.6,2594,455,2932,2762,30.0,-12.2,44,322,0.00,2.12,0.00,0.000,1030,0.000,0.034,2586,1838,2847,2933,2762,0,0,0,0,0,0,26.24,26.14,26.27,8.49,47.40
$GC,441,-0.79,-146.6,2586,1838,2932,2762,44.4,-11.1,57,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1838,2847,2933,2762,0,0,0,0,0,0,26.73,26.74,26.74,8.49,47.24
$GC,562,-0.79,-146.6,2586,1838,2933,2762,57.4,-11.0,69,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1838,2847,2933,2762,0,0,0,0,0,0,26.75,26.76,26.76,8.50,48.03
$GC,681,-0.79,-146.6,2586,1838,2932,2762,70.2,-10.9,81,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1838,2847,2933,2762,0,0,0,0,0,0,26.76,26.77,26.77,8.50,47.79
$GC,802,-0.79,-146.6,2586,1838,2933,2762,82.1,-9.2,93,812,0.00,2.17,0.00,0.000,260,0.000,0.043,2576,3238,2847,2933,2762,0,0,0,0,0,0,26.77,26.04,26.77,8.51,48.18
$GC,855,-0.79,-146.6,2576,3238,2933,2762,87.4,-9.9,98,864,0.00,2.10,0.00,0.000,1030,0.000,0.031,2576,1847,2847,2933,2762,0,0,0,0,0,0,26.27,26.18,26.30,8.51,48.42
$GC,985,-0.79,-146.6,2576,1847,2933,2762,100.9,-11.1,111,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1847,2847,2933,2762,0,0,0,0,0,0,26.77,26.78,26.78,8.51,48.30
$GC,1165,-0.79,-146.6,2576,1847,2932,2762,120.2,-10.9,129,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1847,2847,2933,2762,0,0,0,0,0,0,26.77,26.79,26.78,8.51,48.38
$STATE,1333,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1334,begin apogee
$GC,1338,-0.21,0.0,2576,1847,2932,2762,138.1,-10.2,146,1457,0.57,0.00,115.47,0.684,10246,0.098,0.000,2778,1847,2247,2375,2119,0,0,0,0,0,0,25.63,25.04,24.16,8.52,48.38
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1460,0.88,146.6,2778,1847,2374,2118,141.0,0.0,158,1586,0.90,0.00,119.78,0.669,10758,0.056,0.000,3118,1847,1648,1775,1521,0,0,0,0,0,0,25.46,24.87,24.06,8.48,47.08
$GC,1766,0.72,146.6,3117,1847,1771,1516,96.4,18.4,189,1776,0.10,2.20,0.00,0.000,4612,0.159,0.042,3094,454,1643,1770,1516,0,0,0,0,0,0,25.91,25.89,25.95,8.42,47.48
$GC,1840,0.60,146.6,3094,454,1769,1514,83.9,15.8,196,1850,0.15,2.12,0.00,0.000,5126,0.120,0.032,3045,1845,1641,1769,1514,0,0,0,0,0,0,25.72,26.08,25.79,8.42,47.44
$GC,1970,0.60,146.6,3045,1845,1769,1513,67.6,12.0,209,1980,0.00,2.22,0.00,0.000,516,0.000,0.044,3053,451,1641,1769,1513,0,0,0,0,0,0,26.63,26.01,26.64,8.42,47.75
$GC,2003,0.60,146.6,3053,451,1769,1513,63.5,12.3,212,2012,0.00,2.15,0.00,0.000,1030,0.000,0.032,3053,1847,1640,1768,1512,0,0,0,0,0,0,26.25,26.16,26.29,8.42,47.63
$GC,2133,0.60,146.6,3053,1847,1768,1512,47.6,11.9,225,2142,0.00,2.17,0.00,0.000,260,0.000,0.042,3053,3251,1640,1768,1512,0,0,0,0,0,0,26.69,26.08,26.70,8.41,47.48
$GC,2176,0.60,146.6,3053,3252,1768,1512,42.2,12.9,229,2185,0.00,2.12,0.00,0.000,1030,0.000,0.031,3062,1842,1640,1768,1512,0,0,0,0,0,0,26.27,26.18,26.32,8.41,47.36
$GC,2306,0.60,146.6,3061,1842,1768,1512,26.3,11.9,242,2315,0.00,2.17,0.00,0.000,516,0.000,0.045,3071,458,1640,1768,1512,0,0,0,0,0,0,26.73,26.03,26.74,8.41,47.63
$GC,2370,0.55,146.6,3070,458,1768,1512,18.7,11.8,249,2379,0.12,2.15,0.00,0.000,5126,0.118,0.033,3029,1842,1639,1767,1512,0,0,0,0,0,0,25.87,26.21,25.94,8.40,48.03
$GC,2441,0.55,146.6,3029,1842,1767,1511,11.3,8.8,262,2448,0.00,2.22,0.00,0.000,260,0.000,0.042,3029,3252,1639,1767,1511,0,0,0,0,0,0,26.74,26.09,26.75,8.40,47.71
$GC,2954,0.84,384.6,3028,3253,1767,1511,4.8,-1.0,363,3034,0.17,2.15,74.00,0.521,11266,0.037,0.032,3158,1844,1040,1162,919,0,0,0,0,0,0,26.22,26.19,26.29,8.39,47.59
$STATE,3035,end climb,SURFACE_DEPTH_REACHED
$STATE,3035,begin surface coast
$FINISH,0.6,1.009709
$STATE,3123,end surface coast,CONTROL_FINISHED_OK
$STATE,3123,begin surface
$SM_CCo,3139,58.88,0.057,0,0,532,420.20
$SM_GC,2.07,7.75,0.00,58.88,0.030,0.000,0.057,179,1844,532,-8.20,0.03,420.20,0,0,0,0,0,0,26.06,26.44,25.82
$IRIDIUM_FIX,4736.40,-12251.79,010218,193904
$TT8_MAMPS,0.026964,0.23968
$HUMID,46.57
$INTERNAL_PRESSURE,8.23402
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$ALTIM_BOTTOM_PING,75.4,76.9
$24V_AH,23.91,59.491
$10V_AH,9.91,39.784
$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,18.925,34.650,309.250,58.875,0.000,0.000,0.000,189.000,0.750,0.000,17.149,914.941,931.501,399.271,1153.344,90.147,33.445,1049.335,0.000,708.298,0.000,7.266,0.000
$DEVICE_MAMPS,196.605,53.550,683.910,57.375,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.537,843.856,513.766,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,28045,392
$CAP_FILE_SIZE,54173,0
$CFSIZE,2097872896,2092236800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010218,213322,4738.293,-12253.292,5,0.9,17,16.4,0.0,90.6,9,4.7