version: 66.14
glider: 195
mission: 15
dive: 715
start: 2 27 118 17 5 18
data:
$ID,195
$MISSION,15
$DIVE,715
$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,49
$R_STBD_OVSHOOT,44
$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
$GPS1,270218,165906,4738.0659,-12254.2705,43,1.0,47,16.4,0.6,138.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-59.0
$GPS2,270218,170433,4738.1104,-12254.1631,8,0.9,17,16.4,0.7,53.8,10,4.5
$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,215.7,689,-18.5,-10.000,-22.05,2010
$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,-0.91,-133.3,165,1855,555,490,0.0,0.0,0,59,0.00,0.00,-47.28,0.000,16386,0.000,0.000,165,1855,1646,1714,1578,0,0,0,0,0,0,26.34,28.83,26.36,8.30,49.09
$GC,63,-1.02,-244.4,165,1855,1714,1579,2.1,-2.0,7,133,8.80,2.28,-52.25,0.000,18948,0.193,0.050,2474,447,3243,3305,3181,0,0,0,0,0,0,25.00,25.37,25.18,8.41,49.01
$GC,152,-0.85,-244.4,2473,447,3306,3181,10.4,-19.2,20,160,0.17,2.17,0.00,0.000,3078,0.127,0.029,2532,1835,3243,3306,3181,0,0,0,0,0,0,25.07,25.72,25.22,8.55,48.42
$GC,225,-0.85,-244.4,2531,1835,3306,3182,24.4,-20.3,31,235,0.00,2.22,0.00,0.000,260,0.000,0.038,2524,3252,3244,3306,3182,0,0,0,0,0,0,26.42,25.52,26.44,8.55,48.77
$GC,291,-0.85,-244.4,2524,3252,3306,3182,35.4,-16.3,37,298,0.00,2.15,0.00,0.000,1030,0.000,0.026,2524,1846,3244,3306,3182,0,0,0,0,0,0,25.77,25.75,25.81,8.55,48.42
$GC,419,-0.85,-244.4,2524,1847,3306,3182,57.9,-17.9,50,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1847,3243,3306,3181,0,0,0,0,0,0,26.46,26.46,26.46,8.55,49.88
$GC,540,-0.85,-244.4,2524,1847,3306,3181,79.1,-17.3,62,544,0.00,2.22,0.00,0.000,260,0.000,0.038,2514,3249,3244,3306,3182,0,0,0,0,0,0,26.46,25.48,26.48,8.55,49.72
$GC,565,-0.85,-244.4,2514,3249,3306,3182,83.1,-16.7,64,572,0.00,2.15,0.00,0.000,1030,0.000,0.026,2514,1847,3244,3306,3182,0,0,0,0,0,0,25.78,25.75,25.80,8.56,49.76
$GC,694,-0.85,-244.4,2513,1847,3306,3181,105.5,-16.9,77,703,0.00,2.17,0.00,0.000,516,0.000,0.038,2514,454,3243,3306,3181,0,0,0,0,0,0,26.42,25.42,26.44,8.56,50.39
$GC,738,-0.85,-244.4,2513,454,3306,3181,113.8,-18.6,81,749,0.08,2.12,0.00,0.000,3078,0.131,0.029,2529,1838,3243,3306,3181,0,0,0,0,0,0,25.39,25.71,25.43,8.57,49.96
$GC,928,-0.85,-244.4,2528,1838,3306,3181,143.4,-15.0,100,938,0.00,2.20,0.00,0.000,260,0.000,0.038,2521,3246,3244,3306,3182,0,0,0,0,0,0,26.47,25.46,26.48,8.57,50.90
$GC,966,-0.85,-244.4,2520,3246,3306,3181,149.1,-15.8,103,974,0.00,2.15,0.00,0.000,1030,0.000,0.025,2521,1844,3243,3306,3181,0,0,0,0,0,0,25.75,25.73,25.78,8.58,50.55
$STATE,1022,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1022,begin apogee
$GC,1028,-0.21,0.0,2521,1843,3306,3181,158.1,-15.4,109,1225,0.57,0.00,191.25,0.663,10246,0.043,0.000,2766,1844,2246,2371,2121,0,0,0,0,0,0,25.79,24.68,24.01,8.58,50.70
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1226,begin climb
$GC,1228,1.02,244.4,2765,1844,2370,2120,157.9,0.0,129,1447,1.00,2.38,202.95,0.640,11012,0.057,0.039,3137,450,1248,1349,1147,0,0,0,0,0,0,24.97,24.46,23.78,8.50,48.74
$GC,1484,0.92,244.4,3137,450,1348,1145,125.4,20.3,154,1492,0.00,2.25,0.00,0.000,1030,0.000,0.028,3137,1842,1246,1348,1145,0,0,0,0,0,0,25.09,25.06,25.12,8.41,47.75
$GC,1674,0.83,244.4,3137,1842,1348,1142,86.8,20.4,173,1685,0.17,2.22,0.00,0.000,4612,0.129,0.037,3088,451,1245,1348,1142,0,0,0,0,0,0,25.47,25.45,25.53,8.41,49.64
$GC,1701,0.76,244.4,3088,451,1348,1140,81.8,19.3,175,1710,0.00,2.17,0.00,0.000,1030,0.000,0.028,3088,1839,1244,1348,1140,0,0,0,0,0,0,25.73,25.70,25.76,8.41,49.29
$GC,1830,0.76,244.4,3088,1840,1348,1140,61.2,15.5,188,1840,0.10,2.20,0.00,0.000,4356,0.138,0.036,3054,3255,1244,1348,1140,0,0,0,0,0,0,25.87,25.56,25.88,8.41,48.85
$GC,1854,0.76,244.4,3053,3255,1347,1140,57.6,15.0,190,1864,0.00,2.12,0.00,0.000,1030,0.000,0.027,3058,1842,1243,1347,1140,0,0,0,0,0,0,25.78,25.75,25.81,8.41,49.05
$GC,1984,0.76,244.4,3058,1842,1348,1140,40.8,12.6,203,1994,0.00,2.20,0.00,0.000,516,0.000,0.038,3069,451,1244,1348,1140,0,0,0,0,0,0,26.43,25.51,26.44,8.40,49.29
$GC,2073,0.76,244.4,3068,451,1348,1139,29.3,13.5,211,2081,0.00,2.17,0.00,0.000,1030,0.000,0.028,3069,1848,1243,1348,1139,0,0,0,0,0,0,25.82,25.79,25.84,8.40,48.93
$GC,2204,0.76,244.4,3068,1848,1348,1139,14.0,11.1,229,2211,0.00,2.25,0.00,0.000,516,0.000,0.039,3077,455,1243,1348,1139,0,0,0,0,0,0,26.46,25.50,26.46,8.39,49.25
$GC,2255,0.82,244.4,3076,455,1348,1139,7.1,12.8,238,2263,0.00,2.17,0.00,0.000,1030,0.000,0.028,3077,1845,1243,1348,1139,0,0,0,0,0,0,25.81,25.77,25.83,8.38,49.52
$STATE,2284,end climb,SURFACE_DEPTH_REACHED
$STATE,2284,begin surface coast
$FINISH,0.7,1.003176
$STATE,2306,end surface coast,CONTROL_FINISHED_OK
$STATE,2306,begin surface
$SM_CCo,2323,86.10,0.050,0,0,532,420.20
$SM_GC,1.55,7.50,0.00,86.10,0.023,0.000,0.050,181,1846,532,-8.08,0.08,420.20,0,0,0,0,0,0,25.92,26.47,25.42
$IRIDIUM_FIX,4736.40,-12251.79,270218,155646
$TT8_MAMPS,0.026215,0.241178
$HUMID,48.07
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,9.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,147.1,19.9
$24V_AH,23.78,109.520
$10V_AH,9.84,72.362
$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,18.400,44.000,394.200,86.100,0.000,0.000,0.000,222.375,3.250,0.000,19.039,602.270,634.436,531.283,866.095,133.684,0.000,1147.748,0.000,510.081,0.000,26.025,0.000
$DEVICE_MAMPS,192.780,49.725,663.255,50.490,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.879,531.807,322.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,17612,247
$CAP_FILE_SIZE,48391,0
$CFSIZE,2097872896,2024407040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.065,31.26,1
$GPS,270218,174630,4737.993,-12254.595,4,0.8,18,16.4,0.8,52.7,10,4.7