version: 66.14
glider: 195
mission: 15
dive: 282
start: 2 10 118 10 2 8
data:
$ID,195
$MISSION,15
$DIVE,282
$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,36
$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
$GPS1,100218,095624,4737.6948,-12254.8203,5,0.9,14,16.4,0.4,229.9,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-69.4
$GPS2,100218,100123,4737.6582,-12254.9043,6,0.9,15,16.4,0.5,232.6,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$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,30.7,564,-22.3,-10.000,-25.46,1423
$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,-1.02,-93.9,189,1843,565,485,0.0,0.0,0,33,0.00,0.00,-22.12,0.000,16386,0.000,0.000,189,1843,1097,1163,1032,0,0,0,0,0,0,26.60,28.83,26.61,8.30,46.77
$GC,35,-1.02,-93.9,189,1843,1164,1033,2.0,-2.5,3,106,8.57,2.20,-52.62,0.000,18948,0.193,0.051,2470,443,2632,2706,2558,0,0,0,0,0,0,25.01,25.61,25.21,8.36,46.29
$GC,119,-0.77,-93.9,2469,443,2707,2558,9.0,-19.1,15,127,0.32,2.17,0.00,0.000,3078,0.145,0.030,2557,1851,2632,2706,2558,0,0,0,0,0,0,25.40,26.16,25.52,8.49,46.57
$GC,191,-0.72,-93.9,2557,1851,2708,2558,19.4,-14.1,28,199,0.00,2.20,0.00,0.000,260,0.000,0.040,2549,3250,2633,2708,2559,0,0,0,0,0,0,26.67,26.06,26.67,8.49,46.57
$GC,209,-0.72,-93.9,2549,3249,2708,2559,21.5,-13.2,30,218,0.08,2.12,0.00,0.000,3078,0.138,0.028,2572,1840,2633,2708,2559,0,0,0,0,0,0,25.91,26.20,25.97,8.49,46.14
$GC,337,-0.72,-93.9,2571,1839,2708,2558,33.9,-8.9,43,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1840,2633,2708,2558,0,0,0,0,0,0,26.71,26.72,26.72,8.50,47.55
$GC,457,-0.72,-93.9,2571,1839,2708,2559,44.6,-8.8,55,468,0.00,2.20,0.00,0.000,260,0.000,0.041,2564,3249,2633,2707,2559,0,0,0,0,0,0,26.72,26.10,26.73,8.49,47.24
$GC,522,-0.72,-93.9,2563,3249,2708,2559,50.5,-9.5,61,526,0.00,2.12,0.00,0.000,1030,0.000,0.028,2563,1843,2633,2708,2559,0,0,0,0,0,0,26.35,26.24,26.37,8.49,47.00
$GC,655,-0.72,-93.9,2563,1843,2708,2558,62.9,-9.5,74,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1843,2633,2708,2559,0,0,0,0,0,0,26.74,26.75,26.74,8.50,47.24
$GC,775,-0.72,-93.9,2563,1843,2707,2559,74.9,-9.9,86,784,0.00,2.15,0.00,0.000,260,0.000,0.041,2554,3245,2633,2708,2559,0,0,0,0,0,0,26.74,26.11,26.75,8.50,47.63
$GC,829,-0.72,-93.9,2553,3245,2707,2558,80.3,-9.9,91,839,0.00,2.08,0.00,0.000,1030,0.000,0.029,2554,1845,2633,2708,2559,0,0,0,0,0,0,26.27,26.24,26.29,8.50,48.38
$GC,964,-0.72,-93.9,2553,1845,2708,2558,93.3,-9.6,104,977,0.00,2.15,0.00,0.000,516,0.000,0.041,2554,451,2633,2708,2558,0,0,0,0,0,0,26.72,26.08,26.72,8.51,48.42
$GC,1081,-0.72,-93.9,2553,451,2708,2558,106.7,-11.6,112,1094,0.10,2.15,0.00,0.000,3078,0.135,0.031,2574,1848,2632,2707,2558,0,0,0,0,0,0,25.89,26.21,25.93,8.51,47.99
$GC,1279,-0.79,-93.9,2574,1848,2708,2559,124.4,-8.3,131,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1848,2632,2707,2558,0,0,0,0,0,0,26.70,26.72,26.71,8.51,48.93
$GC,1476,-0.86,-93.9,2574,1848,2707,2558,140.4,-8.2,150,1481,0.08,2.22,0.00,0.000,4612,0.096,0.040,2500,444,2633,2708,2558,0,0,0,0,0,0,26.48,26.02,26.49,8.52,48.66
$GC,1520,-0.86,-93.9,2499,443,2707,2558,145.2,-10.3,153,1533,0.12,2.12,0.00,0.000,3078,0.137,0.030,2527,1848,2632,2707,2558,0,0,0,0,0,0,25.80,26.20,25.84,8.52,47.99
$GC,1717,-1.19,-234.1,2526,1848,2707,2558,160.5,0.1,172,1730,0.20,2.17,0.00,0.000,4612,0.045,0.040,2394,451,2633,2708,2558,0,0,0,0,0,0,26.46,26.01,26.48,8.53,48.07
$STATE,1826,end dive,NO_VERTICAL_VELOCITY
$STATE,1826,begin apogee
$GC,1833,-0.21,0.0,2384,1848,2708,2558,160.5,0.0,180,1915,1.05,0.00,76.35,0.666,10246,0.099,0.000,2739,1848,2246,2355,2138,0,0,0,0,0,0,25.58,24.89,23.93,8.52,48.22
$STATE,1916,end apogee,CONTROL_FINISHED_OK
$STATE,1916,begin climb
$GC,1918,1.16,234.1,2740,1848,2354,2138,160.5,0.0,189,2125,1.17,2.22,195.12,0.656,10500,0.047,0.037,3183,3240,1291,1395,1187,0,0,0,0,0,0,25.63,24.42,23.89,8.49,46.92
$GC,2172,1.05,234.1,3183,3241,1395,1187,125.3,25.3,214,2181,0.12,2.17,0.00,0.000,5126,0.137,0.031,3156,1843,1291,1395,1187,0,0,0,0,0,0,25.44,25.78,25.52,8.41,46.10
$GC,2361,1.00,234.1,3155,1843,1395,1183,82.2,22.3,233,2365,0.00,2.20,0.00,0.000,516,0.000,0.042,3164,447,1289,1395,1183,0,0,0,0,0,0,26.58,25.98,26.58,8.40,47.16
$GC,2436,0.93,234.1,3164,446,1392,1183,65.1,23.0,240,2446,0.15,2.10,0.00,0.000,5126,0.125,0.031,3117,1844,1287,1392,1182,0,0,0,0,0,0,25.76,26.15,25.84,8.41,47.67
$GC,2566,0.93,234.1,3116,1844,1392,1180,40.4,17.7,253,2576,0.00,2.15,0.00,0.000,260,0.000,0.039,3117,3244,1286,1392,1180,0,0,0,0,0,0,26.67,26.10,26.67,8.40,47.36
$GC,2599,0.93,234.1,3116,3244,1392,1179,34.2,18.0,256,2609,0.00,2.10,0.00,0.000,1030,0.000,0.030,3124,1841,1286,1392,1180,0,0,0,0,0,0,26.23,26.20,26.27,8.39,47.24
$GC,2760,0.93,234.1,3123,1842,1392,1180,8.5,13.6,273,2770,0.00,2.22,0.00,0.000,516,0.000,0.043,3135,448,1286,1392,1180,0,0,0,0,0,0,26.67,26.05,26.68,8.39,47.24
$STATE,2804,end climb,SURFACE_DEPTH_REACHED
$STATE,2804,begin surface coast
$FINISH,1.7,1.019213
$STATE,2838,end surface coast,CONTROL_FINISHED_OK
$STATE,2839,begin surface
$SM_CCo,2857,89.35,0.055,0,0,532,420.20
$SM_GC,1.81,7.93,2.17,89.35,0.048,0.028,0.055,190,1849,532,-8.07,-1.41,420.20,0,0,0,0,0,0,26.27,26.25,25.95
$IRIDIUM_FIX,4738.33,-12256.21,100218,085311
$TT8_MAMPS,0.026964,0.248668
$HUMID,46.77
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.80
$XPDR_PINGS,23
$ALTIM_TOP_PING,18.3,999.0
$24V_AH,23.89,73.946
$10V_AH,9.79,50.849
$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,19.900,47.600,271.475,89.350,0.000,0.000,0.000,217.325,60.250,0.000,17.031,751.726,698.910,409.933,1303.054,116.317,0.000,1062.886,0.000,580.599,0.000,552.188,0.000
$DEVICE_MAMPS,192.780,51.255,666.315,55.080,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,189.764,609.177,370.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,21091,283
$CAP_FILE_SIZE,71306,0
$CFSIZE,2097872896,2066939904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021,248.35,1
$GPS,100218,105214,4737.832,-12254.607,5,0.8,17,16.4,0.3,223.2,10,5.0