version: 66.14
glider: 195
mission: 15
dive: 480
start: 2 18 118 15 55 31
data:
$ID,195
$MISSION,15
$DIVE,480
$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,48
$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
$GPS1,180218,154953,4738.2886,-12253.6396,39,0.8,43,16.4,0.3,58.4,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.4
$GPS2,180218,155451,4738.2993,-12253.5869,5,1.1,15,16.4,0.0,0.0,9,4.9
$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,222.4,1481,-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,6,begin dive
$GC,9,-0.79,-244.4,184,1846,555,485,0.0,0.0,0,59,0.00,0.00,-48.05,0.000,16386,0.000,0.000,184,1846,1670,1728,1612,0,0,0,0,0,0,26.56,28.83,26.57,8.30,47.55
$GC,62,-0.79,-244.4,184,1846,1729,1613,2.4,-3.0,7,126,9.10,2.28,-48.80,0.000,18948,0.197,0.051,2551,445,3245,3313,3178,0,0,0,0,0,0,24.96,23.80,25.35,8.41,48.34
$GC,173,-0.69,-244.4,2550,444,3316,3179,15.4,-18.8,24,181,0.12,2.17,0.00,0.000,3078,0.121,0.033,2584,1838,3247,3315,3179,0,0,0,0,0,0,25.68,26.04,25.89,8.54,48.30
$GC,250,-0.63,-244.4,2584,1839,3315,3179,27.3,-13.9,33,254,0.00,2.22,0.00,0.000,260,0.000,0.041,2576,3253,3247,3315,3179,0,0,0,0,0,0,26.65,25.91,26.65,8.55,48.11
$GC,312,-0.63,-244.4,2576,3253,3315,3179,36.2,-13.6,39,318,0.10,2.12,0.00,0.000,3078,0.125,0.028,2609,1840,3247,3315,3179,0,0,0,0,0,0,25.89,26.09,25.98,8.54,47.83
$GC,446,-0.63,-244.4,2608,1840,3315,3179,51.6,-11.2,52,456,0.00,2.17,0.00,0.000,516,0.000,0.041,2609,453,3247,3315,3179,0,0,0,0,0,0,26.67,25.91,26.67,8.55,48.38
$GC,502,-0.63,-244.4,2609,453,3315,3179,57.6,-11.4,57,509,0.00,2.15,0.00,0.000,1030,0.000,0.032,2605,1840,3247,3315,3179,0,0,0,0,0,0,26.11,26.08,26.15,8.55,48.46
$GC,629,-0.63,-244.4,2604,1840,3315,3179,72.5,-11.7,70,639,0.00,2.20,0.00,0.000,260,0.000,0.041,2594,3250,3247,3315,3179,0,0,0,0,0,0,26.67,25.92,26.69,8.55,49.09
$GC,675,-0.63,-244.4,2594,3251,3315,3179,77.5,-11.5,74,683,0.00,2.15,0.00,0.000,1030,0.000,0.029,2594,1842,3246,3314,3179,0,0,0,0,0,0,26.14,26.10,26.15,8.55,49.33
$GC,803,-0.63,-244.4,2594,1842,3315,3179,92.5,-11.1,87,807,0.00,2.20,0.00,0.000,516,0.000,0.041,2594,450,3247,3315,3179,0,0,0,0,0,0,26.68,25.89,26.69,8.56,49.09
$GC,826,-0.63,-244.4,2594,449,3314,3179,95.2,-12.0,89,830,0.00,2.15,0.00,0.000,1030,0.000,0.031,2586,1849,3247,3315,3179,0,0,0,0,0,0,26.16,26.06,26.20,8.55,48.93
$GC,959,-0.63,-244.4,2585,1849,3315,3179,110.6,-11.3,102,969,0.00,2.17,0.00,0.000,260,0.000,0.041,2579,3247,3246,3314,3179,0,0,0,0,0,0,26.64,25.92,26.65,8.57,49.48
$GC,1014,-0.63,-244.4,2579,3247,3315,3179,116.5,-10.8,107,1019,0.00,2.12,0.00,0.000,1030,0.000,0.028,2579,1834,3247,3315,3179,0,0,0,0,0,0,26.17,26.09,26.21,8.56,49.64
$GC,1210,-0.63,-244.4,2578,1833,3315,3179,138.3,-11.6,126,1215,0.00,2.17,0.00,0.000,516,0.000,0.041,2579,453,3247,3315,3179,0,0,0,0,0,0,26.68,25.87,26.69,8.57,49.37
$GC,1238,-0.63,-244.4,2578,453,3315,3179,141.1,-11.3,128,1246,0.10,2.17,0.00,0.000,3078,0.114,0.032,2605,1848,3247,3315,3179,0,0,0,0,0,0,25.77,26.06,25.82,8.57,49.44
$GC,1427,-0.63,-244.4,2604,1849,3315,3179,160.1,-9.7,147,1431,0.00,2.20,0.00,0.000,260,0.000,0.041,2597,3251,3247,3315,3179,0,0,0,0,0,0,26.68,25.90,26.69,8.57,49.68
$STATE,1470,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1470,begin apogee
$GC,1477,-0.21,0.0,2597,1845,3315,3179,164.5,-10.2,151,1681,0.40,0.00,194.93,0.660,10246,0.092,0.000,2744,1844,2246,2377,2116,0,0,0,0,0,0,25.72,24.41,23.89,8.57,49.64
$STATE,1682,end apogee,CONTROL_FINISHED_OK
$STATE,1682,begin climb
$GC,1684,0.79,244.4,2743,1844,2377,2115,167.2,0.0,172,1903,0.85,2.30,203.93,0.643,11012,0.065,0.042,3060,454,1248,1354,1143,0,0,0,0,0,0,25.29,24.82,23.89,8.49,47.99
$GC,1930,0.70,244.4,3059,453,1354,1141,144.7,13.3,196,1938,0.00,2.20,0.00,0.000,1030,0.000,0.030,3060,1847,1246,1353,1140,0,0,0,0,0,0,25.71,25.68,25.74,8.41,47.32
$GC,2118,0.61,244.4,3059,1847,1353,1139,118.5,12.8,215,2126,0.15,0.00,0.00,0.000,4102,0.119,0.000,3011,1847,1246,1353,1139,0,0,0,0,0,0,25.96,26.07,26.03,8.41,47.99
$GC,2307,0.61,244.4,3010,1847,1353,1138,99.4,9.6,234,2312,0.00,2.22,0.00,0.000,516,0.000,0.042,3018,449,1245,1353,1138,0,0,0,0,0,0,26.62,25.91,26.63,8.41,48.85
$GC,2373,0.61,244.4,3018,449,1352,1138,92.8,10.3,240,2381,0.00,2.15,0.00,0.000,1030,0.000,0.031,3018,1839,1245,1352,1138,0,0,0,0,0,0,26.14,26.11,26.17,8.41,48.14
$GC,2501,0.61,244.4,3018,1838,1351,1137,79.1,10.6,253,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1838,1244,1352,1137,0,0,0,0,0,0,26.65,26.67,26.66,8.40,48.81
$GC,2621,0.61,244.4,3018,1838,1352,1137,66.6,10.5,265,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1838,1244,1352,1137,0,0,0,0,0,0,26.66,26.67,26.67,8.40,48.89
$GC,2741,0.61,244.4,3018,1838,1352,1137,55.1,9.2,277,2751,0.00,2.20,0.00,0.000,516,0.000,0.042,3027,442,1244,1352,1137,0,0,0,0,0,0,26.67,25.92,26.68,8.40,48.42
$GC,2805,0.61,244.4,3026,441,1352,1137,48.5,10.4,283,2809,0.00,2.15,0.00,0.000,1030,0.000,0.031,3027,1844,1244,1352,1137,0,0,0,0,0,0,26.20,26.12,26.23,8.39,48.30
$GC,2937,0.61,244.4,3026,1844,1352,1137,35.6,9.6,296,2942,0.00,2.17,0.00,0.000,260,0.000,0.039,3027,3253,1244,1352,1137,0,0,0,0,0,0,26.67,25.98,26.68,8.39,48.85
$GC,2970,0.61,244.4,3026,3253,1352,1137,32.4,9.5,299,2980,0.00,2.12,0.00,0.000,1030,0.000,0.029,3033,1841,1244,1351,1137,0,0,0,0,0,0,26.19,26.10,26.22,8.39,48.93
$GC,3101,0.61,244.4,3032,1842,1352,1137,21.2,8.4,312,3105,0.00,2.20,0.00,0.000,516,0.000,0.042,3043,452,1244,1352,1137,0,0,0,0,0,0,26.67,25.90,26.68,8.39,48.62
$GC,3203,0.61,244.4,3042,452,1352,1137,13.0,8.0,329,3211,0.10,2.15,0.00,0.000,5126,0.093,0.031,3005,1845,1244,1351,1137,0,0,0,0,0,0,25.89,26.10,25.94,8.38,49.01
$GC,3276,0.87,429.4,3004,1844,1352,1136,8.8,4.8,342,3333,0.17,0.00,53.78,0.487,10498,0.050,0.000,3142,1845,822,909,736,0,0,0,0,0,0,26.44,28.83,26.44,8.38,48.89
$STATE,3334,end climb,SURFACE_DEPTH_REACHED
$STATE,3334,begin surface coast
$FINISH,0.5,1.010924
$STATE,3355,end surface coast,CONTROL_FINISHED_OK
$STATE,3356,begin surface
$SM_CCo,3372,34.92,0.052,0,0,533,420.20
$SM_GC,1.45,7.70,0.00,34.92,0.028,0.000,0.052,182,1846,533,-8.07,0.08,420.20,0,0,0,0,0,0,26.01,26.34,25.76
$IRIDIUM_FIX,4741.04,-12246.42,180218,145014
$TT8_MAMPS,0.026964,0.23968
$HUMID,47.91
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,141.1,33.2
$24V_AH,23.80,90.111
$10V_AH,9.85,61.283
$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,18.800,56.725,452.625,34.925,0.000,0.000,0.000,208.300,2.750,0.000,16.795,882.776,1093.193,518.156,1118.636,121.139,0.000,1217.968,0.000,692.089,0.000,19.974,0.000
$DEVICE_MAMPS,196.605,51.255,660.195,52.020,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.677,762.095,463.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312144
$DATA_FILE_SIZE,24584,354
$CAP_FILE_SIZE,61123,0
$CFSIZE,2097872896,2047508480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1582.75,0x2367b8,2,24
$CURRENT,0.077,58.21,1
$GPS,180218,165316,4738.143,-12254.080,5,0.9,16,16.4,0.0,111.0,10,5.0