version: 66.14
glider: 195
mission: 15
dive: 660
start: 2 25 118 15 38 27
data:
$ID,195
$MISSION,15
$DIVE,660
$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,47
$R_STBD_OVSHOOT,41
$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
$GPS1,250218,152920,4738.3062,-12254.0469,11,1.1,36,16.4,0.8,61.5,10,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-66.2
$GPS2,250218,153747,4738.3955,-12253.8594,7,1.0,16,16.4,0.4,65.2,10,4.9
$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,214.3,1325,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.79,-244.4,167,1848,543,486,0.0,0.0,0,59,0.00,0.00,-46.92,0.000,16386,0.000,0.000,167,1848,1634,1679,1589,0,0,0,0,0,0,26.44,28.83,26.45,8.29,48.62
$GC,63,-0.79,-244.4,167,1848,1680,1589,2.4,-3.0,7,127,9.05,2.30,-49.35,0.000,18948,0.192,0.050,2553,450,3244,3308,3181,0,0,0,0,0,0,24.94,23.53,25.30,8.39,49.01
$GC,163,-0.66,-244.4,2553,448,3308,3182,11.7,-16.4,22,171,0.12,2.20,0.00,0.000,3078,0.114,0.031,2600,1842,3245,3308,3182,0,0,0,0,0,0,25.22,25.67,25.35,8.53,48.18
$GC,237,-0.59,-244.4,2600,1842,3308,3182,21.4,-12.6,34,246,0.00,2.22,0.00,0.000,260,0.000,0.041,2593,3245,3245,3308,3182,0,0,0,0,0,0,26.49,25.44,26.50,8.53,48.26
$GC,271,-0.59,-244.4,2592,3245,3308,3182,25.8,-12.4,37,282,0.00,2.12,0.00,0.000,1030,0.000,0.028,2593,1835,3245,3308,3182,0,0,0,0,0,0,25.74,25.73,25.77,8.53,48.85
$GC,401,-0.59,-244.4,2592,1835,3308,3182,41.9,-12.6,50,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1835,3245,3308,3182,0,0,0,0,0,0,26.51,26.52,26.52,8.54,49.88
$GC,522,-0.59,-244.4,2592,1835,3308,3182,56.9,-12.0,62,531,0.00,2.22,0.00,0.000,260,0.000,0.041,2583,3240,3245,3308,3182,0,0,0,0,0,0,26.52,25.37,26.53,8.54,49.40
$GC,547,-0.59,-244.4,2583,3241,3308,3182,59.6,-12.0,64,555,0.10,2.15,0.00,0.000,3078,0.099,0.028,2618,1847,3245,3309,3182,0,0,0,0,0,0,25.39,25.67,25.44,8.54,49.64
$GC,676,-0.59,-244.4,2618,1847,3308,3182,72.6,-10.0,77,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1847,3245,3308,3182,0,0,0,0,0,0,26.52,26.53,26.53,8.55,49.72
$GC,796,-0.59,-244.4,2618,1847,3308,3182,84.5,-9.9,89,806,0.00,2.22,0.00,0.000,260,0.000,0.041,2612,3248,3245,3308,3182,0,0,0,0,0,0,26.53,25.34,26.53,8.56,49.72
$GC,834,-0.64,-244.4,2611,3248,3308,3182,87.9,-9.5,92,842,0.00,2.17,0.00,0.000,1030,0.000,0.028,2612,1839,3245,3308,3182,0,0,0,0,0,0,25.70,25.66,25.70,8.56,49.88
$GC,963,-0.64,-244.4,2611,1840,3308,3181,100.8,-9.4,105,967,0.00,2.22,0.00,0.000,516,0.000,0.040,2612,453,3245,3308,3182,0,0,0,0,0,0,26.48,25.29,26.50,8.56,50.39
$GC,1009,-0.64,-244.4,2611,452,3308,3182,105.4,-10.3,109,1019,0.00,2.15,0.00,0.000,1030,0.000,0.031,2605,1844,3245,3308,3182,0,0,0,0,0,0,25.64,25.60,25.67,8.57,49.96
$GC,1199,-0.64,-244.4,2604,1844,3308,3182,124.7,-10.3,128,1211,0.00,2.22,0.00,0.000,260,0.000,0.041,2594,3247,3245,3308,3182,0,0,0,0,0,0,26.53,25.30,26.53,8.57,50.82
$GC,1247,-0.64,-244.4,2594,3248,3308,3182,129.4,-9.8,132,1258,0.00,2.12,0.00,0.000,1030,0.000,0.027,2594,1837,3245,3308,3182,0,0,0,0,0,0,25.70,25.66,25.72,8.57,50.23
$GC,1438,-0.64,-244.4,2594,1836,3308,3181,148.6,-9.9,151,1449,0.00,2.20,0.00,0.000,516,0.000,0.041,2594,457,3245,3308,3182,0,0,0,0,0,0,26.53,25.26,26.53,8.57,50.51
$GC,1475,-0.64,-244.4,2594,457,3308,3182,152.4,-10.3,154,1485,0.00,2.12,0.00,0.000,1030,0.000,0.030,2586,1836,3245,3308,3182,0,0,0,0,0,0,25.63,25.58,25.66,8.58,50.27
$GC,1666,-0.83,-244.4,2585,1836,3308,3182,160.5,0.1,173,1676,0.08,2.25,0.00,0.000,4356,0.095,0.039,2529,3250,3245,3308,3182,0,0,0,0,0,0,26.31,25.28,26.32,8.57,50.66
$STATE,1720,end dive,NO_VERTICAL_VELOCITY
$STATE,1720,begin apogee
$GC,1729,-0.21,0.0,2529,1844,3308,3182,160.6,0.0,178,1931,0.60,0.00,192.75,0.656,10246,0.059,0.000,2752,1841,2246,2373,2120,0,0,0,0,0,0,25.46,24.57,24.03,8.58,50.66
$STATE,1934,end apogee,CONTROL_FINISHED_OK
$STATE,1934,begin climb
$GC,1936,0.79,244.4,2752,1841,2372,2120,160.4,0.0,199,2152,0.85,2.33,202.73,0.643,10756,0.062,0.041,3068,457,1248,1351,1146,0,0,0,0,0,0,25.00,24.70,23.91,8.50,48.11
$GC,2220,0.69,244.4,3067,457,1350,1141,134.8,13.9,227,2231,0.10,2.17,0.00,0.000,5126,0.129,0.028,3036,1848,1245,1350,1141,0,0,0,0,0,0,25.25,25.47,25.34,8.41,47.28
$GC,2411,0.69,244.4,3036,1849,1350,1139,112.6,11.5,246,2415,0.00,2.20,0.00,0.000,260,0.000,0.038,3036,3249,1244,1350,1139,0,0,0,0,0,0,26.36,25.57,26.38,8.41,49.21
$GC,2436,0.69,244.4,3036,3250,1350,1139,109.9,11.6,248,2444,0.00,2.17,0.00,0.000,1030,0.000,0.029,3042,1847,1244,1350,1139,0,0,0,0,0,0,25.76,25.74,25.80,8.41,49.29
$GC,2627,0.64,244.4,3041,1847,1350,1139,87.6,11.1,267,2637,0.00,2.22,0.00,0.000,516,0.000,0.041,3053,450,1244,1350,1139,0,0,0,0,0,0,26.46,25.49,26.47,8.41,49.76
$GC,2715,0.59,244.4,3052,449,1350,1138,77.1,12.0,275,2724,0.15,2.17,0.00,0.000,5126,0.100,0.029,2986,1840,1244,1350,1138,0,0,0,0,0,0,25.33,25.77,25.45,8.41,48.97
$GC,2843,0.59,244.4,2985,1840,1350,1138,65.6,8.2,288,2847,0.00,2.22,0.00,0.000,516,0.000,0.041,2987,451,1243,1350,1137,0,0,0,0,0,0,26.49,25.44,26.50,8.41,49.72
$GC,2868,0.59,244.4,2987,450,1350,1138,63.8,8.1,290,2876,0.00,2.17,0.00,0.000,1030,0.000,0.028,2988,1845,1243,1350,1137,0,0,0,0,0,0,25.80,25.77,25.84,8.40,49.52
$GC,2997,0.66,317.5,2987,1845,1350,1138,53.2,7.9,303,3067,0.05,2.28,61.83,0.596,10756,0.132,0.040,3083,444,950,1037,863,0,0,0,0,0,0,26.30,24.89,24.43,8.40,49.33
$GC,3113,0.59,317.5,3082,443,1037,862,37.9,14.1,314,3123,0.22,2.17,0.00,0.000,5126,0.103,0.028,3003,1839,949,1037,861,0,0,0,0,0,0,25.27,25.65,25.34,8.37,48.26
$GC,3243,0.74,413.6,3003,1840,1037,858,26.4,7.3,327,3307,0.10,0.00,55.85,0.553,10502,0.073,0.000,3113,1840,555,605,506,0,0,0,0,0,0,26.15,24.86,24.44,8.37,48.66
$GC,3372,0.74,413.6,3113,1840,600,500,7.2,16.2,346,3381,0.17,2.25,0.00,0.000,4356,0.106,0.037,3050,3259,550,600,500,0,0,0,0,0,0,25.63,25.56,25.66,8.32,48.54
$STATE,3417,end climb,SURFACE_DEPTH_REACHED
$STATE,3417,begin surface coast
$FINISH,2.4,1.020870
$STATE,3424,end surface coast,CONTROL_FINISHED_OK
$STATE,3424,begin surface
$SM_CCo,3444,2.08,0.057,0,0,532,420.20
$SM_GC,2.87,7.72,2.25,2.08,0.040,0.028,0.057,181,1832,532,-8.08,1.16,420.20,0,0,0,0,0,0,25.84,25.72,25.49
$IRIDIUM_FIX,4738.33,-12256.21,250218,153050
$TT8_MAMPS,0.026964,0.264397
$HUMID,48.30
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.9
$24V_AH,23.53,104.979
$10V_AH,9.85,69.855
$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,19.325,61.750,513.150,2.075,0.000,0.000,0.000,347.650,4.000,0.000,17.682,869.236,1127.345,527.553,1293.818,162.003,0.000,1431.702,0.000,738.049,0.000,28.898,0.000
$DEVICE_MAMPS,192.015,50.490,655.605,56.610,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.787,764.329,463.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312080
$DATA_FILE_SIZE,24486,355
$CAP_FILE_SIZE,66029,0
$CFSIZE,2097872896,2029780992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.007,270.85,1
$GPS,250218,163718,4738.133,-12254.446,23,1.7,41,16.4,0.7,49.8,8,5.0