version: 66.14
glider: 195
mission: 15
dive: 361
start: 2 13 118 16 9 24
data:
$ID,195
$MISSION,15
$DIVE,361
$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,43
$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
$GPS1,130218,160414,4738.3198,-12253.3779,8,1.0,19,16.4,0.4,75.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.8
$GPS2,130218,160844,4738.3296,-12253.3057,5,1.0,20,16.4,0.4,75.1,10,4.9
$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,227.4,1815,-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,8,-0.79,-244.4,176,1855,552,485,0.0,0.0,0,40,0.00,0.00,-29.23,0.000,16386,0.000,0.000,176,1855,1266,1338,1195,0,0,0,0,0,0,26.60,28.83,26.61,8.29,47.28
$GC,42,-0.79,-244.4,175,1855,1337,1196,2.4,-2.8,4,119,8.98,0.00,-63.05,0.000,18694,0.191,0.000,2550,1855,3246,3314,3178,0,0,0,0,0,0,24.98,24.34,25.37,8.36,47.36
$GC,184,-0.66,-244.4,2549,1855,3316,3179,19.0,-16.6,27,192,0.12,2.22,0.00,0.000,2564,0.137,0.041,2594,449,3247,3316,3179,0,0,0,0,0,0,26.09,25.97,26.12,8.53,47.16
$GC,200,-0.55,-244.4,2594,449,3316,3179,22.1,-17.2,29,206,0.15,2.15,0.00,0.000,3078,0.115,0.032,2639,1847,3247,3316,3179,0,0,0,0,0,0,25.86,26.12,25.98,8.53,47.08
$GC,334,-0.55,-244.4,2638,1848,3316,3179,36.2,-9.8,42,338,0.00,2.17,0.00,0.000,260,0.000,0.042,2631,3247,3247,3316,3179,0,0,0,0,0,0,26.70,26.03,26.71,8.53,48.26
$GC,397,-0.62,-244.4,2631,3248,3316,3179,42.3,-9.5,48,407,0.00,2.10,0.00,0.000,1030,0.000,0.029,2631,1843,3247,3315,3179,0,0,0,0,0,0,26.22,26.18,26.25,8.54,48.11
$GC,527,-0.62,-244.4,2631,1843,3316,3179,54.6,-9.1,61,531,0.00,2.20,0.00,0.000,516,0.000,0.042,2631,451,3247,3316,3179,0,0,0,0,0,0,26.72,26.00,26.72,8.54,48.42
$GC,559,-0.62,-244.4,2630,450,3316,3179,57.8,-9.7,64,569,0.00,2.15,0.00,0.000,1030,0.000,0.033,2624,1850,3247,3315,3179,0,0,0,0,0,0,26.25,26.16,26.29,8.54,48.38
$GC,690,-0.62,-244.4,2624,1850,3316,3179,70.6,-9.9,77,694,0.00,2.20,0.00,0.000,260,0.000,0.042,2614,3254,3247,3316,3179,0,0,0,0,0,0,26.72,26.04,26.73,8.54,48.46
$GC,763,-0.67,-244.4,2614,3254,3316,3179,77.8,-9.7,84,773,0.00,2.12,0.00,0.000,1030,0.000,0.030,2615,1833,3247,3316,3179,0,0,0,0,0,0,26.22,26.19,26.26,8.55,49.25
$GC,893,-0.67,-244.4,2614,1833,3316,3179,90.9,-10.0,97,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1833,3246,3315,3178,0,0,0,0,0,0,26.72,26.74,26.74,8.56,48.38
$GC,1013,-0.67,-244.4,2614,1833,3316,3179,102.7,-9.8,109,1017,0.00,2.17,0.00,0.000,516,0.000,0.043,2614,453,3247,3316,3179,0,0,0,0,0,0,26.72,25.98,26.74,8.56,49.40
$GC,1046,-0.67,-244.4,2613,453,3315,3179,105.9,-9.8,112,1056,0.00,2.12,0.00,0.000,1030,0.000,0.033,2609,1847,3247,3315,3179,0,0,0,0,0,0,26.19,26.15,26.22,8.56,48.74
$GC,1237,-0.67,-244.4,2608,1847,3316,3179,124.9,-9.9,131,1251,0.00,2.17,0.00,0.000,260,0.000,0.042,2598,3249,3247,3316,3178,0,0,0,0,0,0,26.73,26.02,26.74,8.56,49.01
$GC,1328,-0.67,-244.4,2598,3249,3315,3179,134.0,-9.7,139,1338,0.00,2.10,0.00,0.000,1030,0.000,0.029,2599,1842,3247,3316,3179,0,0,0,0,0,0,26.22,26.17,26.25,8.56,48.89
$GC,1519,-0.67,-244.4,2598,1841,3316,3179,152.7,-9.6,158,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1841,3247,3316,3179,0,0,0,0,0,0,26.73,26.74,26.74,8.57,48.62
$STATE,1627,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1627,begin apogee
$GC,1632,-0.21,0.0,2598,1841,3316,3179,163.2,-9.5,169,1830,0.40,0.00,194.75,0.662,10246,0.090,0.000,2746,1841,2246,2378,2115,0,0,0,0,0,0,25.82,24.73,23.80,8.57,48.50
$STATE,1831,end apogee,CONTROL_FINISHED_OK
$STATE,1832,begin climb
$GC,1835,0.79,244.4,2746,1841,2378,2114,166.7,0.0,189,2050,0.85,2.28,202.68,0.650,10756,0.062,0.041,3067,451,1250,1357,1143,0,0,0,0,0,0,25.37,24.39,23.87,8.49,47.16
$GC,2157,0.68,244.4,3066,451,1357,1140,130.4,15.0,221,2167,0.10,2.12,0.00,0.000,5126,0.113,0.031,3032,1832,1247,1356,1139,0,0,0,0,0,0,25.72,25.96,25.78,8.40,46.81
$GC,2349,0.62,244.4,3031,1832,1357,1139,107.1,12.0,240,2358,0.00,2.17,0.00,0.000,516,0.000,0.043,3040,448,1247,1357,1138,0,0,0,0,0,0,26.61,25.99,26.62,8.40,47.44
$GC,2393,0.56,244.4,3039,448,1356,1138,102.0,11.5,244,2403,0.12,2.12,0.00,0.000,5126,0.102,0.031,2995,1840,1248,1357,1139,0,0,0,0,0,0,25.90,26.17,25.96,8.40,47.55
$GC,2584,0.56,244.4,2995,1840,1356,1138,84.0,9.0,263,2593,0.00,2.17,0.00,0.000,516,0.000,0.043,3003,454,1247,1356,1138,0,0,0,0,0,0,26.69,26.03,26.70,8.40,47.63
$GC,2617,0.56,244.4,3002,454,1357,1138,80.6,9.2,266,2627,0.00,2.15,0.00,0.000,1030,0.000,0.031,3003,1855,1246,1356,1137,0,0,0,0,0,0,26.29,26.20,26.32,8.40,47.87
$GC,2747,0.56,244.4,3002,1855,1356,1137,68.4,9.3,279,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1855,1246,1356,1137,0,0,0,0,0,0,26.71,26.72,26.71,8.40,48.30
$GC,2868,0.56,244.4,3003,1855,1356,1138,57.4,9.1,291,2877,0.00,2.22,0.00,0.000,516,0.000,0.043,3011,445,1246,1356,1137,0,0,0,0,0,0,26.72,26.03,26.72,8.40,48.14
$GC,2932,0.56,244.4,3010,445,1356,1138,51.7,9.0,297,2942,0.00,2.12,0.00,0.000,1030,0.000,0.031,3010,1842,1246,1356,1137,0,0,0,0,0,0,26.25,26.21,26.27,8.39,48.38
$GC,3062,0.56,244.4,3010,1842,1357,1137,39.4,9.8,310,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1842,1246,1356,1137,0,0,0,0,0,0,26.72,26.73,26.73,8.39,48.74
$GC,3182,0.56,244.4,3010,1842,1356,1137,28.4,8.8,322,3192,0.00,2.20,0.00,0.000,516,0.000,0.044,3013,448,1246,1356,1137,0,0,0,0,0,0,26.72,26.02,26.73,8.39,47.95
$GC,3218,0.56,244.4,3013,448,1356,1138,25.4,8.8,325,3226,0.00,2.17,0.00,0.000,1030,0.000,0.031,3013,1851,1246,1356,1137,0,0,0,0,0,0,26.24,26.21,26.28,8.38,47.87
$GC,3351,0.68,365.5,3013,1851,1356,1137,14.7,6.6,344,3422,0.00,2.25,65.00,0.514,8452,0.000,0.039,3013,3252,754,851,657,0,0,0,0,0,0,26.72,25.07,24.21,8.38,48.07
$GC,3492,0.96,523.4,3012,3252,851,653,6.2,5.6,367,3529,0.20,2.17,31.25,0.467,11266,0.031,0.030,3171,1841,519,565,474,0,0,0,0,0,0,26.02,25.97,26.10,8.33,47.63
$STATE,3530,end climb,SURFACE_DEPTH_REACHED
$STATE,3530,begin surface coast
$FINISH,0.7,1.001279
$STATE,3552,end surface coast,CONTROL_FINISHED_OK
$STATE,3552,begin surface
$SM_CCo,3628,0.00,0.000,0,0,509,426.33
$SM_GC,1.63,7.82,0.00,0.00,0.030,0.000,0.000,182,1841,509,-8.07,-0.06,426.33,0,0,0,0,0,0,26.02,26.34,26.06
$IRIDIUM_FIX,4738.33,-12256.21,130218,150621
$TT8_MAMPS,0.026964,0.242676
$HUMID,46.85
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.6
$ALTIM_BOTTOM_PING,135.9,36.8
$24V_AH,23.80,80.492
$10V_AH,9.79,55.088
$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,18.750,52.075,493.675,0.000,0.000,0.000,0.000,181.350,3.000,0.000,21.649,918.296,1215.312,498.397,1174.815,118.442,0.000,1222.390,0.000,754.770,0.000,24.135,0.000
$DEVICE_MAMPS,191.250,43.605,661.725,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.112,809.338,491.842,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,28008,376
$CAP_FILE_SIZE,61943,0
$CFSIZE,2097872896,2059206656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,72.73,1
$GPS,130218,171106,4738.207,-12253.865,19,1.1,35,16.4,0.4,83.8,9,4.9