version: 66.14
glider: 195
mission: 15
dive: 258
start: 2 9 118 8 23 10
data:
$ID,195
$MISSION,15
$DIVE,258
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,45
$R_STBD_OVSHOOT,40
$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
$GPS1,090218,081713,4737.8931,-12254.2471,29,0.9,40,16.4,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.2
$GPS2,090218,082231,4737.8799,-12254.2607,10,0.9,34,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.289812,-0.137217
$KALMAN_X,24982.394531,32.228821,-582.533447,-24351.066406,911.770996
$KALMAN_Y,5615.479492,-3.337315,-424.696045,-5543.971191,423.217987
$MHEAD_RNG_PITCHd_Wd,40.1,1650,-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,6,begin dive
$GC,9,-0.79,-244.4,190,1835,565,484,0.0,0.0,0,39,0.00,0.00,-28.05,0.000,16386,0.000,0.000,189,1835,1238,1310,1167,0,0,0,0,0,0,26.61,28.83,26.62,8.30,47.20
$GC,41,-0.79,-244.4,189,1835,1310,1168,2.3,-2.9,4,118,8.98,2.20,-59.17,0.000,19204,0.197,0.051,2548,440,3246,3315,3177,0,0,0,0,0,0,25.02,25.56,25.43,8.37,47.32
$GC,196,-0.65,-244.4,2547,439,3316,3177,24.4,-17.7,27,204,0.17,2.17,0.00,0.000,3078,0.118,0.033,2598,1837,3246,3316,3177,0,0,0,0,0,0,25.76,26.16,25.97,8.55,46.73
$GC,324,-0.65,-244.4,2597,1838,3317,3177,41.0,-11.5,40,333,0.00,2.20,0.00,0.000,260,0.000,0.042,2589,3254,3247,3317,3177,0,0,0,0,0,0,26.72,26.07,26.72,8.55,47.40
$GC,369,-0.65,-244.4,2589,3254,3317,3177,46.0,-11.5,44,377,0.00,2.15,0.00,0.000,1030,0.000,0.029,2589,1837,3247,3317,3177,0,0,0,0,0,0,26.26,26.22,26.28,8.55,47.44
$GC,497,-0.65,-244.4,2589,1836,3316,3177,61.1,-11.6,57,502,0.00,2.17,0.00,0.000,516,0.000,0.042,2589,453,3247,3317,3177,0,0,0,0,0,0,26.74,26.06,26.74,8.55,48.14
$GC,532,-0.65,-244.4,2589,453,3316,3177,64.8,-11.5,60,541,0.00,2.17,0.00,0.000,1030,0.000,0.033,2581,1857,3247,3317,3177,0,0,0,0,0,0,26.24,26.20,26.27,8.55,47.51
$GC,660,-0.65,-244.4,2581,1858,3316,3177,80.2,-11.8,73,665,0.00,2.17,0.00,0.000,260,0.000,0.042,2571,3251,3247,3317,3177,0,0,0,0,0,0,26.74,26.09,26.75,8.55,47.83
$GC,735,-0.65,-244.4,2571,3251,3316,3177,88.5,-11.3,80,743,0.00,2.12,0.00,0.000,1030,0.000,0.029,2571,1847,3247,3317,3177,0,0,0,0,0,0,26.27,26.24,26.29,8.56,48.03
$GC,863,-0.65,-244.4,2571,1847,3317,3177,104.4,-12.0,93,868,0.00,2.20,0.00,0.000,516,0.000,0.041,2571,449,3246,3316,3177,0,0,0,0,0,0,26.74,26.06,26.76,8.56,47.83
$GC,896,-0.65,-244.4,2571,450,3316,3177,108.9,-13.3,96,907,0.12,2.12,0.00,0.000,3078,0.126,0.032,2605,1851,3246,3316,3177,0,0,0,0,0,0,25.96,26.20,26.07,8.56,48.18
$GC,1086,-0.65,-244.4,2604,1852,3316,3177,128.2,-9.9,115,1096,0.00,2.17,0.00,0.000,260,0.000,0.041,2597,3247,3246,3316,3177,0,0,0,0,0,0,26.75,26.08,26.76,8.57,48.34
$GC,1156,-0.65,-244.4,2597,3248,3316,3177,134.7,-9.5,121,1169,0.00,2.12,0.00,0.000,1030,0.000,0.029,2597,1847,3246,3316,3177,0,0,0,0,0,0,26.27,26.23,26.29,8.57,48.62
$GC,1347,-0.65,-244.4,2597,1847,3316,3177,153.8,-9.9,140,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1847,3246,3316,3177,0,0,0,0,0,0,26.75,26.77,26.76,8.57,49.01
$STATE,1405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1406,begin apogee
$GC,1410,-0.21,0.0,2597,1847,3317,3177,159.7,-10.0,146,1608,0.38,0.00,193.60,0.675,10246,0.069,0.000,2752,1846,2246,2380,2113,0,0,0,0,0,0,26.10,24.82,23.89,8.57,48.58
$STATE,1609,end apogee,CONTROL_FINISHED_OK
$STATE,1609,begin climb
$GC,1611,0.79,244.4,2752,1846,2380,2113,160.4,0.0,166,1822,0.82,2.30,201.73,0.653,10756,0.039,0.042,3095,453,1248,1357,1140,0,0,0,0,0,0,25.50,24.89,23.95,8.49,46.29
$GC,1863,0.63,244.4,3095,453,1356,1139,132.7,17.6,191,1872,0.22,2.17,0.00,0.000,5126,0.106,0.030,3021,1833,1247,1356,1138,0,0,0,0,0,0,25.46,25.77,25.56,8.41,46.02
$GC,2051,0.63,244.4,3020,1833,1356,1137,109.1,11.8,210,2055,0.00,2.17,0.00,0.000,516,0.000,0.043,3028,451,1246,1356,1137,0,0,0,0,0,0,26.56,25.98,26.57,8.40,46.92
$GC,2097,0.63,244.4,3027,451,1355,1136,104.1,11.7,214,2105,0.00,2.15,0.00,0.000,1030,0.000,0.031,3028,1838,1245,1355,1136,0,0,0,0,0,0,26.20,26.17,26.25,8.40,46.88
$GC,2286,0.58,244.4,3027,1838,1355,1135,81.5,11.6,233,2289,0.00,2.17,0.00,0.000,516,0.000,0.043,3037,451,1245,1355,1135,0,0,0,0,0,0,26.68,26.07,26.70,8.40,48.11
$GC,2329,0.53,244.4,3036,451,1355,1135,76.4,11.2,237,2340,0.15,2.12,0.00,0.000,5126,0.112,0.030,2979,1854,1245,1355,1135,0,0,0,0,0,0,25.96,26.24,26.01,8.40,47.63
$GC,2459,0.53,244.4,2978,1854,1354,1134,65.1,8.3,250,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1853,1244,1355,1134,0,0,0,0,0,0,26.72,26.73,26.72,8.40,47.71
$GC,2580,0.61,317.9,2978,1854,1355,1134,55.7,7.9,262,2650,0.00,2.28,61.95,0.609,8708,0.000,0.041,2985,448,948,1057,839,0,0,0,0,0,0,26.73,24.75,24.25,8.40,48.38
$GC,2706,0.67,317.9,2985,448,1057,839,45.5,8.5,274,2716,0.05,2.12,0.00,0.000,3078,0.073,0.030,3066,1842,948,1057,839,0,0,0,0,0,0,25.87,25.98,25.93,8.37,47.55
$GC,2836,0.60,317.9,3065,1842,1057,838,27.8,14.0,287,2838,0.17,0.00,0.00,0.000,4102,0.112,0.000,3007,1843,947,1057,838,0,0,0,0,0,0,26.01,26.15,26.10,8.36,47.20
$GC,2957,0.60,317.9,3006,1843,1057,836,16.4,8.4,303,2967,0.00,2.20,0.00,0.000,516,0.000,0.044,3012,455,947,1057,837,0,0,0,0,0,0,26.66,26.03,26.67,8.36,47.79
$GC,3037,0.77,428.9,3011,455,1057,836,10.6,6.9,317,3101,0.08,2.15,58.33,0.511,11270,0.057,0.031,3105,1848,499,542,456,0,0,0,0,0,0,26.15,26.22,24.44,8.36,47.44
$STATE,3132,end climb,SURFACE_DEPTH_REACHED
$STATE,3132,begin surface coast
$FINISH,0.8,1.018506
$STATE,3165,end surface coast,CONTROL_FINISHED_OK
$STATE,3165,begin surface
$SM_CCo,3241,0.00,0.000,0,0,486,431.97
$SM_GC,1.87,7.57,0.00,0.00,0.028,0.000,0.000,179,1848,486,-8.10,0.14,431.97,0,0,0,0,0,0,26.08,26.44,26.13
$IRIDIUM_FIX,4738.80,-12300.63,090218,071535
$TT8_MAMPS,0.026215,0.241178
$HUMID,47.83
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,135.7,33.3
$24V_AH,23.89,71.814
$10V_AH,9.79,49.428
$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,18.725,47.850,515.600,0.000,0.000,0.000,0.000,216.375,2.750,0.000,35.696,820.664,1034.647,493.760,1128.435,107.699,0.000,1217.014,0.000,689.271,0.000,22.273,0.000
$DEVICE_MAMPS,197.370,51.255,674.730,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.839,727.552,441.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312132
$DATA_FILE_SIZE,24548,338
$CAP_FILE_SIZE,57330,0
$CFSIZE,2097872896,2069364736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2957.50,0x2367b8,1,24
$CURRENT,0.008,210.98,1
$GPS,090218,091801,4738.070,-12253.629,2,0.9,12,16.4,0.0,0.0,9,4.3