version: 66.14
glider: 195
mission: 15
dive: 262
start: 2 9 118 12 43 7
data:
$ID,195
$MISSION,15
$DIVE,262
$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,51
$R_STBD_OVSHOOT,41
$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
$GPS1,090218,123726,4738.0469,-12254.4248,41,0.8,50,16.4,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-65.5
$GPS2,090218,124226,4738.0347,-12254.4033,6,0.9,20,16.4,0.2,0.0,9,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$TGT_LATLONG,4737.883,-12254.600
$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,210.0,373,-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,-63.7,180,1846,518,438,0.0,0.0,0,39,0.00,0.00,-28.52,0.000,16386,0.000,0.000,180,1846,1200,1277,1124,0,0,0,0,0,0,26.61,28.83,26.62,8.29,47.24
$GC,42,-1.20,-63.7,180,1846,1278,1125,2.2,-2.4,4,111,8.40,2.25,-48.85,0.000,18692,0.191,0.050,2406,3259,2507,2589,2426,0,0,0,0,0,0,25.07,23.97,25.25,8.37,47.20
$GC,633,-1.06,-63.7,2405,3260,2590,2427,71.9,-12.3,72,643,0.20,2.12,0.00,0.000,3078,0.145,0.028,2466,1826,2508,2590,2427,0,0,0,0,0,0,25.62,26.25,25.71,8.49,48.22
$GC,762,-1.06,-63.7,2466,1826,2590,2427,85.8,-10.2,85,772,0.00,2.20,0.00,0.000,260,0.000,0.039,2457,3255,2508,2590,2427,0,0,0,0,0,0,26.74,26.13,26.76,8.49,47.91
$GC,922,-1.06,-63.7,2457,3255,2590,2426,103.2,-11.1,100,931,0.00,2.08,0.00,0.000,1030,0.000,0.029,2457,1854,2508,2590,2427,0,0,0,0,0,0,26.28,26.22,26.31,8.50,48.34
$GC,1112,-1.06,-63.7,2456,1854,2590,2426,123.1,-9.6,119,1121,0.00,2.15,0.00,0.000,516,0.000,0.041,2457,458,2508,2590,2427,0,0,0,0,0,0,26.75,26.07,26.76,8.50,48.34
$GC,1147,-1.01,-63.7,2457,458,2590,2426,126.7,-10.3,122,1156,0.10,2.12,0.00,0.000,3078,0.150,0.031,2478,1844,2508,2590,2426,0,0,0,0,0,0,25.82,26.23,25.89,8.50,48.30
$GC,1335,-1.01,-63.7,2477,1844,2590,2426,145.6,-9.6,141,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1844,2508,2590,2427,0,0,0,0,0,0,26.75,26.76,26.76,8.50,48.30
$STATE,1434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1434,begin apogee
$GC,1438,-0.21,0.0,2478,1844,2590,2426,155.0,-9.4,151,1496,0.80,0.00,51.97,0.672,10246,0.122,0.000,2739,1844,2246,2350,2143,0,0,0,0,0,0,25.44,25.02,24.06,8.51,49.21
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1499,1.20,63.7,2739,1844,2350,2143,157.2,0.0,157,1560,1.23,2.25,54.05,0.673,10756,0.063,0.041,3196,451,1986,2123,1850,0,0,0,0,0,0,25.67,24.94,23.93,8.49,48.11
$GC,1590,1.07,63.7,3195,451,2122,1850,148.7,12.9,166,1601,0.12,2.15,0.00,0.000,5126,0.149,0.030,3160,1842,1986,2122,1850,0,0,0,0,0,0,25.38,25.79,25.46,8.47,47.16
$GC,1781,1.00,63.7,3159,1842,2122,1847,119.7,15.0,185,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1842,1984,2122,1847,0,0,0,0,0,0,26.58,26.60,26.59,8.46,47.79
$GC,1970,0.93,63.7,3159,1842,2121,1846,91.2,14.4,204,1980,0.15,2.17,0.00,0.000,4612,0.159,0.039,3120,455,1983,2121,1846,0,0,0,0,0,0,25.91,26.03,25.96,8.46,48.58
$GC,2024,0.93,63.7,3119,455,2120,1846,83.5,13.7,209,2028,0.00,2.12,0.00,0.000,1030,0.000,0.031,3120,1846,1983,2120,1846,0,0,0,0,0,0,26.29,26.20,26.32,8.46,47.75
$GC,2157,0.93,63.7,3119,1847,2120,1846,66.3,13.0,222,2166,0.00,2.12,0.00,0.000,260,0.000,0.040,3120,3243,1983,2120,1846,0,0,0,0,0,0,26.72,26.10,26.73,8.46,48.66
$GC,2212,0.93,63.7,3119,3243,2120,1846,59.1,13.7,227,2219,0.00,2.12,0.00,0.000,1030,0.000,0.030,3130,1839,1983,2120,1846,0,0,0,0,0,0,26.27,26.23,26.29,8.46,48.38
$GC,2340,0.93,63.7,3129,1838,2120,1846,43.2,11.4,240,2349,0.00,2.17,0.00,0.000,516,0.000,0.042,3140,453,1982,2120,1845,0,0,0,0,0,0,26.74,26.06,26.74,8.46,47.99
$GC,2392,0.93,63.7,3140,452,2119,1845,36.8,12.2,245,2397,0.00,2.12,0.00,0.000,1030,0.000,0.030,3140,1845,1982,2119,1845,0,0,0,0,0,0,26.32,26.25,26.35,8.45,48.54
$GC,2525,0.93,63.7,3140,1846,2119,1845,22.2,10.1,258,2535,0.00,2.17,0.00,0.000,516,0.000,0.041,3151,454,1982,2119,1845,0,0,0,0,0,0,26.74,26.07,26.75,8.45,47.48
$GC,2579,0.93,63.7,3150,454,2119,1845,16.8,10.2,266,2588,0.12,2.15,0.00,0.000,5126,0.141,0.030,3113,1848,1982,2119,1845,0,0,0,0,0,0,25.79,26.25,25.86,8.45,47.91
$GC,2654,0.98,118.7,3113,1847,2119,1845,11.7,4.2,279,2689,0.00,2.22,28.35,0.513,8708,0.000,0.041,3121,449,1760,1900,1621,0,0,0,0,0,0,26.74,24.84,24.35,8.44,48.03
$GC,2819,1.19,236.0,3121,449,1900,1617,8.7,-2.4,309,2888,0.12,2.15,59.95,0.512,11270,0.040,0.030,3229,1849,1281,1383,1179,0,0,0,0,0,0,26.14,26.14,24.31,8.42,47.67
$STATE,2924,end climb,SURFACE_DEPTH_REACHED
$STATE,2925,begin surface coast
$FINISH,0.6,1.018431
$STATE,2953,end surface coast,CONTROL_FINISHED_OK
$STATE,2953,begin surface
$SM_CCo,2969,88.72,0.056,0,0,532,420.20
$SM_GC,1.86,8.25,0.00,88.72,0.049,0.000,0.056,181,1849,532,-8.07,0.17,420.20,0,0,0,0,0,0,26.08,26.44,25.84
$IRIDIUM_FIX,4737.93,-12303.31,090218,113308
$TT8_MAMPS,0.026964,0.268142
$HUMID,46.37
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,120.2,44.5
$24V_AH,23.93,72.096
$10V_AH,9.74,49.650
$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,19.500,38.875,194.325,88.725,0.000,0.000,0.000,211.550,1.750,0.000,22.125,869.493,954.859,362.296,1101.582,100.397,0.000,996.050,0.000,671.941,0.000,14.652,0.000
$DEVICE_MAMPS,191.250,50.490,673.200,55.845,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.637,712.532,433.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312096
$DATA_FILE_SIZE,24573,331
$CAP_FILE_SIZE,53832,0
$CFSIZE,2097872896,2068971520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.007,78.49,1
$GPS,090218,133513,4737.948,-12254.688,4,0.9,26,16.4,0.0,0.0,8,5.0