version: 66.14
glider: 195
mission: 15
dive: 702
start: 2 27 118 5 12 18
data:
$ID,195
$MISSION,15
$DIVE,702
$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,38
$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
$GPS1,270218,050658,4737.8770,-12254.5967,4,0.9,17,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.2
$GPS2,270218,051136,4737.8726,-12254.5615,8,0.9,20,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE3
$TGT_LATLONG,4737.343,-12255.988
$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,224.9,2034,-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,7,begin dive
$GC,10,-0.79,-244.4,182,1843,550,487,0.0,0.0,0,60,0.00,0.00,-48.22,0.000,16386,0.000,0.000,182,1843,1691,1748,1635,0,0,0,0,0,0,26.39,28.83,26.39,8.30,49.17
$GC,64,-0.79,-244.4,182,1843,1749,1635,2.4,-2.5,7,128,9.02,2.33,-49.20,0.000,18692,0.194,0.051,2541,3257,3246,3305,3187,0,0,0,0,0,0,24.99,23.58,25.35,8.41,49.29
$GC,181,-0.63,-244.4,2540,3257,3306,3188,14.7,-18.1,25,190,0.17,2.17,0.00,0.000,3078,0.106,0.027,2612,1838,3247,3306,3188,0,0,0,0,0,0,25.18,25.72,25.30,8.55,48.77
$GC,254,-0.63,-244.4,2611,1837,3307,3188,25.8,-13.3,34,264,0.00,2.20,0.00,0.000,516,0.000,0.039,2612,451,3247,3307,3188,0,0,0,0,0,0,26.45,25.39,26.46,8.54,49.21
$GC,321,-0.63,-244.4,2611,451,3307,3188,33.9,-11.8,40,329,0.00,2.20,0.00,0.000,1030,0.000,0.029,2606,1852,3247,3307,3188,0,0,0,0,0,0,25.71,25.67,25.73,8.55,49.29
$GC,450,-0.63,-244.4,2606,1852,3307,3188,49.4,-11.8,53,460,0.00,2.20,0.00,0.000,260,0.000,0.039,2596,3250,3247,3307,3188,0,0,0,0,0,0,26.47,25.42,26.48,8.55,50.31
$GC,518,-0.63,-244.4,2596,3251,3307,3188,57.1,-11.4,59,526,0.00,2.15,0.00,0.000,1030,0.000,0.027,2596,1851,3247,3307,3188,0,0,0,0,0,0,25.73,25.70,25.76,8.55,49.84
$GC,647,-0.63,-244.4,2596,1851,3307,3188,72.9,-11.8,72,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1851,3247,3307,3188,0,0,0,0,0,0,26.48,26.49,26.49,8.55,50.74
$GC,767,-0.63,-244.4,2596,1851,3307,3188,86.9,-11.6,84,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1851,3247,3307,3188,0,0,0,0,0,0,26.48,26.49,26.49,8.56,50.94
$GC,898,-0.63,-244.4,2596,1851,3307,3188,101.3,-11.0,97,907,0.00,2.22,0.00,0.000,516,0.000,0.039,2596,452,3247,3307,3188,0,0,0,0,0,0,26.48,25.32,26.49,8.57,50.98
$GC,936,-0.63,-244.4,2596,452,3307,3188,105.3,-11.3,100,943,0.00,2.17,0.00,0.000,1030,0.000,0.029,2588,1837,3247,3307,3188,0,0,0,0,0,0,25.67,25.63,25.69,8.56,50.74
$GC,1126,-0.63,-244.4,2587,1838,3307,3188,127.7,-11.5,119,1130,0.00,2.25,0.00,0.000,260,0.000,0.039,2578,3255,3247,3307,3188,0,0,0,0,0,0,26.48,25.36,26.49,8.58,50.86
$GC,1172,-0.63,-244.4,2577,3257,3307,3188,133.1,-11.7,123,1179,0.00,2.17,0.00,0.000,1030,0.000,0.027,2578,1845,3247,3307,3188,0,0,0,0,0,0,25.70,25.67,25.72,8.58,50.74
$GC,1360,-0.63,-244.4,2577,1845,3307,3188,154.8,-11.8,142,1362,0.10,0.00,0.00,0.000,2054,0.135,0.000,2609,1845,3247,3306,3188,0,0,0,0,0,0,26.02,26.06,26.03,8.57,50.63
$STATE,1413,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1413,begin apogee
$GC,1419,-0.21,0.0,2609,1845,3307,3188,160.1,-10.0,147,1621,0.32,0.00,191.57,0.665,10246,0.064,0.000,2749,1844,2245,2367,2123,0,0,0,0,0,0,25.72,24.71,24.00,8.58,50.55
$STATE,1622,end apogee,CONTROL_FINISHED_OK
$STATE,1622,begin climb
$GC,1626,0.79,244.4,2749,1845,2367,2122,160.9,0.0,168,1843,0.85,2.35,201.85,0.644,11012,0.037,0.040,3096,454,1248,1349,1147,0,0,0,0,0,0,25.11,24.54,23.82,8.50,49.21
$GC,1872,0.65,244.4,3096,454,1349,1145,137.0,16.2,192,1880,0.17,2.25,0.00,0.000,5126,0.106,0.028,3027,1845,1247,1349,1145,0,0,0,0,0,0,24.68,25.09,24.84,8.42,47.67
$GC,2059,0.65,244.4,3026,1845,1349,1141,115.0,11.3,211,2064,0.00,2.22,0.00,0.000,260,0.000,0.037,3027,3258,1245,1349,1141,0,0,0,0,0,0,26.26,25.51,26.27,8.42,49.25
$GC,2084,0.65,244.4,3026,3258,1349,1141,112.2,11.2,213,2088,0.00,2.17,0.00,0.000,1030,0.000,0.028,3032,1839,1245,1349,1141,0,0,0,0,0,0,25.76,25.67,25.79,8.42,49.01
$GC,2277,0.65,244.4,3031,1839,1348,1141,89.7,12.0,232,2282,0.00,2.22,0.00,0.000,516,0.000,0.041,3043,451,1245,1349,1141,0,0,0,0,0,0,26.41,25.47,26.42,8.41,50.47
$GC,2382,0.60,244.4,3042,451,1349,1139,76.6,11.8,242,2387,0.10,2.17,0.00,0.000,5126,0.124,0.028,3009,1856,1244,1349,1139,0,0,0,0,0,0,25.52,25.76,25.60,8.42,49.40
$GC,2516,0.60,244.4,3009,1855,1349,1139,63.4,9.2,255,2525,0.00,2.17,0.00,0.000,260,0.000,0.037,3009,3246,1244,1349,1139,0,0,0,0,0,0,26.46,25.55,26.46,8.41,50.03
$GC,2559,0.60,244.4,3009,3246,1349,1139,59.5,9.2,259,2569,0.00,2.12,0.00,0.000,1030,0.000,0.028,3012,1835,1243,1348,1138,0,0,0,0,0,0,25.77,25.73,25.79,8.41,49.44
$GC,2690,0.60,244.4,3011,1835,1349,1138,47.9,9.1,272,2694,0.00,2.22,0.00,0.000,516,0.000,0.041,3014,451,1243,1349,1138,0,0,0,0,0,0,26.46,25.41,26.47,8.40,49.76
$GC,2764,0.60,244.4,3014,450,1349,1138,41.0,9.3,279,2773,0.00,2.12,0.00,0.000,1030,0.000,0.027,3014,1846,1243,1349,1138,0,0,0,0,0,0,25.78,25.75,25.81,8.40,49.68
$GC,2894,0.60,244.4,3014,1845,1348,1138,29.6,8.7,292,2899,0.00,2.20,0.00,0.000,260,0.000,0.037,3014,3253,1243,1348,1138,0,0,0,0,0,0,26.47,25.48,26.48,8.40,49.76
$GC,2940,0.60,244.4,3013,3253,1348,1138,25.8,8.7,296,2947,0.00,2.17,0.00,0.000,1030,0.000,0.028,3018,1844,1243,1348,1138,0,0,0,0,0,0,25.75,25.72,25.77,8.40,49.92
$GC,3072,0.72,357.2,3018,1844,1349,1138,15.6,6.8,314,3142,0.00,2.28,59.53,0.525,8708,0.000,0.041,3026,451,787,870,704,0,0,0,0,0,0,26.48,25.34,24.65,8.39,49.80
$STATE,3251,end climb,SURFACE_DEPTH_REACHED
$STATE,3251,begin surface coast
$FINISH,1.2,1.021366
$STATE,3272,end surface coast,CONTROL_FINISHED_OK
$STATE,3272,begin surface
$SM_CCo,3292,31.25,0.051,0,0,533,420.20
$SM_GC,1.92,7.47,2.22,31.25,0.028,0.027,0.051,187,1851,533,-8.05,-1.10,420.20,0,0,0,0,0,0,25.86,25.68,25.44
$IRIDIUM_FIX,4736.40,-12251.79,270218,042133
$TT8_MAMPS,0.026964,0.240429
$HUMID,48.89
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.4
$ALTIM_BOTTOM_PING,160.1,7.3
$24V_AH,23.58,108.473
$10V_AH,9.84,71.751
$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,18.225,53.000,452.950,31.250,0.000,0.000,0.000,179.925,4.750,0.000,21.818,862.220,1009.829,507.825,1104.593,148.264,0.000,1188.058,0.000,700.506,0.000,37.474,0.000
$DEVICE_MAMPS,193.545,51.255,664.785,51.255,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.943,751.374,456.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,24680,349
$CAP_FILE_SIZE,58039,0
$CFSIZE,2097872896,2025684992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.077,249.62,1
$GPS,270218,060918,4737.680,-12255.327,14,1.2,53,16.4,0.0,0.0,7,3.0