version: 66.14
glider: 195
mission: 15
dive: 199
start: 2 6 118 21 23 26
data:
$ID,195
$MISSION,15
$DIVE,199
$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,32
$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
$GPS1,060218,211718,4738.4229,-12253.5391,48,0.9,57,16.4,0.3,70.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-70.8
$GPS2,060218,212215,4738.4429,-12253.4805,7,0.9,45,16.4,0.3,66.0,10,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.102133,-0.139889
$KALMAN_X,12128.037109,66.294647,24.093178,-12603.973633,482.065094
$KALMAN_Y,2606.014648,8.616066,38.347298,-2973.681641,163.494095
$MHEAD_RNG_PITCHd_Wd,199.7,337,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,175,1848,509,432,0.0,0.0,0,30,0.00,0.00,-19.80,0.000,16386,0.000,0.000,175,1848,991,1057,925,0,0,0,0,0,0,26.64,28.83,26.65,8.29,47.32
$GC,33,-1.20,-63.7,175,1848,1058,926,2.0,-2.3,3,106,8.65,2.22,-54.70,0.000,18692,0.198,0.053,2411,3253,2508,2591,2426,0,0,0,0,0,0,24.96,23.93,25.14,8.34,46.69
$GC,210,-1.00,-63.7,2411,3253,2590,2427,17.0,-8.0,34,219,0.22,2.15,0.00,0.000,3078,0.151,0.030,2479,1830,2509,2591,2427,0,0,0,0,0,0,25.45,26.17,25.56,8.47,46.41
$GC,283,-0.93,-86.8,2478,1829,2590,2427,22.5,-7.6,44,294,0.10,2.20,-1.35,0.000,18948,0.174,0.054,2512,459,2602,2675,2530,0,0,0,0,0,0,26.10,22.85,26.13,8.47,46.61
$GC,774,-0.93,-86.8,2511,459,2675,2530,79.9,-12.8,92,784,0.00,2.12,0.00,0.000,1030,0.000,0.032,2503,1853,2602,2675,2530,0,0,0,0,0,0,26.27,26.17,26.30,8.49,47.51
$GC,904,-0.93,-86.8,2502,1853,2675,2530,95.2,-11.5,105,914,0.00,2.17,0.00,0.000,260,0.000,0.041,2492,3249,2602,2675,2530,0,0,0,0,0,0,26.76,26.04,26.77,8.49,47.83
$GC,970,-0.93,-86.8,2492,3249,2675,2530,102.4,-11.7,111,978,0.00,2.12,0.00,0.000,1030,0.000,0.030,2492,1848,2602,2675,2530,0,0,0,0,0,0,26.23,26.20,26.26,8.49,48.18
$GC,1160,-0.93,-86.8,2492,1848,2675,2530,124.1,-11.6,130,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1848,2602,2675,2530,0,0,0,0,0,0,26.77,26.77,26.77,8.50,48.03
$GC,1350,-0.93,-86.8,2492,1847,2675,2530,145.9,-11.2,149,1353,0.00,2.20,0.00,0.000,516,0.000,0.041,2492,445,2602,2675,2530,0,0,0,0,0,0,26.77,25.99,26.77,8.51,48.18
$GC,1422,-0.93,-86.8,2492,445,2675,2530,154.5,-11.3,156,1431,0.00,2.15,0.00,0.000,1030,0.000,0.031,2481,1853,2602,2675,2529,0,0,0,0,0,0,26.27,26.17,26.29,8.51,47.91
$STATE,1490,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1490,begin apogee
$GC,1495,-0.21,0.0,2481,1853,2675,2530,162.5,-11.3,163,1572,0.77,0.00,69.62,0.687,10246,0.119,0.000,2735,1853,2246,2350,2142,0,0,0,0,0,0,25.36,24.56,24.00,8.51,47.87
$STATE,1573,end apogee,CONTROL_FINISHED_OK
$STATE,1573,begin climb
$GC,1575,1.22,86.8,2735,1853,2350,2143,164.4,0.0,171,1662,1.25,2.30,73.57,0.681,10756,0.063,0.040,3200,446,1892,2035,1750,0,0,0,0,0,0,25.57,24.45,23.88,8.48,47.36
$GC,1697,1.09,86.8,3199,446,2034,1749,152.2,16.6,183,1707,0.12,2.15,0.00,0.000,5126,0.149,0.031,3164,1836,1891,2034,1749,0,0,0,0,0,0,25.35,25.74,25.44,8.46,46.49
$GC,1888,1.02,86.8,3163,1836,2034,1746,117.6,17.8,202,1898,0.00,2.17,0.00,0.000,516,0.000,0.041,3172,451,1889,2033,1746,0,0,0,0,0,0,26.57,25.93,26.58,8.46,47.51
$GC,1952,0.92,86.8,3172,451,2031,1746,105.1,19.6,208,1962,0.20,2.12,0.00,0.000,5126,0.140,0.031,3112,1844,1888,2031,1746,0,0,0,0,0,0,25.53,26.12,25.64,8.45,47.48
$GC,2142,0.92,86.8,3111,1844,2031,1745,77.1,14.6,227,2146,0.00,2.17,0.00,0.000,260,0.000,0.041,3112,3255,1888,2031,1745,0,0,0,0,0,0,26.70,26.06,26.71,8.45,47.75
$GC,2216,0.92,86.8,3112,3256,2031,1744,66.4,14.3,234,2224,0.00,2.15,0.00,0.000,1030,0.000,0.031,3120,1846,1887,2031,1744,0,0,0,0,0,0,26.22,26.18,26.25,8.45,47.44
$GC,2345,0.92,86.8,3120,1846,2031,1744,48.3,13.3,247,2354,0.00,2.17,0.00,0.000,516,0.000,0.043,3131,455,1887,2030,1744,0,0,0,0,0,0,26.74,26.02,26.74,8.45,47.75
$GC,2410,0.92,86.8,3130,455,2030,1743,39.8,13.7,253,2418,0.00,2.15,0.00,0.000,1030,0.000,0.031,3131,1842,1886,2030,1743,0,0,0,0,0,0,26.24,26.20,26.27,8.45,47.67
$GC,2538,0.92,86.8,3130,1842,2030,1743,22.6,12.0,266,2548,0.00,2.20,0.00,0.000,260,0.000,0.040,3131,3259,1886,2030,1743,0,0,0,0,0,0,26.75,26.08,26.76,8.44,47.20
$GC,2563,0.92,86.8,3130,3259,2030,1743,19.8,12.3,268,2572,0.10,2.17,0.00,0.000,5126,0.144,0.030,3111,1834,1886,2030,1743,0,0,0,0,0,0,25.82,26.20,25.87,8.44,47.32
$GC,2635,0.92,86.8,3110,1834,2030,1743,12.3,10.0,281,2642,0.00,2.20,0.00,0.000,516,0.000,0.043,3119,454,1886,2030,1742,0,0,0,0,0,0,26.75,26.01,26.76,8.43,47.51
$GC,2695,0.92,86.8,3118,454,2030,1742,6.4,8.9,292,2703,0.00,2.17,0.00,0.000,1030,0.000,0.034,3119,1854,1886,2030,1742,0,0,0,0,0,0,26.22,26.17,26.25,8.43,47.08
$GC,2767,1.18,221.5,3119,1854,2030,1742,5.3,-4.2,305,2840,0.12,2.25,67.45,0.513,11012,0.064,0.038,3229,3261,1341,1452,1231,0,0,0,0,0,0,26.51,25.21,24.37,8.43,47.32
$GC,2860,1.16,263.8,3228,3261,1451,1231,4.5,5.5,319,2889,0.12,2.20,20.98,0.467,13318,0.134,0.031,3187,1841,1169,1273,1065,0,0,0,0,0,0,25.45,25.89,24.37,8.38,46.10
$STATE,2895,end climb,SURFACE_DEPTH_REACHED
$STATE,2895,begin surface coast
$FINISH,2.1,1.018255
$STATE,2962,end surface coast,CONTROL_FINISHED_OK
$STATE,2962,begin surface
$SM_CCo,2978,74.30,0.054,0,0,530,420.20
$SM_GC,2.17,8.15,0.00,74.30,0.051,0.000,0.054,190,1842,530,-8.06,-0.06,420.20,0,0,0,0,0,0,26.04,26.45,25.81
$IRIDIUM_FIX,4736.40,-12251.79,060218,201004
$TT8_MAMPS,0.026964,0.265895
$HUMID,46.02
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,140.3,31.2
$24V_AH,22.85,68.381
$10V_AH,9.79,46.359
$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,19.825,47.950,231.625,74.300,0.000,0.000,0.000,187.225,2.750,0.000,46.289,829.016,931.629,380.302,1134.114,102.848,33.437,1021.529,0.000,700.160,0.000,19.956,0.000
$DEVICE_MAMPS,198.135,53.550,686.970,53.550,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.023,725.457,441.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312592
$DATA_FILE_SIZE,24514,337
$CAP_FILE_SIZE,57831,0
$CFSIZE,2097872896,2075164672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,221518,4738.291,-12253.495,4,0.9,17,16.4,0.3,59.5,9,4.8