version: 66.14
glider: 195
mission: 15
dive: 206
start: 2 7 118 4 17 43
data:
$ID,195
$MISSION,15
$DIVE,206
$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,51
$R_STBD_OVSHOOT,46
$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
$GPS1,070218,041134,4738.6509,-12253.2686,21,0.8,28,16.4,0.2,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-68.9
$GPS2,070218,041632,4738.6641,-12253.2148,5,1.0,31,16.4,0.3,49.6,8,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.024074,-0.171524
$KALMAN_X,13316.382812,612.970459,-240.335495,-13750.472656,37.878464
$KALMAN_Y,2148.998291,408.415680,-160.073730,-2312.521240,-249.640381
$MHEAD_RNG_PITCHd_Wd,171.6,447,-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,9,-1.20,-63.7,182,1852,510,431,0.0,0.0,0,37,0.00,0.00,-26.42,0.000,16386,0.000,0.000,182,1853,1160,1241,1080,0,0,0,0,0,0,26.63,28.83,26.64,8.28,47.04
$GC,40,-1.20,-63.7,182,1852,1241,1082,2.3,-2.8,4,107,8.55,2.17,-49.25,0.000,18692,0.195,0.054,2410,3243,2507,2589,2425,0,0,0,0,0,0,24.96,25.62,25.15,8.35,47.36
$GC,206,-1.00,-63.7,2410,3243,2589,2426,17.7,-10.0,33,214,0.22,2.12,0.00,0.000,3078,0.150,0.030,2488,1835,2507,2589,2425,0,0,0,0,0,0,25.41,26.17,25.64,8.47,47.00
$GC,278,-0.95,-91.3,2487,1835,2589,2426,23.1,-7.1,42,288,0.00,2.15,-1.65,0.000,16900,0.000,0.054,2488,457,2621,2692,2551,0,0,0,0,0,0,26.71,25.55,26.63,8.47,46.61
$GC,304,-0.86,-91.3,2487,457,2692,2551,25.3,-8.3,44,313,0.17,2.12,0.00,0.000,3078,0.142,0.031,2532,1832,2622,2692,2552,0,0,0,0,0,0,25.60,26.17,25.68,8.48,46.81
$GC,433,-0.86,-91.3,2531,1832,2693,2552,38.7,-10.4,57,442,0.00,2.17,0.00,0.000,516,0.000,0.042,2532,456,2622,2693,2551,0,0,0,0,0,0,26.74,26.00,26.74,8.48,46.85
$GC,526,-0.86,-91.3,2531,455,2693,2552,50.1,-12.2,66,530,0.00,2.15,0.00,0.000,1030,0.000,0.032,2524,1844,2622,2693,2552,0,0,0,0,0,0,26.28,26.17,26.31,8.48,47.59
$GC,658,-0.91,-91.3,2523,1844,2693,2552,66.3,-12.0,79,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1844,2622,2693,2552,0,0,0,0,0,0,26.75,26.76,26.76,8.49,47.20
$GC,779,-0.98,-91.3,2523,1844,2693,2552,80.1,-11.4,91,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1843,2622,2693,2552,0,0,0,0,0,0,26.75,26.77,26.77,8.49,47.75
$GC,898,-1.05,-91.3,2523,1844,2693,2552,93.6,-11.5,103,908,0.10,2.15,0.00,0.000,4356,0.083,0.039,2423,3247,2622,2693,2552,0,0,0,0,0,0,26.51,26.05,26.52,8.50,47.95
$GC,931,-1.05,-91.3,2422,3247,2693,2552,98.2,-12.9,106,942,0.15,2.08,0.00,0.000,3078,0.151,0.029,2468,1847,2622,2693,2552,0,0,0,0,0,0,25.72,26.20,25.87,8.50,47.99
$GC,1061,-1.05,-91.3,2467,1847,2693,2552,116.7,-14.1,119,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1847,2622,2693,2552,0,0,0,0,0,0,26.74,26.76,26.76,8.50,48.22
$GC,1242,-1.05,-91.3,2467,1848,2693,2552,140.6,-13.1,137,1251,0.00,2.17,0.00,0.000,260,0.000,0.041,2459,3254,2622,2693,2552,0,0,0,0,0,0,26.77,26.04,26.77,8.51,48.07
$GC,1317,-1.05,-91.3,2458,3254,2693,2552,150.8,-14.0,144,1325,0.00,2.12,0.00,0.000,1030,0.000,0.030,2459,1851,2622,2693,2552,0,0,0,0,0,0,26.22,26.16,26.25,8.51,48.81
$STATE,1334,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1334,begin apogee
$GC,1338,-0.21,0.0,2458,1852,2693,2552,153.6,-13.7,146,1416,0.88,0.00,73.45,0.677,10246,0.123,0.000,2740,1852,2247,2352,2142,0,0,0,0,0,0,25.31,24.97,24.02,8.51,48.18
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1419,1.23,91.3,2740,1852,2352,2142,157.2,0.0,154,1506,1.23,0.00,77.62,0.672,10502,0.062,0.000,3187,1851,1874,2017,1732,0,0,0,0,0,0,25.54,24.45,23.90,8.48,47.71
$GC,1686,1.13,91.3,3187,1852,2013,1729,116.5,19.8,181,1695,0.00,2.15,0.00,0.000,260,0.000,0.039,3187,3247,1871,2013,1729,0,0,0,0,0,0,26.51,25.94,26.52,8.45,47.48
$GC,1709,1.03,91.3,3187,3248,2012,1729,111.8,20.6,183,1719,0.17,2.10,0.00,0.000,5126,0.146,0.030,3145,1850,1870,2011,1729,0,0,0,0,0,0,25.53,26.06,25.62,8.45,47.91
$GC,1900,1.03,91.3,3145,1850,2011,1726,79.2,16.4,202,1909,0.00,2.20,0.00,0.000,516,0.000,0.042,3154,450,1868,2011,1726,0,0,0,0,0,0,26.67,26.00,26.68,8.45,47.51
$GC,1952,1.03,91.3,3154,450,2011,1725,70.0,16.9,207,1962,0.00,2.10,0.00,0.000,1030,0.000,0.031,3155,1839,1868,2011,1725,0,0,0,0,0,0,26.26,26.18,26.29,8.45,47.83
$GC,2082,1.03,91.3,3154,1839,2011,1725,49.2,15.5,220,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1839,1868,2011,1725,0,0,0,0,0,0,26.72,26.73,26.72,8.44,47.99
$GC,2203,1.03,91.3,3154,1840,2011,1725,31.4,13.9,232,2212,0.00,2.17,0.00,0.000,516,0.000,0.041,3165,452,1868,2011,1725,0,0,0,0,0,0,26.73,26.03,26.74,8.44,48.26
$GC,2276,0.97,91.3,3164,452,2011,1724,20.3,15.2,239,2288,0.12,2.08,0.00,0.000,5126,0.139,0.031,3128,1838,1867,2011,1724,0,0,0,0,0,0,25.77,26.22,25.83,8.44,47.79
$GC,2412,1.03,144.6,3127,1837,2011,1723,7.1,4.4,264,2446,0.00,2.20,26.38,0.497,8452,0.000,0.038,3128,3254,1656,1791,1521,0,0,0,0,0,0,26.75,24.93,24.47,8.43,47.79
$STATE,2688,end climb,NO_VERTICAL_VELOCITY
$STATE,2688,begin surface
$SM_CCo,2691,144.27,0.491,0,0,499,428.54
$SM_GC,1.71,7.70,2.22,0.00,0.029,0.031,0.000,184,1843,485,-8.06,1.55,432.22,0,0,0,0,0,0,25.90,25.78,25.94
$IRIDIUM_FIX,4738.33,-12256.21,070218,031039
$TT8_MAMPS,0.026215,0.264397
$HUMID,46.49
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.7
$ALTIM_BOTTOM_PING,120.8,40.1
$24V_AH,23.90,68.713
$10V_AH,9.77,46.720
$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,19.300,38.650,177.450,144.275,0.000,0.000,0.000,203.000,2.250,0.000,33.003,788.752,960.522,409.576,1018.000,93.381,33.437,993.421,0.000,582.158,0.000,20.436,0.000
$DEVICE_MAMPS,195.075,54.315,677.025,491.130,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.833,682.460,415.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312584
$DATA_FILE_SIZE,21096,317
$CAP_FILE_SIZE,53277,0
$CFSIZE,2097872896,2074476544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070218,050742,4738.365,-12253.189,4,1.0,14,16.4,0.2,21.0,8,4.6