version: 66.14
glider: 195
mission: 15
dive: 35
start: 2 2 118 5 28 2
data:
$ID,195
$MISSION,15
$DIVE,35
$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,250
$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,44
$R_STBD_OVSHOOT,37
$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
$GPS1,020218,052248,4738.1157,-12253.1211,2,0.9,16,16.3,0.5,67.9,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.0
$GPS2,020218,052650,4738.1416,-12253.0430,10,0.9,16,16.3,0.5,64.6,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.680,-12252.170
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.186498,0.260841
$KALMAN_X,2242.839844,554.889648,-191.790894,-2302.549561,92.083801
$KALMAN_Y,1151.676025,671.695740,10.757648,-2118.275635,-241.062073
$MHEAD_RNG_PITCHd_Wd,19.3,1477,-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,7,begin dive
$GC,9,-0.79,-244.4,181,1839,536,444,0.0,0.0,0,38,0.00,0.00,-26.38,0.000,16386,0.000,0.000,181,1839,1167,1236,1098,0,0,0,0,0,0,26.60,28.83,26.61,8.28,47.16
$GC,40,-0.79,-244.4,181,1839,1236,1099,2.1,-2.9,4,120,9.02,2.25,-60.42,0.000,18948,0.195,0.054,2587,447,3246,3319,3173,0,0,0,0,0,0,25.21,23.96,25.58,8.35,46.85
$GC,338,-0.74,-244.4,2586,447,3321,3173,38.0,-12.7,45,346,0.08,2.17,0.00,0.000,3078,0.131,0.034,2607,1847,3247,3320,3174,0,0,0,0,0,0,25.94,26.18,25.99,8.53,47.59
$GC,466,-0.74,-244.4,2606,1847,3320,3173,52.4,-10.3,58,476,0.00,2.20,0.00,0.000,260,0.000,0.044,2599,3256,3246,3320,3173,0,0,0,0,0,0,26.74,26.08,26.74,8.54,47.99
$GC,509,-0.74,-244.4,2598,3255,3320,3173,56.8,-10.5,62,519,0.00,2.12,0.00,0.000,1030,0.000,0.031,2599,1835,3246,3320,3173,0,0,0,0,0,0,26.29,26.20,26.33,8.54,47.91
$GC,639,-0.74,-244.4,2598,1835,3320,3173,71.0,-10.7,75,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1835,3246,3320,3173,0,0,0,0,0,0,26.75,26.77,26.76,8.53,47.75
$GC,759,-0.74,-244.4,2598,1835,3320,3173,83.8,-10.5,87,769,0.00,2.15,0.00,0.000,516,0.000,0.044,2599,453,3246,3320,3173,0,0,0,0,0,0,26.76,26.04,26.77,8.54,48.30
$GC,782,-0.74,-244.4,2598,453,3320,3173,86.4,-10.6,89,792,0.00,2.15,0.00,0.000,1030,0.000,0.034,2591,1850,3246,3320,3173,0,0,0,0,0,0,26.29,26.19,26.32,8.55,48.58
$GC,912,-0.74,-244.4,2590,1849,3320,3173,100.4,-10.6,102,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1850,3246,3320,3173,0,0,0,0,0,0,26.77,26.77,26.77,8.54,48.11
$GC,1092,-0.74,-244.4,2590,1850,3320,3173,119.8,-11.5,120,1102,0.00,2.17,0.00,0.000,260,0.000,0.044,2581,3247,3246,3320,3173,0,0,0,0,0,0,26.77,26.07,26.78,8.55,47.83
$GC,1145,-0.74,-244.4,2581,3247,3320,3173,125.6,-10.9,125,1155,0.10,2.10,0.00,0.000,3078,0.125,0.031,2615,1841,3246,3320,3173,0,0,0,0,0,0,26.02,26.20,26.12,8.55,48.26
$GC,1335,-0.74,-244.4,2615,1840,3320,3173,142.1,-9.1,144,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1840,3246,3320,3173,0,0,0,0,0,0,26.77,26.78,26.78,8.56,48.22
$STATE,1393,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1394,begin apogee
$GC,1398,-0.21,0.0,2615,1840,3320,3173,148.2,-10.4,150,1596,0.43,0.00,190.12,0.670,10246,0.086,0.000,2778,1839,2246,2380,2112,0,0,0,0,0,0,25.89,24.65,24.14,8.56,47.95
$STATE,1597,end apogee,CONTROL_FINISHED_OK
$STATE,1597,begin climb
$GC,1599,0.79,244.4,2778,1839,2380,2112,152.1,0.0,170,1806,0.85,0.00,198.45,0.652,10502,0.053,0.000,3100,1839,1250,1367,1133,0,0,0,0,0,0,25.41,24.58,24.10,8.48,46.88
$GC,1987,0.62,244.4,3099,1839,1366,1129,92.6,19.1,209,1997,0.15,2.17,0.00,0.000,4612,0.134,0.043,3058,455,1247,1366,1129,0,0,0,0,0,0,25.85,25.93,25.91,8.39,46.57
$GC,2052,0.53,244.4,3057,455,1364,1129,82.5,14.2,215,2060,0.10,2.15,0.00,0.000,5126,0.113,0.032,3023,1838,1246,1364,1129,0,0,0,0,0,0,25.88,26.11,25.94,8.40,46.88
$GC,2181,0.48,244.4,3023,1838,1364,1128,66.7,11.7,228,2190,0.00,2.20,0.00,0.000,516,0.000,0.044,3030,452,1246,1364,1128,0,0,0,0,0,0,26.63,26.04,26.63,8.39,46.73
$GC,2215,0.43,244.4,3030,451,1364,1128,62.8,11.7,231,2224,0.12,2.17,0.00,0.000,5126,0.104,0.032,2987,1847,1246,1364,1128,0,0,0,0,0,0,25.94,26.20,26.00,8.39,47.63
$GC,2343,0.43,244.4,2987,1847,1364,1128,50.8,8.8,244,2353,0.00,2.20,0.00,0.000,260,0.000,0.041,2987,3259,1246,1364,1128,0,0,0,0,0,0,26.68,26.12,26.70,8.39,47.04
$GC,2368,0.43,244.4,2987,3259,1364,1128,48.7,9.2,246,2377,0.00,2.12,0.00,0.000,1030,0.000,0.032,2987,1851,1246,1364,1128,0,0,0,0,0,0,26.24,26.20,26.27,8.39,47.48
$GC,2496,0.43,244.4,2987,1851,1364,1128,37.2,8.4,259,2506,0.00,2.22,0.00,0.000,516,0.000,0.046,2987,449,1246,1364,1128,0,0,0,0,0,0,26.72,26.07,26.72,8.39,47.28
$GC,2590,0.43,244.4,2986,449,1364,1128,29.0,8.6,268,2600,0.00,2.15,0.00,0.000,1030,0.000,0.031,2987,1854,1246,1364,1128,0,0,0,0,0,0,26.34,26.25,26.36,8.38,47.44
$GC,2721,0.43,244.4,2987,1853,1364,1128,17.9,8.3,283,2729,0.00,2.25,0.00,0.000,516,0.000,0.045,2987,454,1246,1364,1128,0,0,0,0,0,0,26.74,26.08,26.75,8.37,47.75
$GC,2757,0.52,337.7,2987,454,1364,1128,15.1,7.4,289,2817,0.00,2.15,48.85,0.535,9222,0.000,0.032,2987,1848,867,986,748,0,0,0,0,0,0,26.29,26.25,24.68,8.37,47.83
$GC,2881,0.84,522.8,2987,1848,986,745,7.4,4.8,310,2936,0.28,2.28,46.72,0.499,11012,0.049,0.043,3131,442,493,543,444,0,0,0,0,0,0,26.11,25.06,24.64,8.34,47.32
$STATE,2952,end climb,SURFACE_DEPTH_REACHED
$STATE,2952,begin surface coast
$FINISH,0.6,1.006250
$STATE,3000,end surface coast,CONTROL_FINISHED_OK
$STATE,3000,begin surface
$SM_CCo,3078,0.00,0.000,0,0,484,432.46
$SM_GC,2.03,7.65,2.22,0.00,0.029,0.031,0.000,190,1848,484,-8.19,-1.27,432.46,0,0,0,0,0,0,26.04,25.99,26.09
$IRIDIUM_FIX,4738.33,-12256.21,020218,042844
$TT8_MAMPS,0.026964,0.265895
$HUMID,47.12
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,80.7,82.1
$24V_AH,23.96,60.198
$10V_AH,9.85,40.253
$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,18.775,43.625,484.150,0.000,0.000,0.000,0.000,167.000,1.250,0.000,18.137,733.191,1006.301,487.001,1031.162,91.571,33.428,1144.644,0.000,670.961,0.000,11.806,0.000
$DEVICE_MAMPS,195.075,54.315,670.140,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.891,710.295,431.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24540,330
$CAP_FILE_SIZE,53367,0
$CFSIZE,2097872896,2091352064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1792.51,0x2367ba,1,24
$GPS,020218,062020,4738.612,-12252.448,2,1.0,21,16.3,0.6,67.9,9,4.8