version: 66.14
glider: 195
mission: 15
dive: 448
start: 2 17 118 10 29 43
data:
$ID,195
$MISSION,15
$DIVE,448
$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,38
$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
$GPS1,170218,102412,4737.5327,-12255.6104,35,0.8,43,16.4,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-67.3
$GPS2,170218,102902,4737.5332,-12255.6260,9,0.9,18,16.4,0.0,0.0,10,5.0
$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,205.8,573,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,184,1846,519,441,0.0,0.0,0,45,0.00,0.00,-34.50,0.000,16386,0.000,0.000,184,1846,1343,1390,1296,0,0,0,0,0,0,26.58,28.83,26.58,8.29,48.11
$GC,49,-1.26,-127.5,184,1846,1390,1298,2.5,-3.3,5,106,8.52,2.25,-42.20,0.000,18948,0.195,0.050,2399,451,2770,2857,2683,0,0,0,0,0,0,24.87,23.87,25.06,8.37,48.42
$GC,140,-1.10,-127.5,2398,451,2858,2683,16.2,-24.2,19,148,0.17,2.15,0.00,0.000,3078,0.157,0.029,2452,1847,2771,2859,2683,0,0,0,0,0,0,25.38,26.12,25.59,8.50,47.08
$GC,217,-1.04,-127.5,2452,1847,2859,2683,33.2,-21.1,27,226,0.00,2.15,0.00,0.000,516,0.000,0.040,2452,456,2771,2859,2683,0,0,0,0,0,0,26.65,25.95,26.65,8.50,47.91
$GC,290,-0.97,-127.5,2452,456,2859,2683,47.5,-19.6,34,296,0.17,2.12,0.00,0.000,3078,0.150,0.030,2495,1848,2771,2859,2683,0,0,0,0,0,0,25.59,26.13,25.75,8.50,48.22
$GC,424,-0.97,-127.5,2495,1848,2858,2683,69.2,-16.3,47,434,0.00,2.15,0.00,0.000,260,0.000,0.040,2487,3237,2771,2859,2683,0,0,0,0,0,0,26.68,26.01,26.69,8.51,48.97
$GC,447,-0.97,-127.5,2486,3238,2859,2683,73.2,-17.0,49,456,0.00,2.08,0.00,0.000,1030,0.000,0.028,2487,1840,2771,2859,2683,0,0,0,0,0,0,26.22,26.14,26.25,8.51,48.42
$GC,577,-0.97,-127.5,2486,1840,2859,2683,93.5,-15.2,62,582,0.00,2.20,0.00,0.000,260,0.000,0.039,2476,3252,2771,2859,2683,0,0,0,0,0,0,26.69,26.01,26.70,8.52,48.93
$GC,610,-0.97,-127.5,2476,3252,2859,2683,98.9,-15.7,65,621,0.00,2.12,0.00,0.000,1030,0.000,0.028,2476,1832,2771,2859,2683,0,0,0,0,0,0,26.23,26.15,26.25,8.52,48.66
$GC,741,-0.97,-127.5,2475,1832,2859,2682,119.4,-15.8,78,746,0.00,2.17,0.00,0.000,516,0.000,0.041,2476,448,2771,2859,2683,0,0,0,0,0,0,26.69,25.96,26.70,8.52,49.56
$GC,777,-0.97,-127.5,2475,448,2859,2683,125.0,-16.1,81,787,0.10,2.15,0.00,0.000,3078,0.140,0.030,2496,1844,2771,2859,2683,0,0,0,0,0,0,25.75,26.14,25.82,8.52,48.97
$GC,966,-1.04,-127.5,2496,1844,2859,2683,153.7,-14.9,100,975,0.00,2.15,0.00,0.000,260,0.000,0.039,2487,3242,2771,2859,2683,0,0,0,0,0,0,26.70,26.00,26.70,8.53,49.05
$GC,1019,-1.12,-127.5,2487,3242,2858,2683,161.3,-14.5,105,1024,0.05,2.10,0.00,0.000,5126,0.129,0.028,2423,1837,2771,2859,2683,0,0,0,0,0,0,26.10,26.15,26.17,8.53,49.17
$STATE,1030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1030,begin apogee
$GC,1035,-0.21,0.0,2422,1837,2859,2683,163.2,-14.7,106,1143,1.00,0.00,103.22,0.673,10246,0.127,0.000,2739,1836,2246,2372,2120,0,0,0,0,0,0,25.20,24.84,23.91,8.53,48.81
$STATE,1144,end apogee,CONTROL_FINISHED_OK
$STATE,1145,begin climb
$GC,1146,1.26,127.5,2739,1836,2372,2120,166.6,0.0,117,1264,1.27,2.25,108.03,0.661,11012,0.059,0.039,3214,451,1725,1846,1604,0,0,0,0,0,0,25.41,24.36,23.80,8.49,47.79
$GC,1300,1.14,127.5,3213,451,1845,1603,149.2,20.5,132,1310,0.10,2.12,0.00,0.000,5126,0.155,0.030,3186,1839,1723,1845,1602,0,0,0,0,0,0,25.35,25.72,25.43,8.45,47.40
$GC,1491,1.07,127.5,3185,1839,1843,1600,107.6,22.0,151,1499,0.10,0.00,0.00,0.000,4102,0.168,0.000,3154,1841,1721,1843,1599,0,0,0,0,0,0,25.95,26.03,25.98,8.45,48.34
$GC,1679,1.07,127.5,3153,1841,1843,1598,70.6,19.1,170,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1841,1720,1843,1598,0,0,0,0,0,0,26.65,26.65,26.65,8.44,49.40
$GC,1800,1.07,127.5,3153,1840,1842,1597,49.4,18.2,182,1805,0.00,2.20,0.00,0.000,516,0.000,0.041,3161,445,1720,1843,1597,0,0,0,0,0,0,26.67,25.97,26.67,8.44,48.50
$GC,1825,1.07,127.5,3161,445,1841,1596,44.9,18.5,184,1833,0.00,2.15,0.00,0.000,1030,0.000,0.030,3162,1835,1718,1841,1596,0,0,0,0,0,0,26.20,26.16,26.21,8.44,48.85
$GC,1954,1.07,127.5,3161,1835,1841,1596,22.3,16.7,197,1963,0.00,2.17,0.00,0.000,516,0.000,0.041,3173,450,1718,1841,1596,0,0,0,0,0,0,26.68,25.98,26.69,8.43,48.38
$GC,1968,1.07,127.5,3172,449,1841,1596,21.1,15.6,198,1977,0.00,2.15,0.00,0.000,1030,0.000,0.030,3172,1841,1718,1841,1596,0,0,0,0,0,0,26.20,26.15,26.22,8.43,48.18
$GC,2104,1.12,186.2,3172,1841,1841,1596,5.7,3.8,223,2138,0.00,0.00,29.00,0.479,8454,0.000,0.000,3173,1841,1484,1593,1375,0,0,0,0,0,0,26.69,25.15,24.40,8.43,48.62
$GC,2204,1.22,277.0,3172,1840,1592,1374,6.5,0.4,240,2253,0.00,0.00,46.90,0.483,8710,0.000,0.000,3173,1841,1116,1211,1021,0,0,0,0,0,0,26.53,25.05,24.32,8.40,47.75
$STATE,2299,end climb,SURFACE_DEPTH_REACHED
$STATE,2299,begin surface coast
$FINISH,0.6,1.016398
$STATE,2348,end surface coast,CONTROL_FINISHED_OK
$STATE,2348,begin surface
$SM_CCo,2364,69.20,0.054,0,0,533,420.20
$SM_GC,1.90,7.78,0.00,69.20,0.028,0.000,0.054,173,1842,533,-8.08,-0.03,420.20,0,0,0,0,0,0,26.13,26.48,25.80
$IRIDIUM_FIX,4737.86,-12251.79,170218,092503
$TT8_MAMPS,0.026964,0.267393
$HUMID,47.16
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.8
$ALTIM_BOTTOM_PING,140.0,32.2
$24V_AH,23.80,87.484
$10V_AH,9.80,59.770
$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,19.275,38.850,287.150,69.200,0.000,0.000,0.000,203.050,3.250,0.000,19.869,683.970,685.163,406.908,877.997,99.647,0.000,974.373,0.000,507.050,0.000,25.678,0.000
$DEVICE_MAMPS,195.075,49.725,673.200,53.550,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.361,570.451,346.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,17552,265
$CAP_FILE_SIZE,49647,0
$CFSIZE,2097872896,2050654208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.064,232.82,1
$GPS,170218,111131,4737.230,-12256.034,7,0.9,33,16.4,0.0,0.0,9,4.5