version: 66.14
glider: 195
mission: 15
dive: 438
start: 2 17 118 0 52 36
data:
$ID,195
$MISSION,15
$DIVE,438
$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,45
$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
$GPS1,170218,004656,4737.3804,-12255.9541,24,0.8,47,16.4,0.3,39.8,10,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-70.3
$GPS2,170218,005157,4737.4170,-12255.9268,10,0.8,14,16.4,0.0,0.0,10,4.7
$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,48.0,1868,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.79,-244.4,178,1844,545,485,0.0,0.0,0,33,0.00,0.00,-21.15,0.000,16386,0.000,0.000,178,1844,1050,1107,993,0,0,0,0,0,0,26.58,28.83,26.58,8.29,47.67
$GC,35,-0.79,-244.4,178,1844,1107,993,2.1,-3.1,3,119,9.02,2.22,-66.78,0.000,18692,0.192,0.053,2542,3252,3245,3313,3177,0,0,0,0,0,0,24.89,25.53,25.29,8.34,47.75
$GC,346,-0.70,-244.4,2541,3252,3313,3178,46.5,-15.5,43,356,0.12,2.10,0.00,0.000,3078,0.106,0.028,2583,1837,3245,3313,3177,0,0,0,0,0,0,25.80,26.13,25.86,8.54,47.83
$GC,475,-0.70,-244.4,2583,1837,3314,3177,62.9,-12.4,56,478,0.00,2.17,0.00,0.000,516,0.000,0.041,2583,454,3245,3313,3178,0,0,0,0,0,0,26.70,25.92,26.70,8.55,48.38
$GC,509,-0.70,-244.4,2583,454,3313,3177,67.1,-12.6,59,517,0.00,2.15,0.00,0.000,1030,0.000,0.031,2577,1842,3245,3313,3177,0,0,0,0,0,0,26.15,26.11,26.17,8.55,48.62
$GC,637,-0.70,-244.4,2577,1842,3313,3177,83.4,-12.2,72,648,0.00,2.17,0.00,0.000,260,0.000,0.041,2567,3240,3245,3313,3178,0,0,0,0,0,0,26.70,25.97,26.71,8.55,49.17
$GC,682,-0.70,-244.4,2567,3240,3313,3177,88.8,-12.2,76,692,0.00,2.10,0.00,0.000,1030,0.000,0.028,2567,1841,3245,3313,3177,0,0,0,0,0,0,26.21,26.13,26.25,8.55,48.70
$GC,813,-0.70,-244.4,2567,1841,3313,3178,105.4,-12.4,89,823,0.00,2.15,0.00,0.000,516,0.000,0.041,2567,454,3245,3313,3178,0,0,0,0,0,0,26.67,25.92,26.67,8.56,49.64
$GC,859,-0.70,-244.4,2567,454,3313,3177,111.5,-13.2,93,868,0.00,2.10,0.00,0.000,1030,0.000,0.031,2558,1835,3245,3313,3177,0,0,0,0,0,0,26.15,26.11,26.17,8.56,48.93
$GC,1052,-0.70,-244.4,2558,1836,3313,3177,135.8,-12.6,112,1062,0.00,2.20,0.00,0.000,260,0.000,0.041,2549,3248,3245,3313,3178,0,0,0,0,0,0,26.67,25.96,26.67,8.57,48.74
$GC,1129,-0.70,-244.4,2549,3248,3313,3177,145.5,-11.7,119,1139,0.10,2.12,0.00,0.000,3078,0.109,0.028,2584,1845,3245,3313,3178,0,0,0,0,0,0,25.85,26.15,25.90,8.57,48.62
$STATE,1246,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1246,begin apogee
$GC,1251,-0.21,0.0,2584,1845,3313,3177,158.7,-10.7,131,1448,0.43,0.00,193.68,0.666,10246,0.092,0.000,2742,1844,2247,2379,2115,0,0,0,0,0,0,25.73,24.72,23.80,8.57,48.93
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1450,begin climb
$GC,1452,0.79,244.4,2741,1844,2378,2114,165.0,0.0,151,1670,0.85,2.25,204.45,0.646,10756,0.064,0.041,3060,457,1248,1354,1142,0,0,0,0,0,0,25.30,24.35,23.82,8.49,47.04
$GC,1694,0.69,244.4,3059,457,1354,1141,142.0,13.3,175,1705,0.00,2.17,0.00,0.000,1030,0.000,0.029,3060,1845,1247,1354,1141,0,0,0,0,0,0,25.75,25.67,25.77,8.41,46.81
$GC,1885,0.59,244.4,3060,1845,1353,1139,115.5,13.8,194,1887,0.17,0.00,0.00,0.000,4102,0.116,0.000,3002,1845,1247,1354,1140,0,0,0,0,0,0,25.91,26.05,26.00,8.40,47.91
$GC,2065,0.59,244.4,3001,1845,1354,1138,97.2,10.3,212,2075,0.00,2.20,0.00,0.000,516,0.000,0.042,3010,449,1246,1354,1138,0,0,0,0,0,0,26.63,25.95,26.65,8.41,48.93
$GC,2142,0.59,244.4,3010,449,1352,1138,89.4,10.7,219,2151,0.00,2.15,0.00,0.000,1030,0.000,0.030,3011,1839,1245,1352,1138,0,0,0,0,0,0,26.18,26.15,26.22,8.40,48.14
$GC,2271,0.59,244.4,3010,1839,1352,1137,75.5,10.6,232,2280,0.00,2.17,0.00,0.000,260,0.000,0.039,3010,3253,1245,1352,1138,0,0,0,0,0,0,26.67,26.02,26.68,8.40,48.89
$GC,2296,0.59,244.4,3010,3253,1352,1137,73.1,10.6,234,2304,0.00,2.15,0.00,0.000,1030,0.000,0.029,3012,1840,1245,1352,1138,0,0,0,0,0,0,26.17,26.13,26.20,8.40,48.18
$GC,2425,0.59,244.4,3011,1840,1352,1137,59.0,10.6,247,2435,0.00,2.17,0.00,0.000,516,0.000,0.043,3012,445,1245,1352,1138,0,0,0,0,0,0,26.69,25.95,26.69,8.40,48.66
$GC,2492,0.59,244.4,3011,445,1352,1137,52.3,9.9,253,2501,0.00,2.17,0.00,0.000,1030,0.000,0.029,3012,1850,1244,1352,1137,0,0,0,0,0,0,26.20,26.15,26.22,8.40,48.30
$GC,2621,0.59,244.4,3011,1850,1352,1137,39.5,9.9,266,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1850,1244,1352,1137,0,0,0,0,0,0,26.70,26.70,26.70,8.39,48.50
$GC,2741,0.59,244.4,3011,1850,1352,1137,28.5,9.0,278,2750,0.00,2.20,0.00,0.000,516,0.000,0.042,3017,453,1244,1352,1137,0,0,0,0,0,0,26.70,25.94,26.70,8.39,48.66
$GC,2797,0.59,244.4,3016,453,1352,1137,23.2,9.1,283,2806,0.00,2.15,0.00,0.000,1030,0.000,0.029,3016,1845,1244,1352,1137,0,0,0,0,0,0,26.20,26.16,26.22,8.38,48.11
$GC,2930,0.59,244.4,3016,1845,1352,1137,13.0,8.0,304,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1846,1244,1352,1137,0,0,0,0,0,0,26.70,26.71,26.71,8.38,48.26
$GC,3000,0.73,384.3,3016,1846,1352,1137,8.8,6.1,317,3076,0.00,0.00,73.47,0.490,8454,0.000,0.000,3016,1846,679,767,592,0,0,0,0,0,0,26.70,24.97,24.25,8.37,48.85
$STATE,3131,end climb,SURFACE_DEPTH_REACHED
$STATE,3131,begin surface coast
$FINISH,1.4,1.018544
$STATE,3179,end surface coast,CONTROL_FINISHED_OK
$STATE,3179,begin surface
$SM_CCo,3194,18.10,0.055,0,0,532,420.20
$SM_GC,2.20,7.38,0.00,18.10,0.028,0.000,0.055,187,1846,532,-8.07,0.06,420.20,0,0,0,0,0,0,26.08,26.48,25.77
$IRIDIUM_FIX,4738.33,-12256.21,160218,233850
$TT8_MAMPS,0.026964,0.247919
$HUMID,47.83
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.6
$ALTIM_BOTTOM_PING,135.8,32.0
$24V_AH,23.80,86.722
$10V_AH,9.83,59.291
$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,18.075,43.300,471.600,18.100,0.000,0.000,0.000,210.950,2.500,0.000,16.138,832.716,961.059,535.439,1101.721,108.801,0.000,1222.763,0.000,686.511,0.000,18.366,0.000
$DEVICE_MAMPS,192.015,52.785,666.315,55.080,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.989,748.972,455.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,24583,348
$CAP_FILE_SIZE,54559,0
$CFSIZE,2097872896,2051637248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,358.94,1
$GPS,170218,014704,4737.603,-12255.219,5,0.8,13,16.4,0.0,0.0,10,4.6