version: 66.14
glider: 195
mission: 15
dive: 613
start: 2 23 118 19 25 11
data:
$ID,195
$MISSION,15
$DIVE,613
$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,43
$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
$GPS1,230218,191919,4738.1509,-12253.8281,10,0.8,39,16.4,0.3,60.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.2
$GPS2,230218,192429,4738.1772,-12253.6963,6,0.7,6,16.4,0.0,0.0,11,0.0
$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,225.2,1253,-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,-244.4,174,1848,546,487,0.0,0.0,0,60,0.00,0.00,-49.10,0.000,16386,0.000,0.000,174,1849,1701,1758,1645,0,0,0,0,0,0,26.46,28.83,26.47,8.29,48.34
$GC,64,-0.79,-244.4,174,1848,1758,1646,2.2,-1.7,7,128,9.07,2.28,-48.70,0.000,18948,0.194,0.050,2548,452,3245,3310,3180,0,0,0,0,0,0,24.90,23.62,25.27,8.40,48.22
$GC,143,-0.59,-244.4,2547,452,3311,3181,8.2,-13.6,18,151,0.25,2.17,0.00,0.000,3078,0.113,0.030,2619,1843,3246,3312,3181,0,0,0,0,0,0,25.25,25.84,25.32,8.54,48.26
$GC,215,-0.59,-244.4,2619,1844,3312,3181,18.3,-13.6,31,222,0.00,2.25,0.00,0.000,260,0.000,0.040,2612,3248,3246,3312,3181,0,0,0,0,0,0,26.53,25.63,26.53,8.53,48.62
$GC,261,-0.59,-244.4,2611,3248,3312,3181,24.3,-12.3,36,270,0.00,2.12,0.00,0.000,1030,0.000,0.027,2612,1835,3247,3313,3181,0,0,0,0,0,0,25.89,25.86,25.92,8.53,48.70
$GC,391,-0.59,-244.4,2612,1835,3312,3181,39.1,-10.7,49,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1835,3246,3312,3181,0,0,0,0,0,0,26.55,26.57,26.57,8.53,48.74
$GC,511,-0.59,-244.4,2611,1835,3312,3181,52.6,-11.0,61,516,0.00,2.20,0.00,0.000,516,0.000,0.040,2612,454,3246,3312,3181,0,0,0,0,0,0,26.57,25.53,26.58,8.54,49.68
$GC,537,-0.59,-244.4,2611,454,3312,3181,55.3,-11.0,63,544,0.00,2.17,0.00,0.000,1030,0.000,0.030,2604,1844,3246,3312,3181,0,0,0,0,0,0,25.84,25.81,25.87,8.54,49.48
$GC,665,-0.59,-244.4,2604,1845,3312,3181,69.9,-11.1,76,668,0.00,2.22,0.00,0.000,260,0.000,0.039,2594,3257,3246,3312,3181,0,0,0,0,0,0,26.57,25.58,26.58,8.55,50.47
$GC,727,-0.59,-244.4,2594,3258,3312,3181,76.8,-10.9,82,736,0.00,2.12,0.00,0.000,1030,0.000,0.027,2594,1842,3246,3312,3181,0,0,0,0,0,0,25.84,25.83,25.88,8.55,50.59
$GC,857,-0.59,-244.4,2593,1842,3311,3181,91.3,-11.0,95,862,0.00,2.22,0.00,0.000,516,0.000,0.040,2594,445,3246,3311,3181,0,0,0,0,0,0,26.57,25.51,26.58,8.55,50.43
$GC,910,-0.59,-244.4,2593,444,3311,3181,97.6,-12.0,100,920,0.10,2.15,0.00,0.000,3078,0.113,0.029,2619,1845,3246,3311,3181,0,0,0,0,0,0,25.47,25.79,25.51,8.56,50.51
$GC,1044,-0.59,-244.4,2618,1845,3312,3181,110.3,-9.2,113,1049,0.00,2.22,0.00,0.000,260,0.000,0.039,2611,3251,3246,3312,3181,0,0,0,0,0,0,26.55,25.55,26.56,8.56,50.55
$GC,1099,-0.65,-244.4,2611,3251,3312,3181,115.5,-8.9,118,1103,0.00,2.12,0.00,0.000,1030,0.000,0.027,2611,1839,3246,3312,3181,0,0,0,0,0,0,25.90,25.82,25.93,8.56,50.47
$GC,1293,-0.65,-244.4,2610,1839,3312,3181,134.3,-9.7,137,1303,0.00,2.17,0.00,0.000,516,0.000,0.040,2611,458,3246,3312,3181,0,0,0,0,0,0,26.58,25.48,26.58,8.57,50.90
$GC,1327,-0.65,-244.4,2611,458,3312,3181,138.0,-10.1,140,1332,0.00,2.15,0.00,0.000,1030,0.000,0.030,2604,1852,3246,3312,3181,0,0,0,0,0,0,25.85,25.77,25.89,8.57,50.98
$GC,1522,-0.65,-244.4,2603,1852,3311,3181,158.0,-9.9,159,1526,0.00,2.20,0.00,0.000,260,0.000,0.039,2594,3245,3246,3312,3181,0,0,0,0,0,0,26.58,25.53,26.58,8.58,50.03
$STATE,1543,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1543,begin apogee
$GC,1551,-0.21,0.0,2594,1844,3312,3181,160.6,-10.4,161,1748,0.40,0.00,193.27,0.656,10246,0.090,0.000,2740,1843,2246,2370,2122,0,0,0,0,0,0,25.42,24.84,24.08,8.57,50.27
$STATE,1749,end apogee,CONTROL_FINISHED_OK
$STATE,1749,begin climb
$GC,1753,0.79,244.4,2740,1843,2370,2121,162.0,0.0,181,1967,0.85,0.00,202.15,0.636,10502,0.038,0.000,3080,1843,1248,1350,1147,0,0,0,0,0,0,25.29,24.50,24.03,8.49,49.25
$GC,2147,0.68,244.4,3079,1844,1350,1143,113.3,14.9,221,2157,0.12,2.22,0.00,0.000,4612,0.132,0.039,3045,451,1246,1350,1143,0,0,0,0,0,0,25.77,25.58,25.79,8.41,48.46
$GC,2223,0.62,244.4,3045,451,1349,1141,103.2,12.5,228,2234,0.08,2.12,0.00,0.000,5126,0.112,0.028,3017,1842,1244,1349,1140,0,0,0,0,0,0,25.61,25.86,25.66,8.41,48.66
$GC,2414,0.62,244.4,3018,1842,1348,1140,82.8,10.1,247,2425,0.00,2.20,0.00,0.000,516,0.000,0.040,3026,451,1244,1349,1140,0,0,0,0,0,0,26.52,25.62,26.53,8.41,49.88
$GC,2449,0.62,244.4,3025,451,1349,1140,79.1,10.4,250,2459,0.00,2.12,0.00,0.000,1030,0.000,0.028,3025,1847,1244,1349,1140,0,0,0,0,0,0,25.92,25.89,25.95,8.41,49.96
$GC,2579,0.62,244.4,3025,1847,1348,1140,65.4,10.7,263,2582,0.00,2.20,0.00,0.000,260,0.000,0.037,3026,3258,1244,1348,1140,0,0,0,0,0,0,26.54,25.69,26.55,8.40,49.56
$GC,2612,0.62,244.4,3025,3259,1348,1139,61.6,11.7,266,2621,0.00,2.12,0.00,0.000,1030,0.000,0.028,3032,1846,1243,1348,1139,0,0,0,0,0,0,25.90,25.86,25.94,8.41,49.76
$GC,2741,0.62,244.4,3032,1846,1348,1140,46.8,10.8,279,2752,0.00,2.20,0.00,0.000,516,0.000,0.041,3043,455,1244,1349,1139,0,0,0,0,0,0,26.55,25.58,26.56,8.40,49.25
$GC,2830,0.62,244.4,3042,455,1348,1139,37.3,11.1,287,2839,0.08,2.15,0.00,0.000,5126,0.107,0.028,3016,1841,1244,1349,1139,0,0,0,0,0,0,25.64,25.88,25.67,8.40,49.44
$GC,2959,0.70,323.2,3015,1841,1348,1139,25.9,7.8,300,3011,0.00,2.22,45.47,0.549,8452,0.000,0.037,3016,3238,927,1010,845,0,0,0,0,0,0,26.56,25.29,24.49,8.39,49.17
$GC,3038,0.76,323.2,3016,3237,1010,843,19.3,8.2,308,3048,0.05,2.15,0.00,0.000,3078,0.070,0.028,3105,1847,926,1010,843,0,0,0,0,0,0,25.66,25.75,25.71,8.36,49.37
$GC,3113,0.69,323.2,3104,1847,1010,843,10.8,11.7,321,3121,0.20,2.25,0.00,0.000,4612,0.109,0.040,3043,442,926,1010,843,0,0,0,0,0,0,25.68,25.60,25.72,8.36,48.74
$STATE,3203,end climb,SURFACE_DEPTH_REACHED
$STATE,3203,begin surface coast
$FINISH,1.9,1.021652
$STATE,3217,end surface coast,CONTROL_FINISHED_OK
$STATE,3217,begin surface
$SM_CCo,3236,47.35,0.051,0,0,533,420.20
$SM_GC,1.65,7.47,2.22,47.35,0.028,0.027,0.051,181,1851,533,-8.06,-1.13,420.20,0,0,0,0,0,0,26.06,25.86,25.63
$IRIDIUM_FIX,4737.86,-12251.79,230218,181347
$TT8_MAMPS,0.026964,0.24717
$HUMID,48.66
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,140.3,29.5
$24V_AH,23.62,101.245
$10V_AH,9.85,67.577
$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,18.675,61.175,440.900,47.350,0.000,0.000,0.000,223.850,3.000,0.000,7.763,853.818,997.165,530.653,1098.132,142.814,0.000,1243.291,0.000,678.756,0.000,22.828,0.000
$DEVICE_MAMPS,193.545,49.725,656.370,51.255,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.080,731.986,444.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312040
$DATA_FILE_SIZE,24597,340
$CAP_FILE_SIZE,60776,0
$CFSIZE,2097872896,2034434048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.090,57.57,1
$GPS,230218,202120,4738.106,-12254.146,17,0.9,41,16.4,0.3,49.9,9,4.6