version: 66.14
glider: 195
mission: 15
dive: 547
start: 2 21 118 4 41 13
data:
$ID,195
$MISSION,15
$DIVE,547
$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
$GPS1,210218,043549,4738.0430,-12253.9336,8,1.1,15,16.4,0.0,0.0,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.3
$GPS2,210218,044033,4738.0342,-12253.9395,6,1.0,17,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$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,37.1,1159,-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,-244.4,167,1846,551,486,0.0,0.0,0,59,0.00,0.00,-48.20,0.000,16386,0.000,0.000,167,1846,1686,1741,1632,0,0,0,0,0,0,26.52,28.83,26.53,8.30,48.11
$GC,63,-0.79,-244.4,167,1846,1742,1633,2.2,-2.0,7,132,9.12,2.25,-50.22,0.000,19204,0.194,0.051,2541,3249,3245,3311,3179,0,0,0,0,0,0,24.90,23.72,25.28,8.40,48.62
$GC,172,-0.66,-244.4,2541,3249,3312,3180,13.7,-19.4,24,180,0.15,2.15,0.00,0.000,3078,0.108,0.028,2591,1837,3246,3312,3180,0,0,0,0,0,0,25.59,25.98,25.76,8.54,48.14
$GC,245,-0.66,-244.4,2590,1838,3312,3180,25.3,-15.9,34,254,0.00,2.15,0.00,0.000,516,0.000,0.039,2591,454,3246,3312,3180,0,0,0,0,0,0,26.60,25.77,26.60,8.54,48.18
$GC,320,-0.66,-244.4,2591,454,3312,3180,36.4,-14.0,41,331,0.00,2.15,0.00,0.000,1030,0.000,0.031,2585,1857,3246,3312,3180,0,0,0,0,0,0,26.00,25.96,26.05,8.54,48.50
$GC,450,-0.66,-244.4,2584,1857,3312,3180,53.7,-13.1,54,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1858,3246,3312,3180,0,0,0,0,0,0,26.63,26.63,26.63,8.55,49.09
$GC,570,-0.66,-244.4,2584,1858,3312,3180,68.6,-12.3,66,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1858,3246,3312,3180,0,0,0,0,0,0,26.63,26.64,26.64,8.55,49.17
$GC,691,-0.66,-244.4,2584,1858,3312,3180,83.2,-12.0,78,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1857,3246,3312,3180,0,0,0,0,0,0,26.64,26.65,26.64,8.55,49.21
$GC,811,-0.66,-244.4,2584,1857,3312,3180,97.4,-11.9,90,821,0.00,2.17,0.00,0.000,260,0.000,0.039,2575,3252,3246,3312,3180,0,0,0,0,0,0,26.64,25.79,26.65,8.55,49.25
$GC,878,-0.66,-244.4,2574,3252,3312,3180,105.3,-11.3,96,888,0.00,2.10,0.00,0.000,1030,0.000,0.027,2575,1851,3246,3312,3180,0,0,0,0,0,0,26.02,25.98,26.05,8.56,49.72
$GC,1069,-0.66,-244.4,2574,1851,3311,3180,128.4,-12.0,115,1078,0.00,2.20,0.00,0.000,516,0.000,0.040,2575,454,3246,3312,3180,0,0,0,0,0,0,26.64,25.74,26.65,8.56,50.39
$GC,1159,-0.66,-244.4,2574,454,3312,3180,139.1,-11.4,123,1173,0.00,2.12,0.00,0.000,1030,0.000,0.030,2567,1847,3246,3312,3180,0,0,0,0,0,0,25.98,25.95,26.02,8.57,50.39
$GC,1354,-0.66,-244.4,2567,1847,3312,3180,163.1,-12.2,142,1364,0.10,2.15,0.00,0.000,2308,0.142,0.038,2595,3234,3246,3312,3180,0,0,0,0,0,0,26.13,25.74,26.14,8.58,50.03
$STATE,1367,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1367,begin apogee
$GC,1375,-0.21,0.0,2595,1831,3312,3180,164.5,-12.2,143,1575,0.40,0.00,195.12,0.652,10246,0.087,0.000,2743,1831,2246,2374,2119,0,0,0,0,0,0,25.61,24.84,24.01,8.57,49.76
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1578,0.79,244.4,2742,1830,2374,2118,167.2,0.0,163,1795,0.85,0.00,204.98,0.630,11014,0.058,0.000,3056,1830,1248,1352,1145,0,0,0,0,0,0,25.25,24.47,23.98,8.49,47.91
$GC,1975,0.70,244.4,3055,1830,1351,1139,124.5,14.1,203,1985,0.00,2.17,0.00,0.000,516,0.000,0.041,3065,457,1245,1351,1139,0,0,0,0,0,0,26.44,25.71,26.44,8.41,48.03
$GC,2042,0.60,244.4,3065,457,1350,1139,115.5,13.7,209,2051,0.17,2.15,0.00,0.000,5126,0.104,0.029,3006,1838,1244,1350,1139,0,0,0,0,0,0,25.58,25.97,25.65,8.41,48.81
$GC,2232,0.60,244.4,3006,1838,1350,1138,95.3,10.3,228,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1838,1244,1350,1138,0,0,0,0,0,0,26.58,26.59,26.59,8.41,48.93
$GC,2360,0.60,244.4,3005,1838,1350,1138,82.5,9.9,241,2365,0.00,2.20,0.00,0.000,516,0.000,0.041,3013,455,1244,1350,1138,0,0,0,0,0,0,26.60,25.78,26.61,8.41,48.97
$GC,2395,0.60,244.4,3013,455,1350,1138,79.2,9.9,244,2404,0.00,2.10,0.00,0.000,1030,0.000,0.028,3013,1852,1244,1350,1138,0,0,0,0,0,0,26.06,26.03,26.10,8.41,49.21
$GC,2523,0.60,244.4,3013,1852,1350,1138,66.4,9.7,257,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1852,1244,1350,1138,0,0,0,0,0,0,26.62,26.63,26.63,8.40,49.01
$GC,2643,0.60,244.4,3013,1852,1350,1138,54.9,9.6,269,2648,0.00,2.22,0.00,0.000,516,0.000,0.041,3021,453,1244,1350,1138,0,0,0,0,0,0,26.63,25.77,26.63,8.40,49.13
$GC,2707,0.60,244.4,3020,453,1350,1138,48.6,10.1,275,2712,0.00,2.10,0.00,0.000,1030,0.000,0.028,3021,1847,1244,1350,1138,0,0,0,0,0,0,26.10,26.03,26.13,8.40,49.25
$GC,2840,0.60,244.4,3020,1847,1350,1138,35.5,9.8,288,2850,0.00,2.20,0.00,0.000,516,0.000,0.041,3028,457,1244,1350,1138,0,0,0,0,0,0,26.63,25.76,26.64,8.39,49.13
$GC,2864,0.60,244.4,3027,455,1349,1138,33.4,9.5,290,2873,0.00,2.10,0.00,0.000,1030,0.000,0.028,3027,1839,1244,1350,1138,0,0,0,0,0,0,26.05,26.02,26.08,8.39,49.64
$GC,2994,0.60,244.4,3027,1839,1350,1138,22.1,8.4,303,2998,0.00,2.17,0.00,0.000,516,0.000,0.041,3035,455,1243,1350,1137,0,0,0,0,0,0,26.63,25.75,26.64,8.38,49.84
$GC,3053,0.60,244.4,3034,455,1350,1137,16.9,9.5,311,3060,0.00,2.15,0.00,0.000,1030,0.000,0.028,3035,1843,1243,1350,1137,0,0,0,0,0,0,26.05,26.02,26.08,8.38,49.33
$GC,3124,0.70,342.6,3034,1843,1350,1137,10.9,7.2,324,3181,0.00,2.28,50.47,0.490,8452,0.000,0.037,3035,3249,843,918,769,0,0,0,0,0,0,26.63,25.22,24.44,8.38,49.29
$GC,3219,0.82,459.0,3034,3249,918,765,4.5,6.7,339,3243,0.00,2.17,18.38,0.448,9218,0.000,0.028,3040,1844,692,776,608,0,0,0,0,0,0,25.88,25.84,25.91,8.34,48.50
$STATE,3244,end climb,SURFACE_DEPTH_REACHED
$STATE,3244,begin surface coast
$FINISH,0.7,1.012232
$STATE,3281,end surface coast,CONTROL_FINISHED_OK
$STATE,3281,begin surface
$SM_CCo,3297,19.98,0.053,0,0,533,420.20
$SM_GC,1.41,7.40,0.00,19.98,0.025,0.000,0.053,179,1844,533,-8.06,0.03,420.20,0,0,0,0,0,0,26.01,26.37,25.71
$IRIDIUM_FIX,4738.33,-12256.21,210218,033756
$TT8_MAMPS,0.026964,0.244174
$HUMID,48.26
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.3
$ALTIM_BOTTOM_PING,140.2,32.9
$24V_AH,23.72,95.637
$10V_AH,9.86,64.349
$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,18.200,47.650,468.950,19.975,0.000,0.000,0.000,188.425,3.000,0.000,19.113,842.102,1054.886,520.810,1080.657,131.430,0.000,1204.318,0.000,681.323,0.000,22.738,0.000
$DEVICE_MAMPS,193.545,51.255,651.780,52.785,0.000,0.000,0.000,82.620,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.706,751.391,456.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312104
$DATA_FILE_SIZE,24522,349
$CAP_FILE_SIZE,57539,0
$CFSIZE,2097872896,2040922112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1455.45,0x2367b8,2,24
$CURRENT,0.040,60.34,1
$GPS,210218,053904,4738.353,-12253.247,92,0.8,111,16.4,0.5,70.0,10,5.0