version: 66.14
glider: 195
mission: 15
dive: 420
start: 2 16 118 5 53 59
data:
$ID,195
$MISSION,15
$DIVE,420
$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,39
$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
$GPS1,160218,054825,4738.1333,-12254.3223,9,0.9,38,16.4,0.4,66.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-74.3
$GPS2,160218,055308,4738.1572,-12254.2412,7,0.9,15,16.4,0.4,65.6,9,4.3
$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,211.5,677,-13.4,-10.000,-17.56,3523
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.80,-236.0,182,1851,530,444,0.0,0.0,0,18,0.00,0.00,-7.18,0.000,16386,0.000,0.000,182,1851,676,729,624,0,0,0,0,0,0,26.60,28.83,26.61,8.29,48.11
$GC,21,-0.80,-236.0,182,1851,729,623,2.2,0.0,1,118,8.95,0.00,-83.43,0.000,18950,0.190,0.000,2547,1851,3212,3282,3142,0,0,0,0,0,0,25.00,24.39,25.18,8.31,48.14
$GC,183,-0.64,-236.0,2547,1851,3282,3143,18.5,-18.9,27,191,0.15,2.17,0.00,0.000,2308,0.136,0.038,2592,3249,3213,3283,3143,0,0,0,0,0,0,25.97,26.01,26.01,8.54,47.75
$GC,230,-0.56,-236.0,2592,3249,3283,3143,25.9,-14.5,32,240,0.10,2.10,0.00,0.000,3078,0.106,0.028,2627,1838,3213,3283,3143,0,0,0,0,0,0,25.89,26.15,25.94,8.53,48.07
$GC,360,-0.56,-236.0,2626,1837,3283,3143,40.3,-10.7,45,364,0.00,2.17,0.00,0.000,516,0.000,0.042,2627,447,3213,3283,3143,0,0,0,0,0,0,26.69,25.97,26.70,8.53,48.07
$GC,405,-0.56,-236.0,2626,447,3283,3143,45.0,-10.8,49,409,0.00,2.15,0.00,0.000,1030,0.000,0.031,2622,1849,3213,3283,3143,0,0,0,0,0,0,26.23,26.14,26.26,8.54,47.75
$GC,537,-0.56,-236.0,2621,1849,3282,3143,58.2,-9.7,62,547,0.00,2.17,0.00,0.000,260,0.000,0.041,2612,3248,3212,3282,3143,0,0,0,0,0,0,26.70,26.02,26.71,8.54,48.70
$GC,600,-0.61,-236.0,2611,3249,3283,3143,64.2,-9.6,68,610,0.00,2.10,0.00,0.000,1030,0.000,0.028,2612,1840,3212,3282,3143,0,0,0,0,0,0,26.20,26.17,26.23,8.54,48.81
$GC,730,-0.61,-236.0,2612,1840,3283,3143,77.3,-9.9,81,734,0.00,2.20,0.00,0.000,516,0.000,0.041,2612,447,3212,3282,3143,0,0,0,0,0,0,26.70,25.97,26.71,8.55,48.58
$GC,763,-0.61,-236.0,2611,446,3282,3143,80.7,-10.0,84,772,0.00,2.15,0.00,0.000,1030,0.000,0.031,2606,1848,3212,3282,3143,0,0,0,0,0,0,26.22,26.13,26.26,8.55,48.97
$GC,893,-0.61,-236.0,2606,1849,3282,3143,93.3,-9.5,97,897,0.00,2.20,0.00,0.000,260,0.000,0.041,2596,3256,3213,3283,3143,0,0,0,0,0,0,26.70,26.01,26.72,8.56,49.44
$GC,907,-0.61,-236.0,2595,3255,3282,3143,94.5,-9.6,98,915,0.00,2.15,0.00,0.000,1030,0.000,0.028,2596,1836,3212,3282,3143,0,0,0,0,0,0,26.20,26.17,26.23,8.56,49.17
$GC,1036,-0.61,-236.0,2595,1836,3283,3143,107.8,-10.2,111,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1836,3212,3282,3143,0,0,0,0,0,0,26.70,26.72,26.71,8.56,49.21
$GC,1217,-0.61,-236.0,2595,1836,3283,3143,126.1,-10.3,129,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1836,3212,3282,3143,0,0,0,0,0,0,26.70,26.71,26.71,8.56,49.68
$GC,1396,-0.61,-236.0,2595,1836,3282,3143,144.2,-10.0,147,1401,0.00,2.22,0.00,0.000,260,0.000,0.041,2587,3256,3212,3282,3143,0,0,0,0,0,0,26.71,26.01,26.72,8.57,49.29
$GC,1451,-0.61,-236.0,2586,3256,3282,3143,149.5,-10.1,152,1459,0.00,2.15,0.00,0.000,1030,0.000,0.029,2587,1846,3212,3282,3143,0,0,0,0,0,0,26.19,26.16,26.22,8.57,49.33
$GC,1641,-0.83,-244.4,2586,1847,3282,3143,154.7,0.0,171,1651,0.08,2.20,0.00,0.000,4612,0.095,0.041,2530,445,3213,3283,3143,0,0,0,0,0,0,26.49,25.94,26.51,8.57,49.40
$STATE,1663,end dive,NO_VERTICAL_VELOCITY
$STATE,1663,begin apogee
$GC,1670,-0.21,0.0,2530,1847,3282,3143,154.8,0.0,173,1865,0.57,0.00,187.57,0.660,10246,0.057,0.000,2751,1847,2246,2378,2114,0,0,0,0,0,0,26.01,24.76,23.84,8.57,49.05
$STATE,1866,end apogee,CONTROL_FINISHED_OK
$STATE,1867,begin climb
$GC,1869,0.80,244.4,2751,1847,2379,2114,154.8,0.0,193,2079,0.85,0.00,203.65,0.639,10502,0.061,0.000,3063,1847,1248,1356,1141,0,0,0,0,0,0,25.39,24.71,23.86,8.49,47.04
$GC,2258,0.71,244.4,3062,1847,1355,1139,107.8,14.9,232,2268,0.00,2.20,0.00,0.000,516,0.000,0.042,3074,454,1247,1355,1139,0,0,0,0,0,0,26.49,25.89,26.50,8.40,47.59
$GC,2294,0.62,244.4,3073,454,1354,1138,102.5,15.0,235,2303,0.17,2.15,0.00,0.000,5126,0.106,0.030,3014,1838,1246,1354,1139,0,0,0,0,0,0,25.73,26.08,25.79,8.41,47.99
$GC,2483,0.62,244.4,3014,1838,1354,1137,81.2,10.5,254,2487,0.00,2.20,0.00,0.000,516,0.000,0.042,3022,450,1245,1354,1137,0,0,0,0,0,0,26.64,25.98,26.65,8.41,47.95
$GC,2538,0.62,244.4,3021,449,1354,1137,75.4,10.8,259,2546,0.00,2.15,0.00,0.000,1030,0.000,0.030,3022,1843,1245,1354,1137,0,0,0,0,0,0,26.20,26.17,26.23,8.40,48.26
$GC,2667,0.62,244.4,3021,1843,1354,1137,61.0,11.0,272,2677,0.00,2.17,0.00,0.000,516,0.000,0.042,3030,455,1245,1354,1137,0,0,0,0,0,0,26.67,25.98,26.68,8.40,48.26
$GC,2701,0.62,244.4,3029,454,1354,1137,57.5,10.7,275,2710,0.00,2.10,0.00,0.000,1030,0.000,0.029,3030,1837,1245,1354,1137,0,0,0,0,0,0,26.22,26.17,26.25,8.40,48.50
$GC,2830,0.62,244.4,3029,1837,1354,1137,42.9,11.2,288,2841,0.00,2.20,0.00,0.000,260,0.000,0.039,3030,3257,1245,1354,1137,0,0,0,0,0,0,26.69,26.06,26.70,8.40,48.11
$GC,2865,0.62,244.4,3029,3257,1354,1137,39.2,11.2,291,2874,0.00,2.10,0.00,0.000,1030,0.000,0.029,3037,1848,1245,1354,1136,0,0,0,0,0,0,26.20,26.17,26.23,8.40,48.30
$GC,2994,0.62,244.4,3037,1848,1354,1136,25.0,10.5,304,3004,0.00,2.20,0.00,0.000,516,0.000,0.042,3046,448,1245,1354,1137,0,0,0,0,0,0,26.70,25.99,26.70,8.39,47.87
$GC,3070,0.62,244.4,3046,448,1354,1137,17.3,9.2,313,3078,0.10,2.17,0.00,0.000,5126,0.102,0.030,3010,1855,1245,1354,1137,0,0,0,0,0,0,25.93,26.18,25.98,8.38,48.03
$GC,3144,0.78,359.8,3010,1855,1354,1137,11.9,6.6,326,3214,0.08,2.22,60.12,0.499,10500,0.095,0.039,3116,3253,777,868,686,0,0,0,0,0,0,26.51,25.13,24.30,8.38,47.59
$STATE,3225,end climb,SURFACE_DEPTH_REACHED
$STATE,3225,begin surface coast
$FINISH,0.7,1.016569
$STATE,3248,end surface coast,CONTROL_FINISHED_OK
$STATE,3248,begin surface
$SM_CCo,3266,30.12,0.059,0,0,533,420.20
$SM_GC,2.29,7.62,2.22,30.12,0.028,0.029,0.059,186,1836,533,-8.06,1.19,420.20,0,0,0,0,0,0,26.03,25.91,25.77
$IRIDIUM_FIX,4735.25,-12336.09,160218,045125
$TT8_MAMPS,0.026964,0.296604
$HUMID,46.88
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.8
$ALTIM_BOTTOM_PING,125.1,40.6
$24V_AH,23.84,85.244
$10V_AH,9.77,58.294
$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,18.675,56.450,451.350,30.125,0.000,0.000,0.000,196.425,2.250,0.000,16.646,852.463,1061.295,523.220,1070.962,112.675,0.000,1201.825,0.000,669.862,0.000,18.065,0.000
$DEVICE_MAMPS,190.485,42.075,660.195,58.905,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.896,736.205,447.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,24510,342
$CAP_FILE_SIZE,59348,0
$CFSIZE,2097872896,2053406720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,64.01,1
$GPS,160218,064950,4737.929,-12254.658,5,0.9,13,16.4,0.0,0.0,9,4.6