version: 66.14
glider: 195
mission: 15
dive: 183
start: 2 6 118 5 2 55
data:
$ID,195
$MISSION,15
$DIVE,183
$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,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,060218,045742,4738.2158,-12253.6787,7,0.9,19,16.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-73.7
$GPS2,060218,050143,4738.2119,-12253.6943,11,0.9,17,16.4,0.0,0.0,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.092216,0.190125
$KALMAN_X,12081.313477,295.069824,-674.183960,-12345.944336,260.933228
$KALMAN_Y,3818.884766,644.145569,-150.545181,-5053.765137,-302.204651
$MHEAD_RNG_PITCHd_Wd,9.5,718,-22.1,-10.000,-25.33,1440
$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,-1.02,-95.1,165,1848,532,434,0.0,0.0,0,25,0.00,0.00,-14.32,0.000,16386,0.000,0.000,166,1848,860,918,802,0,0,0,0,0,0,26.65,28.83,26.66,8.30,46.88
$GC,27,-1.02,-95.1,166,1848,918,802,2.1,-1.5,2,101,8.77,2.17,-57.20,0.000,18692,0.196,0.049,2464,3254,2636,2704,2568,0,0,0,0,0,0,25.03,25.64,25.22,8.33,47.40
$GC,554,-0.89,-95.1,2464,3254,2704,2569,70.3,-13.6,65,564,0.17,2.08,0.00,0.000,3078,0.134,0.030,2518,1841,2636,2704,2569,0,0,0,0,0,0,25.72,26.23,25.79,8.50,47.51
$GC,684,-0.89,-95.1,2518,1841,2704,2569,85.9,-11.7,78,694,0.00,2.17,0.00,0.000,516,0.000,0.043,2518,454,2636,2704,2569,0,0,0,0,0,0,26.75,26.04,26.76,8.50,47.79
$GC,708,-0.89,-95.1,2518,454,2704,2569,88.6,-11.6,80,717,0.00,2.10,0.00,0.000,1030,0.000,0.032,2510,1853,2636,2704,2569,0,0,0,0,0,0,26.25,26.20,26.27,8.50,48.07
$GC,837,-0.89,-95.1,2509,1853,2704,2569,104.8,-12.6,93,847,0.00,2.17,0.00,0.000,516,0.000,0.042,2510,453,2636,2704,2569,0,0,0,0,0,0,26.76,26.03,26.76,8.51,48.03
$GC,904,-0.82,-95.1,2509,453,2704,2569,113.5,-13.4,99,912,0.15,2.15,0.00,0.000,3078,0.132,0.032,2546,1842,2636,2704,2569,0,0,0,0,0,0,25.75,26.21,25.82,8.51,47.71
$GC,1091,-0.82,-95.1,2546,1842,2704,2569,133.6,-10.1,118,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1842,2636,2704,2569,0,0,0,0,0,0,26.75,26.77,26.77,8.52,48.46
$GC,1272,-0.82,-95.1,2545,1842,2704,2569,151.1,-9.6,136,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1842,2636,2704,2569,0,0,0,0,0,0,26.76,26.77,26.77,8.52,48.30
$STATE,1350,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1350,begin apogee
$GC,1355,-0.21,0.0,2546,1842,2704,2569,158.6,-9.3,144,1434,0.55,0.00,76.20,0.690,10246,0.110,0.000,2737,1842,2247,2353,2141,0,0,0,0,0,0,25.62,24.98,24.04,8.52,48.50
$STATE,1435,end apogee,CONTROL_FINISHED_OK
$STATE,1435,begin climb
$GC,1437,1.02,95.1,2736,1842,2353,2141,161.4,0.0,152,1525,1.08,2.28,80.05,0.679,10756,0.064,0.042,3138,458,1858,1999,1717,0,0,0,0,0,0,25.54,24.91,23.93,8.48,47.48
$GC,1547,0.89,95.1,3137,456,1998,1716,151.7,12.9,163,1555,0.12,2.20,0.00,0.000,5126,0.144,0.031,3102,1842,1857,1998,1716,0,0,0,0,0,0,25.29,25.65,25.39,8.45,46.69
$GC,1736,0.82,95.1,3101,1842,1996,1712,124.0,14.5,182,1740,0.00,2.20,0.00,0.000,516,0.000,0.042,3109,448,1854,1996,1712,0,0,0,0,0,0,26.54,25.94,26.55,8.45,47.08
$GC,1760,0.74,95.1,3109,448,1995,1712,120.6,14.1,184,1770,0.17,2.10,0.00,0.000,5126,0.127,0.031,3055,1844,1853,1995,1712,0,0,0,0,0,0,25.65,26.10,25.74,8.45,47.28
$GC,1949,0.74,95.1,3054,1843,1995,1711,98.4,11.0,203,1953,0.00,2.20,0.00,0.000,516,0.000,0.043,3063,448,1853,1995,1711,0,0,0,0,0,0,26.67,26.03,26.68,8.45,48.07
$GC,1994,0.74,95.1,3062,448,1995,1710,93.4,11.6,207,2002,0.00,2.17,0.00,0.000,1030,0.000,0.031,3063,1848,1852,1995,1710,0,0,0,0,0,0,26.24,26.20,26.26,8.45,48.18
$GC,2121,0.74,95.1,3062,1848,1994,1710,78.2,11.6,220,2131,0.00,2.17,0.00,0.000,260,0.000,0.041,3063,3253,1852,1995,1710,0,0,0,0,0,0,26.72,26.10,26.72,8.45,47.87
$GC,2164,0.74,95.1,3062,3253,1995,1710,72.9,12.5,224,2168,0.00,2.10,0.00,0.000,1030,0.000,0.031,3072,1845,1852,1995,1710,0,0,0,0,0,0,26.29,26.20,26.32,8.45,47.40
$GC,2296,0.74,95.1,3072,1846,1994,1710,57.3,11.7,237,2306,0.00,2.20,0.00,0.000,516,0.000,0.044,3083,451,1851,1994,1709,0,0,0,0,0,0,26.74,26.06,26.74,8.45,47.91
$GC,2369,0.74,95.1,3082,451,1993,1709,48.0,13.2,244,2380,0.10,2.12,0.00,0.000,5126,0.149,0.031,3052,1844,1850,1993,1708,0,0,0,0,0,0,25.95,26.23,26.09,8.44,47.91
$GC,2500,0.74,95.1,3051,1844,1993,1708,34.3,9.8,257,2509,0.00,2.15,0.00,0.000,260,0.000,0.041,3052,3247,1850,1993,1708,0,0,0,0,0,0,26.75,26.11,26.76,8.44,47.67
$GC,2544,0.74,95.1,3051,3247,1993,1708,29.7,10.7,261,2552,0.00,2.12,0.00,0.000,1030,0.000,0.030,3058,1849,1850,1994,1707,0,0,0,0,0,0,26.25,26.22,26.29,8.44,47.55
$GC,2674,0.74,95.1,3057,1849,1993,1708,16.5,9.6,277,2681,0.00,2.22,0.00,0.000,516,0.000,0.044,3069,452,1850,1993,1708,0,0,0,0,0,0,26.75,26.05,26.76,8.43,47.44
$GC,2845,0.87,223.1,3068,452,1993,1707,7.3,0.9,310,2918,0.00,2.15,64.05,0.517,9222,0.000,0.031,3069,1855,1335,1451,1219,0,0,0,0,0,0,26.27,26.24,24.39,8.43,47.99
$GC,2983,1.14,329.3,3068,1855,1450,1217,3.9,2.5,333,3038,0.22,0.00,51.10,0.495,10498,0.044,0.000,3208,1855,915,1026,804,0,0,0,0,0,0,26.17,28.83,26.18,8.38,46.73
$STATE,3039,end climb,SURFACE_DEPTH_REACHED
$STATE,3039,begin surface coast
$FINISH,2.4,1.017564
$STATE,3181,end surface coast,CONTROL_FINISHED_OK
$STATE,3181,begin surface
$SM_CCo,3197,45.22,0.054,0,0,533,420.20
$SM_GC,2.60,8.23,0.00,45.22,0.055,0.000,0.054,195,1855,533,-8.05,0.34,420.20,0,0,0,0,0,0,26.12,26.53,25.86
$IRIDIUM_FIX,4738.72,-12249.11,060218,040330
$TT8_MAMPS,0.026964,0.264397
$HUMID,46.57
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,145.2,22.6
$24V_AH,23.93,67.569
$10V_AH,9.82,45.502
$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,19.575,43.250,271.400,45.225,0.000,0.000,0.000,166.650,3.000,0.000,18.546,893.588,1029.692,356.939,1138.704,98.899,33.418,988.755,0.000,723.751,0.000,21.539,0.000
$DEVICE_MAMPS,195.840,48.960,690.030,54.315,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.368,794.386,483.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312624
$DATA_FILE_SIZE,24515,369
$CAP_FILE_SIZE,56679,0
$CFSIZE,2097872896,2076737536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060218,055801,4738.413,-12253.454,3,1.0,21,16.4,0.0,0.0,9,4.3