version: 66.14
glider: 195
mission: 15
dive: 411
start: 2 15 118 20 27 12
data:
$ID,195
$MISSION,15
$DIVE,411
$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
$GPS1,150218,202145,4737.7158,-12255.2090,19,1.0,59,16.4,0.3,55.3,10,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-74.2
$GPS2,150218,202633,4737.7397,-12255.1582,7,0.8,31,16.4,0.3,52.8,11,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE3
$TGT_LATLONG,4737.343,-12255.988
$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,219.5,1270,-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,-244.4,177,1851,517,442,0.0,0.0,0,18,0.00,0.00,-7.32,0.000,16386,0.000,0.000,177,1851,677,725,630,0,0,0,0,0,0,26.60,28.83,26.61,8.29,47.20
$GC,21,-0.79,-244.4,177,1851,724,630,2.5,0.0,1,118,9.07,0.00,-81.78,0.000,18694,0.193,0.000,2549,1851,3245,3312,3179,0,0,0,0,0,0,24.90,24.37,25.09,8.31,47.55
$GC,183,-0.62,-244.4,2548,1851,3313,3179,18.9,-19.3,27,190,0.17,0.00,0.00,0.000,2054,0.132,0.000,2608,1851,3246,3313,3179,0,0,0,0,0,0,25.91,26.03,25.97,8.54,47.99
$GC,249,-0.62,-244.4,2608,1851,3314,3179,29.7,-14.5,34,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1852,3246,3314,3179,0,0,0,0,0,0,26.67,26.68,26.68,8.53,48.11
$GC,369,-0.62,-244.4,2608,1852,3314,3179,44.0,-11.4,46,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1851,3246,3314,3179,0,0,0,0,0,0,26.70,26.70,26.70,8.54,48.50
$GC,489,-0.62,-244.4,2608,1852,3314,3179,57.6,-11.2,58,499,0.00,2.15,0.00,0.000,260,0.000,0.041,2601,3239,3246,3313,3179,0,0,0,0,0,0,26.70,26.02,26.71,8.54,49.05
$GC,533,-0.62,-244.4,2600,3239,3313,3179,62.3,-10.6,62,542,0.00,2.08,0.00,0.000,1030,0.000,0.028,2601,1845,3246,3313,3179,0,0,0,0,0,0,26.21,26.17,26.24,8.55,48.70
$GC,663,-0.62,-244.4,2600,1845,3313,3179,76.7,-10.7,75,673,0.00,2.17,0.00,0.000,516,0.000,0.041,2601,454,3246,3313,3179,0,0,0,0,0,0,26.71,25.98,26.72,8.55,48.89
$GC,717,-0.62,-244.4,2600,453,3313,3179,82.8,-11.4,80,727,0.00,2.10,0.00,0.000,1030,0.000,0.031,2594,1841,3246,3313,3179,0,0,0,0,0,0,26.17,26.14,26.21,8.56,48.62
$GC,847,-0.62,-244.4,2593,1841,3313,3179,96.6,-10.4,93,857,0.00,2.20,0.00,0.000,260,0.000,0.041,2583,3252,3246,3313,3179,0,0,0,0,0,0,26.71,26.00,26.72,8.56,48.66
$GC,916,-0.62,-244.4,2583,3252,3313,3179,103.3,-9.8,99,927,0.00,2.10,0.00,0.000,1030,0.000,0.028,2583,1842,3246,3313,3179,0,0,0,0,0,0,26.20,26.17,26.23,8.56,49.05
$GC,1107,-0.62,-244.4,2582,1842,3312,3179,122.7,-10.5,118,1118,0.00,2.17,0.00,0.000,516,0.000,0.041,2583,447,3246,3313,3179,0,0,0,0,0,0,26.71,25.97,26.72,8.57,48.74
$GC,1166,-0.62,-244.4,2583,447,3313,3179,128.8,-10.6,123,1174,0.10,2.17,0.00,0.000,3078,0.112,0.031,2610,1850,3246,3313,3179,0,0,0,0,0,0,25.86,26.15,25.93,8.57,48.89
$GC,1355,-0.62,-244.4,2609,1850,3313,3179,145.8,-8.9,142,1365,0.00,2.15,0.00,0.000,260,0.000,0.040,2602,3243,3246,3313,3179,0,0,0,0,0,0,26.71,25.98,26.72,8.57,48.85
$GC,1421,-0.67,-244.4,2602,3243,3313,3179,151.7,-9.0,148,1430,0.00,2.08,0.00,0.000,1030,0.000,0.028,2602,1845,3246,3313,3179,0,0,0,0,0,0,26.20,26.17,26.23,8.57,48.74
$STATE,1478,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1478,begin apogee
$GC,1482,-0.21,0.0,2602,1845,3312,3179,157.3,-9.4,154,1680,0.38,0.00,194.05,0.666,10246,0.090,0.000,2742,1845,2247,2379,2115,0,0,0,0,0,0,25.82,24.72,23.78,8.58,49.44
$STATE,1681,end apogee,CONTROL_FINISHED_OK
$STATE,1681,begin climb
$GC,1683,0.79,244.4,2742,1846,2379,2114,163.3,0.0,174,1893,0.85,0.00,203.73,0.644,10502,0.063,0.000,3052,1845,1249,1357,1141,0,0,0,0,0,0,25.32,24.68,23.83,8.49,46.88
$GC,2072,0.70,244.4,3052,1845,1356,1139,119.2,13.7,213,2081,0.00,2.20,0.00,0.000,516,0.000,0.042,3063,449,1247,1356,1139,0,0,0,0,0,0,26.49,25.89,26.50,8.41,46.88
$GC,2125,0.61,244.4,3062,449,1353,1139,111.3,14.8,218,2130,0.17,2.15,0.00,0.000,5126,0.112,0.028,3004,1849,1246,1354,1138,0,0,0,0,0,0,25.78,26.09,25.91,8.41,47.67
$GC,2320,0.61,244.4,3004,1850,1354,1138,91.0,10.1,237,2324,0.00,2.20,0.00,0.000,516,0.000,0.041,3012,450,1246,1354,1138,0,0,0,0,0,0,26.65,25.98,26.65,8.40,47.87
$GC,2354,0.61,244.4,3011,449,1354,1138,87.4,10.1,240,2362,0.00,2.15,0.00,0.000,1030,0.000,0.029,3012,1843,1246,1354,1138,0,0,0,0,0,0,26.22,26.17,26.24,8.41,48.38
$GC,2483,0.61,244.4,3011,1843,1354,1138,73.7,10.4,253,2487,0.00,2.20,0.00,0.000,516,0.000,0.042,3018,446,1245,1354,1137,0,0,0,0,0,0,26.68,26.00,26.69,8.40,48.70
$GC,2505,0.61,244.4,3017,446,1354,1138,71.4,10.6,255,2509,0.00,2.15,0.00,0.000,1030,0.000,0.028,3018,1855,1245,1354,1137,0,0,0,0,0,0,26.27,26.19,26.29,8.40,47.99
$GC,2638,0.61,244.4,3017,1855,1354,1137,56.9,10.5,268,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1855,1245,1354,1137,0,0,0,0,0,0,26.70,26.70,26.70,8.40,48.26
$GC,2758,0.61,244.4,3017,1855,1354,1137,45.0,10.3,280,2767,0.00,2.22,0.00,0.000,516,0.000,0.041,3026,448,1245,1354,1137,0,0,0,0,0,0,26.70,26.00,26.70,8.40,48.74
$GC,2782,0.61,244.4,3025,448,1354,1137,42.7,10.1,282,2791,0.00,2.10,0.00,0.000,1030,0.000,0.028,3026,1840,1245,1354,1137,0,0,0,0,0,0,26.23,26.20,26.27,8.40,48.50
$GC,2910,0.61,244.4,3025,1840,1354,1137,29.6,9.3,295,2915,0.00,2.20,0.00,0.000,516,0.000,0.041,3033,450,1245,1354,1137,0,0,0,0,0,0,26.70,25.99,26.71,8.39,47.95
$GC,2955,0.61,244.4,3032,449,1354,1137,25.4,10.0,299,2963,0.00,2.15,0.00,0.000,1030,0.000,0.028,3033,1850,1245,1354,1137,0,0,0,0,0,0,26.23,26.20,26.26,8.39,47.87
$GC,3088,0.61,244.4,3032,1850,1354,1137,13.9,8.4,318,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1850,1245,1354,1137,0,0,0,0,0,0,26.70,26.72,26.72,8.39,48.22
$GC,3160,0.70,330.3,3032,1850,1355,1137,8.3,7.6,331,3217,0.00,2.28,44.55,0.491,8708,0.000,0.041,3035,447,897,997,797,0,0,0,0,0,0,26.71,25.15,24.29,8.38,47.83
$STATE,3320,end climb,SURFACE_DEPTH_REACHED
$STATE,3320,begin surface coast
$FINISH,2.4,1.017666
$STATE,3444,end surface coast,CONTROL_FINISHED_OK
$STATE,3444,begin surface
$SM_CCo,3462,43.50,0.055,0,0,532,420.20
$SM_GC,2.33,7.38,2.17,43.50,0.029,0.028,0.055,193,1849,532,-8.06,-1.47,420.20,0,0,0,0,0,0,26.24,26.16,25.87
$IRIDIUM_FIX,4738.33,-12256.21,150218,191926
$TT8_MAMPS,0.026964,0.267393
$HUMID,47.28
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.3
$ALTIM_BOTTOM_PING,130.8,36.3
$24V_AH,23.78,84.500
$10V_AH,9.78,57.804
$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,18.125,47.550,442.325,43.500,0.000,0.000,0.000,186.600,2.500,0.000,32.833,940.116,1069.345,535.098,1161.439,115.821,0.000,1215.269,0.000,718.707,0.000,19.668,0.000
$DEVICE_MAMPS,192.780,42.075,665.550,55.080,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.047,824.385,501.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312120
$DATA_FILE_SIZE,28032,383
$CAP_FILE_SIZE,59520,0
$CFSIZE,2097872896,2054291456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,247.81,1
$GPS,150218,212639,4737.456,-12255.906,5,0.9,20,16.4,0.3,59.3,9,4.8