version: 66.14
glider: 195
mission: 15
dive: 459
start: 2 17 118 21 6 10
data:
$ID,195
$MISSION,15
$DIVE,459
$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,58
$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
$GPS1,170218,210021,4738.0557,-12254.4951,7,0.8,31,16.4,0.9,49.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-57.7
$GPS2,170218,210519,4738.1387,-12254.3398,9,0.8,38,16.4,0.9,64.9,10,4.3
$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,206.6,574,-21.3,-10.000,-24.51,1557
$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,-0.99,-102.9,174,1828,520,441,0.0,0.0,0,58,0.00,0.00,-47.35,0.000,16386,0.000,0.000,174,1828,1628,1686,1570,0,0,0,0,0,0,26.59,28.83,26.60,8.29,47.71
$GC,61,-1.07,-185.1,174,1828,1687,1570,2.5,-4.6,7,118,8.68,2.20,-38.80,0.000,18948,0.190,0.051,2460,457,3005,3080,2930,0,0,0,0,0,0,24.89,23.87,25.08,8.40,48.46
$GC,126,-0.84,-185.1,2459,457,3080,2931,9.5,-15.0,16,134,0.25,2.15,0.00,0.000,3078,0.136,0.031,2538,1846,3005,3080,2931,0,0,0,0,0,0,25.37,26.08,25.58,8.53,47.99
$GC,198,-0.84,-185.1,2537,1846,3081,2931,20.6,-16.0,29,203,0.00,2.20,0.00,0.000,260,0.000,0.040,2529,3258,3006,3081,2931,0,0,0,0,0,0,26.64,25.96,26.65,8.53,47.51
$GC,224,-0.84,-185.1,2529,3258,3081,2931,24.3,-15.5,31,231,0.00,2.15,0.00,0.000,1030,0.000,0.028,2529,1848,3006,3081,2931,0,0,0,0,0,0,26.15,26.12,26.17,8.52,47.63
$GC,352,-0.84,-185.1,2528,1848,3081,2931,46.8,-17.8,44,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1848,3006,3081,2931,0,0,0,0,0,0,26.67,26.68,26.68,8.52,47.83
$GC,472,-0.84,-185.1,2528,1848,3081,2931,66.2,-16.4,56,481,0.00,2.17,0.00,0.000,260,0.000,0.040,2519,3249,3006,3081,2931,0,0,0,0,0,0,26.68,25.99,26.69,8.52,48.38
$GC,504,-0.84,-185.1,2519,3249,3081,2931,71.4,-16.0,59,509,0.00,2.12,0.00,0.000,1030,0.000,0.028,2519,1834,3006,3081,2931,0,0,0,0,0,0,26.22,26.13,26.25,8.53,49.21
$GC,637,-0.84,-185.1,2518,1834,3081,2931,92.6,-15.4,72,647,0.00,2.17,0.00,0.000,516,0.000,0.041,2519,451,3006,3081,2931,0,0,0,0,0,0,26.69,25.93,26.70,8.54,48.50
$GC,725,-0.84,-185.1,2518,451,3081,2931,106.5,-16.0,80,734,0.08,2.15,0.00,0.000,3078,0.137,0.031,2533,1840,3006,3081,2931,0,0,0,0,0,0,25.83,26.10,25.87,8.54,48.93
$GC,914,-0.90,-185.1,2533,1840,3081,2931,133.2,-13.7,99,918,0.00,2.20,0.00,0.000,260,0.000,0.040,2525,3249,3006,3081,2931,0,0,0,0,0,0,26.69,25.97,26.70,8.54,49.05
$GC,972,-0.95,-185.1,2525,3251,3081,2931,141.0,-14.5,104,980,0.00,2.15,0.00,0.000,1030,0.000,0.028,2525,1839,3006,3081,2931,0,0,0,0,0,0,26.16,26.13,26.19,8.54,49.52
$STATE,1068,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1068,begin apogee
$GC,1073,-0.21,0.0,2525,1838,3081,2931,155.8,-14.8,114,1230,0.62,0.00,147.77,0.660,10246,0.100,0.000,2741,1838,2247,2376,2119,0,0,0,0,0,0,25.54,24.40,23.88,8.54,49.44
$STATE,1231,end apogee,CONTROL_FINISHED_OK
$STATE,1231,begin climb
$GC,1233,1.07,185.1,2741,1838,2376,2119,157.3,0.0,130,1401,1.12,2.28,153.50,0.643,10500,0.074,0.038,3136,3256,1491,1604,1378,0,0,0,0,0,0,25.29,24.79,23.86,8.49,47.59
$GC,1436,1.17,185.1,3136,3256,1604,1378,148.2,8.1,150,1447,0.05,2.15,0.00,0.000,3078,0.069,0.030,3218,1849,1491,1605,1378,0,0,0,0,0,0,25.63,25.71,25.67,8.43,46.69
$GC,1628,0.97,185.1,3218,1849,1603,1378,108.0,26.0,169,1638,0.30,2.20,0.00,0.000,4612,0.139,0.040,3133,451,1490,1603,1377,0,0,0,0,0,0,25.49,25.68,25.58,8.42,48.03
$GC,1715,0.90,185.1,3132,451,1601,1375,89.9,18.5,177,1725,0.00,2.12,0.00,0.000,1030,0.000,0.029,3133,1848,1488,1601,1375,0,0,0,0,0,0,26.15,26.10,26.17,8.42,48.42
$GC,1844,0.84,185.1,3132,1848,1601,1374,67.0,17.2,190,1856,0.15,2.17,0.00,0.000,4612,0.133,0.039,3091,457,1488,1602,1374,0,0,0,0,0,0,25.97,25.96,26.01,8.42,48.97
$GC,1891,0.84,185.1,3090,456,1601,1373,59.9,15.5,194,1902,0.00,2.10,0.00,0.000,1030,0.000,0.029,3091,1842,1487,1601,1373,0,0,0,0,0,0,26.17,26.15,26.21,8.42,48.14
$GC,2021,0.84,185.1,3090,1843,1601,1374,41.5,13.7,207,2024,0.00,2.17,0.00,0.000,260,0.000,0.039,3091,3250,1487,1601,1373,0,0,0,0,0,0,26.67,26.01,26.67,8.42,48.77
$GC,2074,0.84,185.1,3090,3252,1602,1373,33.9,14.0,212,2084,0.00,2.12,0.00,0.000,1030,0.000,0.029,3098,1840,1487,1601,1373,0,0,0,0,0,0,26.22,26.13,26.25,8.42,48.85
$GC,2205,0.84,185.1,3098,1840,1601,1373,16.4,13.7,227,2213,0.00,2.22,0.00,0.000,516,0.000,0.042,3109,448,1487,1601,1373,0,0,0,0,0,0,26.68,25.96,26.69,8.41,48.77
$GC,2243,0.78,185.1,3108,448,1601,1373,12.2,10.4,233,2251,0.15,2.15,0.00,0.000,5126,0.108,0.028,3059,1857,1488,1602,1374,0,0,0,0,0,0,25.79,26.17,25.97,8.41,48.46
$GC,2317,1.01,302.8,3058,1857,1601,1373,8.9,2.3,246,2387,0.15,2.25,62.08,0.498,11012,0.055,0.039,3197,451,1008,1093,924,0,0,0,0,0,0,26.44,24.76,24.32,8.41,48.42
$STATE,2418,end climb,SURFACE_DEPTH_REACHED
$STATE,2418,begin surface coast
$FINISH,0.4,1.019614
$STATE,2451,end surface coast,CONTROL_FINISHED_OK
$STATE,2452,begin surface
$SM_CCo,2470,57.30,0.052,0,0,532,420.20
$SM_GC,1.14,7.90,2.20,57.30,0.032,0.032,0.052,177,1834,532,-8.07,-1.58,420.20,0,0,0,0,0,0,26.08,25.93,25.81
$IRIDIUM_FIX,4742.38,-12248.15,170218,195602
$TT8_MAMPS,0.026964,0.260652
$HUMID,46.88
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.8
$ALTIM_BOTTOM_PING,151.3,13.7
$24V_AH,23.86,88.422
$10V_AH,9.80,60.318
$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,19.450,47.825,363.350,57.300,0.000,0.000,0.000,185.250,3.750,0.000,39.883,687.686,693.486,459.132,924.335,100.951,0.000,1056.862,0.000,554.150,0.000,28.851,0.000
$DEVICE_MAMPS,190.485,51.255,660.195,52.020,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.937,576.975,350.124,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312112
$DATA_FILE_SIZE,17646,268
$CAP_FILE_SIZE,51919,0
$CFSIZE,2097872896,2049572864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067,42.13,1
$GPS,170218,214915,4738.017,-12254.576,4,0.9,15,16.4,0.7,61.2,9,4.9