version: 66.14
glider: 195
mission: 15
dive: 304
start: 2 11 118 9 6 7
data:
$ID,195
$MISSION,15
$DIVE,304
$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,47
$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
$GPS1,110218,090004,4737.3506,-12255.9678,28,1.0,58,16.4,0.3,0.0,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.1
$GPS2,110218,090527,4737.3276,-12256.0303,28,1.0,51,16.4,0.3,0.0,8,5.0
$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,41.7,2060,-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,-244.4,196,1855,550,477,0.0,0.0,0,39,0.00,0.00,-27.42,0.000,16386,0.000,0.000,196,1856,1217,1288,1147,0,0,0,0,0,0,26.63,28.83,26.64,8.29,46.77
$GC,41,-0.79,-244.4,196,1855,1289,1148,2.3,-2.8,4,126,8.82,0.00,-67.65,0.000,18694,0.189,0.000,2549,1855,3246,3314,3178,0,0,0,0,0,0,25.01,25.70,25.20,8.37,47.44
$GC,192,-0.64,-244.4,2549,1855,3316,3178,20.5,-18.7,28,196,0.17,2.17,0.00,0.000,2308,0.128,0.041,2599,3245,3247,3316,3178,0,0,0,0,0,0,25.99,26.02,26.08,8.54,46.65
$GC,207,-0.51,-244.4,2598,3245,3315,3179,23.0,-17.7,29,215,0.12,2.15,0.00,0.000,3078,0.103,0.028,2643,1831,3247,3315,3179,0,0,0,0,0,0,25.87,26.16,25.93,8.54,46.92
$GC,335,-0.51,-244.4,2642,1830,3316,3179,36.4,-9.2,42,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1831,3247,3316,3179,0,0,0,0,0,0,26.71,26.72,26.72,8.54,47.16
$GC,455,-0.51,-244.4,2642,1830,3316,3179,47.6,-9.2,54,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1831,3247,3315,3179,0,0,0,0,0,0,26.70,26.71,26.70,8.55,47.99
$GC,575,-0.51,-244.4,2642,1830,3315,3179,58.0,-8.8,66,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1830,3247,3316,3179,0,0,0,0,0,0,26.73,26.74,26.74,8.55,47.51
$GC,695,-0.56,-244.4,2642,1830,3316,3178,68.6,-8.5,78,699,0.00,2.20,0.00,0.000,260,0.000,0.043,2636,3238,3247,3316,3179,0,0,0,0,0,0,26.74,26.03,26.74,8.55,47.40
$GC,739,-0.63,-244.4,2636,3238,3315,3179,72.1,-8.0,82,743,0.00,2.10,0.00,0.000,1030,0.000,0.030,2636,1836,3247,3315,3179,0,0,0,0,0,0,26.28,26.19,26.31,8.55,47.83
$GC,872,-0.69,-244.4,2636,1836,3315,3178,83.1,-8.4,95,882,0.08,2.17,0.00,0.000,4612,0.094,0.041,2548,450,3246,3315,3178,0,0,0,0,0,0,26.53,25.99,26.54,8.56,48.26
$GC,898,-0.69,-244.4,2547,449,3315,3178,85.9,-9.4,97,907,0.15,2.15,0.00,0.000,3078,0.112,0.033,2589,1834,3246,3315,3178,0,0,0,0,0,0,25.82,26.16,25.87,8.56,48.18
$GC,1033,-0.69,-244.4,2589,1834,3316,3178,100.7,-11.6,110,1037,0.00,2.20,0.00,0.000,260,0.000,0.042,2581,3249,3246,3315,3178,0,0,0,0,0,0,26.70,26.01,26.72,8.56,48.18
$GC,1120,-0.69,-244.4,2581,3249,3315,3179,110.9,-11.0,116,1134,0.00,2.10,0.00,0.000,1030,0.000,0.030,2581,1845,3247,3315,3179,0,0,0,0,0,0,26.20,26.17,26.23,8.57,48.77
$GC,1316,-0.69,-244.4,2580,1844,3315,3179,134.0,-11.3,135,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1845,3246,3315,3178,0,0,0,0,0,0,26.68,26.70,26.70,8.57,48.89
$GC,1513,-0.69,-244.4,2581,1845,3315,3179,155.9,-10.9,154,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1845,3247,3315,3179,0,0,0,0,0,0,26.67,26.69,26.69,8.57,48.18
$GC,1706,-0.98,-244.4,2581,1845,3316,3179,167.1,-0.2,173,1719,0.20,2.20,0.00,0.000,4356,0.062,0.039,2488,3255,3247,3315,3179,0,0,0,0,0,0,26.32,26.01,26.34,8.58,48.42
$STATE,1775,end dive,NO_VERTICAL_VELOCITY
$STATE,1775,begin apogee
$GC,1782,-0.21,0.0,2488,1840,3315,3179,167.0,0.0,178,1983,0.65,0.00,193.95,0.660,10246,0.041,0.000,2756,1839,2246,2378,2114,0,0,0,0,0,0,26.18,24.76,23.84,8.58,48.46
$STATE,1985,end apogee,CONTROL_FINISHED_OK
$STATE,1986,begin climb
$GC,1987,0.79,244.4,2756,1839,2378,2114,167.0,0.0,199,2205,0.82,2.30,201.95,0.639,10756,0.041,0.043,3094,448,1248,1355,1141,0,0,0,0,0,0,25.50,24.86,23.91,8.50,46.22
$GC,2355,0.66,244.4,3093,448,1354,1138,121.7,16.1,235,2364,0.20,2.15,0.00,0.000,5126,0.104,0.031,3026,1835,1246,1354,1138,0,0,0,0,0,0,25.70,26.04,25.78,8.40,46.25
$GC,2544,0.66,244.4,3026,1835,1354,1136,100.4,10.6,254,2554,0.00,2.17,0.00,0.000,516,0.000,0.043,3034,450,1245,1354,1136,0,0,0,0,0,0,26.64,26.01,26.65,8.40,46.92
$GC,2569,0.66,244.4,3034,449,1354,1136,97.8,10.7,256,2577,0.00,2.17,0.00,0.000,1030,0.000,0.031,3034,1850,1245,1354,1136,0,0,0,0,0,0,26.21,26.18,26.24,8.41,46.81
$GC,2698,0.66,244.4,3033,1850,1354,1136,82.7,11.3,269,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1850,1245,1354,1136,0,0,0,0,0,0,26.69,26.70,26.70,8.39,47.40
$GC,2818,0.66,244.4,3034,1850,1354,1136,69.0,11.2,281,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1850,1245,1354,1136,0,0,0,0,0,0,26.71,26.72,26.72,8.40,47.59
$GC,2938,0.66,244.4,3034,1849,1353,1136,55.8,10.8,293,2948,0.00,2.20,0.00,0.000,516,0.000,0.043,3043,451,1245,1354,1136,0,0,0,0,0,0,26.72,26.04,26.73,8.40,47.51
$GC,2982,0.66,244.4,3042,451,1354,1136,50.8,11.3,297,2992,0.00,2.12,0.00,0.000,1030,0.000,0.031,3043,1847,1245,1354,1136,0,0,0,0,0,0,26.31,26.22,26.34,8.40,47.75
$GC,3112,0.66,244.4,3043,1847,1354,1136,36.1,11.4,310,3122,0.00,2.17,0.00,0.000,516,0.000,0.043,3052,452,1244,1354,1135,0,0,0,0,0,0,26.73,26.04,26.74,8.40,47.32
$GC,3159,0.66,244.4,3051,451,1354,1135,31.0,11.7,314,3170,0.00,2.15,0.00,0.000,1030,0.000,0.031,3052,1838,1244,1354,1135,0,0,0,0,0,0,26.26,26.22,26.29,8.39,48.03
$GC,3313,0.66,244.4,3051,1838,1354,1135,14.0,9.7,330,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1838,1244,1354,1135,0,0,0,0,0,0,26.69,26.70,26.70,8.39,47.83
$GC,3423,0.84,426.0,3051,1838,1354,1135,6.2,4.9,343,3496,0.00,0.00,70.78,0.474,8706,0.000,0.000,3051,1838,678,768,589,0,0,0,0,0,0,26.68,28.83,26.70,8.38,47.51
$STATE,3498,end climb,SURFACE_DEPTH_REACHED
$STATE,3498,begin surface coast
$FINISH,0.8,1.012399
$STATE,3561,end surface coast,CONTROL_FINISHED_OK
$STATE,3561,begin surface
$SM_CCo,3576,17.65,0.054,0,0,532,420.20
$SM_GC,1.99,7.43,0.00,17.65,0.026,0.000,0.054,191,1838,532,-8.06,-0.14,420.20,0,0,0,0,0,0,26.05,26.44,25.80
$IRIDIUM_FIX,4739.20,-12253.53,110218,080559
$TT8_MAMPS,0.026964,0.242676
$HUMID,46.45
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.80
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.84,75.735
$10V_AH,9.80,52.179
$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,18.650,39.100,466.675,17.650,0.000,0.000,0.000,206.575,65.750,0.000,52.933,892.064,899.959,474.831,1550.167,130.545,0.000,1235.096,0.000,713.065,0.000,617.687,0.000
$DEVICE_MAMPS,188.955,42.840,660.195,54.315,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,242.027,779.215,473.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312092
$DATA_FILE_SIZE,24568,362
$CAP_FILE_SIZE,78273,0
$CFSIZE,2097872896,2064777216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.070,242.14,1
$GPS,110218,100750,4737.464,-12255.570,27,1.1,67,16.4,0.3,243.8,7,4.8