version: 66.14
glider: 195
mission: 15
dive: 560
start: 2 21 118 17 20 54
data:
$ID,195
$MISSION,15
$DIVE,560
$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,42
$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
$GPS1,210218,171545,4738.0972,-12253.1748,9,1.0,33,16.3,0.3,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.2
$GPS2,210218,172001,4738.0898,-12253.1338,6,1.0,31,16.3,0.2,0.0,10,4.7
$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,319.3,624,-13.4,-10.000,-17.56,3523
$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,-0.80,-236.0,173,1841,531,449,0.0,0.0,0,54,0.00,0.00,-42.30,0.000,16386,0.000,0.000,173,1841,1504,1565,1444,0,0,0,0,0,0,26.54,28.83,26.55,8.30,48.89
$GC,57,-0.80,-244.4,173,1841,1566,1445,2.0,-0.6,6,135,9.07,2.28,-62.90,0.000,18948,0.192,0.051,2544,448,3246,3315,3177,0,0,0,0,0,0,24.82,23.70,25.21,8.39,48.77
$GC,180,-0.68,-244.4,2544,448,3316,3178,12.3,-17.4,25,189,0.15,2.17,0.00,0.000,3078,0.119,0.032,2600,1836,3247,3316,3178,0,0,0,0,0,0,25.44,25.93,25.59,8.54,48.11
$GC,253,-0.68,-244.4,2599,1836,3316,3178,24.8,-14.8,35,263,0.00,2.22,0.00,0.000,260,0.000,0.041,2592,3252,3247,3316,3178,0,0,0,0,0,0,26.59,25.77,26.60,8.54,48.14
$GC,298,-0.68,-244.4,2591,3252,3316,3178,30.7,-13.5,39,307,0.00,2.12,0.00,0.000,1030,0.000,0.028,2592,1838,3247,3316,3178,0,0,0,0,0,0,26.01,25.96,26.03,8.54,48.62
$GC,427,-0.68,-244.4,2591,1838,3316,3178,48.3,-13.2,52,431,0.00,2.20,0.00,0.000,516,0.000,0.041,2592,448,3247,3316,3178,0,0,0,0,0,0,26.61,25.72,26.62,8.54,48.62
$GC,452,-0.68,-244.4,2591,447,3316,3178,51.5,-13.6,54,460,0.00,2.17,0.00,0.000,1030,0.000,0.031,2583,1839,3247,3316,3178,0,0,0,0,0,0,25.98,25.94,26.01,8.54,49.13
$GC,580,-0.68,-244.4,2582,1839,3316,3178,68.6,-13.1,67,584,0.00,2.20,0.00,0.000,260,0.000,0.041,2573,3246,3247,3316,3178,0,0,0,0,0,0,26.62,25.77,26.63,8.55,49.84
$GC,625,-0.68,-244.4,2572,3247,3316,3178,74.0,-12.8,71,633,0.00,2.15,0.00,0.000,1030,0.000,0.028,2573,1843,3247,3316,3178,0,0,0,0,0,0,26.01,25.98,26.04,8.55,49.64
$GC,752,-0.68,-244.4,2572,1843,3316,3178,91.4,-13.6,84,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1844,3247,3316,3178,0,0,0,0,0,0,26.62,26.63,26.63,8.56,50.27
$GC,872,-0.68,-244.4,2572,1843,3316,3178,106.9,-12.4,96,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1843,3247,3316,3178,0,0,0,0,0,0,26.62,26.63,26.63,8.56,50.23
$GC,1052,-0.68,-244.4,2572,1844,3316,3178,129.2,-12.4,114,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1843,3247,3316,3178,0,0,0,0,0,0,26.63,26.63,26.63,8.57,50.82
$GC,1234,-0.68,-244.4,2572,1843,3316,3178,151.5,-12.5,132,1238,0.00,2.17,0.00,0.000,260,0.000,0.040,2564,3248,3247,3316,3178,0,0,0,0,0,0,26.63,25.76,26.63,8.58,50.35
$STATE,1265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1265,begin apogee
$GC,1273,-0.21,0.0,2563,1839,3316,3178,155.8,-12.4,135,1469,0.50,0.00,191.57,0.666,10246,0.094,0.000,2741,1839,2246,2379,2113,0,0,0,0,0,0,25.44,24.84,24.00,8.58,49.92
$STATE,1470,end apogee,CONTROL_FINISHED_OK
$STATE,1470,begin climb
$GC,1473,0.80,244.4,2741,1839,2379,2113,163.0,0.0,155,1689,0.88,2.25,201.90,0.650,11012,0.067,0.040,3067,455,1248,1355,1141,0,0,0,0,0,0,25.17,24.49,23.98,8.49,48.58
$GC,1705,0.70,244.4,3066,455,1355,1140,140.8,14.1,178,1713,0.00,2.20,0.00,0.000,1030,0.000,0.028,3066,1840,1247,1354,1140,0,0,0,0,0,0,25.56,25.53,25.58,8.41,47.00
$GC,1895,0.60,244.4,3066,1840,1355,1139,111.5,15.6,197,1902,0.20,0.00,0.00,0.000,4102,0.114,0.000,3000,1840,1247,1355,1139,0,0,0,0,0,0,25.74,25.89,25.83,8.41,48.85
$GC,2083,0.60,244.4,3000,1840,1355,1138,91.7,9.6,216,2088,0.00,2.22,0.00,0.000,516,0.000,0.041,3009,448,1246,1354,1138,0,0,0,0,0,0,26.56,25.77,26.57,8.41,49.05
$GC,2149,0.60,244.4,3008,448,1353,1138,85.3,9.9,222,2156,0.00,2.17,0.00,0.000,1030,0.000,0.029,3009,1849,1245,1353,1138,0,0,0,0,0,0,26.04,26.01,26.07,8.41,49.25
$GC,2277,0.60,244.4,3008,1849,1353,1138,73.0,8.9,235,2286,0.00,2.22,0.00,0.000,516,0.000,0.041,3017,449,1245,1353,1138,0,0,0,0,0,0,26.60,25.77,26.60,8.41,49.72
$GC,2310,0.60,244.4,3016,449,1353,1138,70.0,9.1,238,2315,0.00,2.15,0.00,0.000,1030,0.000,0.028,3017,1851,1245,1353,1138,0,0,0,0,0,0,26.09,26.01,26.12,8.41,48.74
$GC,2443,0.60,244.4,3016,1851,1353,1138,57.3,9.8,251,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1851,1245,1353,1138,0,0,0,0,0,0,26.60,26.62,26.62,8.41,48.89
$GC,2563,0.60,244.4,3016,1851,1353,1138,45.2,10.0,263,2572,0.00,2.20,0.00,0.000,516,0.000,0.041,3024,457,1245,1353,1138,0,0,0,0,0,0,26.61,25.75,26.62,8.40,49.52
$GC,2618,0.60,244.4,3023,457,1353,1138,40.5,9.0,268,2626,0.00,2.15,0.00,0.000,1030,0.000,0.028,3024,1844,1245,1353,1138,0,0,0,0,0,0,26.04,26.00,26.06,8.40,48.81
$GC,2747,0.60,244.4,3023,1844,1353,1138,29.4,8.6,281,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1844,1245,1353,1138,0,0,0,0,0,0,26.62,26.63,26.63,8.39,49.64
$GC,2868,0.67,318.4,3023,1844,1353,1138,19.4,7.9,293,2918,0.00,2.22,40.97,0.532,8708,0.000,0.040,3025,455,947,1038,856,0,0,0,0,0,0,26.58,24.92,24.46,8.39,49.56
$GC,2964,0.85,434.9,3025,455,1038,854,13.0,6.6,308,3033,0.10,2.17,59.33,0.500,11270,0.044,0.028,3127,1856,495,534,457,0,0,0,0,0,0,25.84,25.90,24.35,8.35,49.21
$STATE,3045,end climb,SURFACE_DEPTH_REACHED
$STATE,3045,begin surface coast
$FINISH,0.8,1.005422
$STATE,3069,end surface coast,CONTROL_FINISHED_OK
$STATE,3069,begin surface
$SM_CCo,3146,0.00,0.000,0,0,487,431.48
$SM_GC,1.81,7.68,0.00,0.00,0.027,0.000,0.000,172,1857,487,-8.09,0.40,431.48,0,0,0,0,0,0,25.92,26.26,25.96
$IRIDIUM_FIX,4735.92,-12247.38,210218,163416
$TT8_MAMPS,0.026964,0.265895
$HUMID,47.99
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,140.4,24.5
$24V_AH,23.70,96.773
$10V_AH,9.83,64.996
$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,18.575,43.850,493.775,0.000,0.000,0.000,0.000,160.350,2.750,0.000,32.967,782.533,1055.172,496.996,997.479,114.419,0.000,1123.498,0.000,629.701,0.000,19.950,0.000
$DEVICE_MAMPS,192.015,51.255,666.315,0.000,0.000,0.000,0.000,73.440,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.087,697.458,423.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312064
$DATA_FILE_SIZE,21047,324
$CAP_FILE_SIZE,52833,0
$CFSIZE,2097872896,2039644160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,77.07,1
$GPS,210218,181422,4738.609,-12253.230,8,1.0,22,16.4,0.2,339.4,9,5.0