version: 66.14
glider: 195
mission: 15
dive: 284
start: 2 10 118 12 6 29
data:
$ID,195
$MISSION,15
$DIVE,284
$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,48
$R_STBD_OVSHOOT,31
$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
$GPS1,100218,120016,4738.0303,-12254.0244,13,0.9,27,16.4,0.4,212.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-71.4
$GPS2,100218,120550,4737.9707,-12254.0723,7,0.8,36,16.4,0.4,211.9,10,4.4
$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,32.1,1362,-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,7,begin dive
$GC,9,-0.79,-244.4,196,1838,560,482,0.0,0.0,0,33,0.00,0.00,-21.77,0.000,16386,0.000,0.000,195,1838,1083,1146,1020,0,0,0,0,0,0,26.62,28.83,26.63,8.30,46.81
$GC,36,-0.79,-244.4,195,1838,1146,1020,2.1,-2.1,3,121,8.88,2.20,-69.35,0.000,18948,0.194,0.052,2545,446,3246,3313,3179,0,0,0,0,0,0,25.03,23.96,25.22,8.35,46.92
$GC,140,-0.57,-244.4,2544,446,3316,3180,11.7,-21.2,18,148,0.25,2.20,0.00,0.000,3078,0.118,0.033,2632,1856,3248,3316,3180,0,0,0,0,0,0,25.60,26.13,25.79,8.54,46.53
$GC,218,-0.57,-244.4,2631,1857,3316,3180,22.3,-11.5,30,227,0.00,2.15,0.00,0.000,260,0.000,0.042,2624,3246,3247,3316,3179,0,0,0,0,0,0,26.69,26.05,26.70,8.54,46.22
$GC,263,-0.57,-244.4,2623,3246,3316,3180,27.0,-10.6,34,271,0.00,2.12,0.00,0.000,1030,0.000,0.028,2623,1843,3248,3316,3180,0,0,0,0,0,0,26.23,26.20,26.27,8.54,46.69
$GC,392,-0.57,-244.4,2623,1843,3316,3180,41.2,-10.6,47,402,0.00,2.17,0.00,0.000,260,0.000,0.042,2614,3246,3248,3316,3180,0,0,0,0,0,0,26.72,26.08,26.72,8.54,47.08
$GC,426,-0.57,-244.4,2614,3246,3316,3180,44.6,-10.2,50,435,0.00,2.08,0.00,0.000,1030,0.000,0.028,2615,1849,3248,3316,3180,0,0,0,0,0,0,26.25,26.21,26.28,8.54,47.63
$GC,555,-0.57,-244.4,2614,1849,3316,3180,57.9,-10.2,63,566,0.00,2.17,0.00,0.000,516,0.000,0.042,2614,453,3248,3316,3180,0,0,0,0,0,0,26.73,26.04,26.74,8.55,47.59
$GC,590,-0.57,-244.4,2614,453,3316,3180,61.4,-10.5,66,599,0.00,2.10,0.00,0.000,1030,0.000,0.032,2607,1833,3248,3316,3180,0,0,0,0,0,0,26.23,26.20,26.25,8.54,47.24
$GC,720,-0.57,-244.4,2607,1833,3316,3179,75.1,-10.7,79,730,0.00,2.17,0.00,0.000,260,0.000,0.041,2597,3247,3248,3316,3180,0,0,0,0,0,0,26.74,26.08,26.74,8.55,47.71
$GC,785,-0.57,-244.4,2597,3248,3316,3180,81.7,-9.8,85,796,0.08,2.10,0.00,0.000,3078,0.136,0.029,2628,1833,3248,3316,3180,0,0,0,0,0,0,26.06,26.22,26.09,8.55,48.22
$GC,920,-0.62,-244.4,2627,1833,3316,3180,93.2,-8.5,98,933,0.00,2.15,0.00,0.000,516,0.000,0.042,2629,449,3247,3316,3179,0,0,0,0,0,0,26.72,26.02,26.72,8.56,47.75
$GC,952,-0.67,-244.4,2627,448,3316,3180,96.2,-9.3,100,963,0.00,2.17,0.00,0.000,1030,0.000,0.032,2624,1850,3248,3316,3180,0,0,0,0,0,0,26.22,26.19,26.26,8.56,48.03
$GC,1084,-0.67,-244.4,2624,1851,3316,3180,107.9,-8.3,113,1088,0.00,2.17,0.00,0.000,260,0.000,0.042,2615,3249,3248,3316,3180,0,0,0,0,0,0,26.70,26.06,26.70,8.57,48.22
$GC,1130,-0.73,-244.4,2614,3250,3316,3180,111.5,-8.3,116,1142,0.05,2.12,0.00,0.000,5126,0.073,0.029,2533,1848,3247,3315,3180,0,0,0,0,0,0,26.10,26.19,26.15,8.56,48.93
$GC,1328,-0.64,-244.4,2532,1848,3315,3180,138.5,-14.2,135,1345,0.20,2.17,0.00,0.000,2564,0.117,0.040,2602,450,3247,3316,3179,0,0,0,0,0,0,25.97,26.01,26.02,8.57,48.38
$GC,1350,-0.57,-244.4,2601,450,3316,3180,140.3,-14.4,136,1364,0.08,2.17,0.00,0.000,3078,0.115,0.031,2624,1848,3247,3315,3180,0,0,0,0,0,0,25.96,26.17,26.03,8.57,47.95
$GC,1550,-0.63,-244.4,2623,1848,3314,3180,158.6,-8.0,155,1564,0.00,2.17,0.00,0.000,260,0.000,0.042,2618,3250,3247,3315,3180,0,0,0,0,0,0,26.70,26.03,26.70,8.58,48.70
$GC,1626,-0.71,-244.4,2617,3250,3315,3180,164.5,-8.3,160,1639,0.05,2.15,0.00,0.000,5126,0.073,0.029,2534,1835,3247,3315,3180,0,0,0,0,0,0,26.09,26.20,26.14,8.58,48.66
$STATE,1819,end dive,NO_VERTICAL_VELOCITY
$STATE,1819,begin apogee
$GC,1824,-0.21,0.0,2534,1835,3315,3180,167.8,0.0,179,2027,0.57,0.00,193.82,0.663,10246,0.055,0.000,2758,1835,2245,2378,2113,0,0,0,0,0,0,26.09,24.38,23.84,8.58,48.18
$STATE,2028,end apogee,CONTROL_FINISHED_OK
$STATE,2029,begin climb
$GC,2031,0.79,244.4,2758,1835,2379,2112,167.8,0.0,200,2249,0.77,2.28,201.75,0.649,11012,0.050,0.042,3065,449,1247,1356,1139,0,0,0,0,0,0,25.48,24.44,23.90,8.50,46.61
$GC,2275,0.69,244.4,3064,448,1355,1138,146.8,14.1,224,2283,0.08,2.20,0.00,0.000,5126,0.122,0.030,3038,1836,1246,1355,1137,0,0,0,0,0,0,25.51,25.72,25.57,8.41,45.31
$GC,2464,0.63,244.4,3037,1836,1355,1135,122.7,11.8,243,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1836,1244,1354,1135,0,0,0,0,0,0,26.55,26.57,26.57,8.41,46.73
$GC,2653,0.58,244.4,3037,1836,1355,1134,99.7,12.2,262,2658,0.12,2.17,0.00,0.000,4612,0.121,0.042,3001,452,1244,1355,1134,0,0,0,0,0,0,26.19,26.05,26.25,8.40,47.59
$GC,2711,0.58,244.4,3001,453,1352,1134,93.9,9.9,267,2719,0.00,2.17,0.00,0.000,1030,0.000,0.030,3002,1855,1243,1353,1134,0,0,0,0,0,0,26.26,26.25,26.28,8.40,47.75
$GC,2838,0.58,244.4,3001,1855,1353,1134,81.7,9.3,280,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1855,1243,1352,1134,0,0,0,0,0,0,26.71,26.72,26.72,8.40,47.16
$GC,2958,0.58,244.4,3001,1855,1353,1134,70.5,9.1,292,2969,0.00,2.20,0.00,0.000,516,0.000,0.043,3009,455,1243,1353,1134,0,0,0,0,0,0,26.70,26.07,26.70,8.40,47.28
$GC,3023,0.58,244.4,3009,454,1353,1134,64.4,9.6,298,3034,0.00,2.15,0.00,0.000,1030,0.000,0.036,3009,1854,1243,1353,1134,0,0,0,0,0,0,26.29,26.24,26.32,8.40,47.44
$GC,3154,0.58,244.4,3009,1854,1353,1133,52.0,9.1,311,3158,0.00,2.15,0.00,0.000,260,0.000,0.040,3009,3255,1243,1353,1134,0,0,0,0,0,0,26.73,26.13,26.74,8.40,47.71
$GC,3178,0.58,244.4,3009,3255,1352,1134,49.8,9.4,313,3182,0.00,2.15,0.00,0.000,1030,0.000,0.030,3012,1846,1243,1353,1134,0,0,0,0,0,0,26.32,26.22,26.36,8.40,47.67
$GC,3310,0.58,244.4,3012,1846,1352,1134,37.3,9.1,326,3321,0.00,2.20,0.00,0.000,516,0.000,0.044,3016,449,1243,1353,1134,0,0,0,0,0,0,26.72,26.05,26.72,8.39,47.87
$GC,3388,0.58,244.4,3014,449,1352,1134,30.4,9.0,333,3400,0.00,2.15,0.00,0.000,1030,0.000,0.030,3015,1839,1243,1353,1133,0,0,0,0,0,0,26.28,26.25,26.31,8.39,48.11
$GC,3531,0.65,316.9,3014,1839,1352,1134,18.2,8.0,347,3584,0.00,2.22,39.35,0.529,8452,0.000,0.040,3015,3244,953,1058,849,0,0,0,0,0,0,26.70,25.19,24.28,8.38,47.48
$GC,3595,0.65,316.9,3014,3244,1057,849,13.0,8.2,353,3605,0.00,2.15,0.00,0.000,1030,0.000,0.031,3015,1848,952,1057,848,0,0,0,0,0,0,26.00,25.98,26.05,8.35,47.20
$GC,3705,1.00,528.8,3014,1847,1057,847,7.1,4.1,366,3758,0.25,0.00,50.25,0.484,10754,0.042,0.000,3174,1847,559,609,510,0,0,0,0,0,0,26.29,28.83,26.30,8.35,46.96
$STATE,3759,end climb,SURFACE_DEPTH_REACHED
$STATE,3760,begin surface coast
$FINISH,0.7,1.009263
$STATE,3793,end surface coast,CONTROL_FINISHED_OK
$STATE,3793,begin surface
$SM_CCo,3809,2.10,0.055,0,0,532,420.20
$SM_GC,2.96,7.82,0.00,2.10,0.030,0.000,0.055,187,1847,532,-8.06,0.11,420.20,0,0,0,0,0,0,26.03,26.36,25.78
$IRIDIUM_FIX,4737.86,-12251.79,100218,105334
$TT8_MAMPS,0.026964,0.246421
$HUMID,46.22
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.84,74.142
$10V_AH,9.79,50.983
$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,19.200,64.975,485.175,2.100,0.000,0.000,0.000,229.075,70.000,0.000,37.663,938.031,941.797,519.617,1631.233,141.941,0.000,1364.929,0.000,753.803,0.000,663.596,0.000
$DEVICE_MAMPS,193.545,52.020,663.255,55.080,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.184,811.662,493.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,28012,377
$CAP_FILE_SIZE,88929,0
$CFSIZE,2097872896,2066743296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2245.00,0x2139a2,1,24
$CURRENT,0.009,166.32,1
$GPS,100218,131131,4738.219,-12253.437,26,0.9,49,16.4,0.5,294.4,9,4.8