version: 66.14
glider: 195
mission: 15
dive: 720
start: 2 27 118 21 31 31
data:
$ID,195
$MISSION,15
$DIVE,720
$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,50
$R_STBD_OVSHOOT,45
$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
$GPS1,270218,212521,4737.5684,-12255.8184,38,0.9,43,16.4,0.5,29.8,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.9
$GPS2,270218,213041,4737.6235,-12255.7568,5,0.9,15,16.4,0.5,38.7,9,4.9
$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,188.8,595,-23.4,-10.000,-26.47,1297
$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,10,-1.06,-85.6,177,1848,508,447,0.0,0.0,0,66,0.00,0.00,-53.62,0.000,16386,0.000,0.000,177,1848,1766,1821,1712,0,0,0,0,0,0,26.34,28.83,26.36,8.30,49.52
$GC,69,-1.15,-176.8,176,1848,1821,1712,2.3,-2.8,8,126,8.65,2.25,-39.00,0.000,18692,0.195,0.050,2422,3249,2970,3029,2911,0,0,0,0,0,0,24.99,23.56,25.18,8.42,49.21
$GC,166,-1.06,-176.8,2421,3249,3030,2912,14.9,-23.7,23,174,0.15,2.15,0.00,0.000,3078,0.135,0.025,2467,1837,2971,3030,2912,0,0,0,0,0,0,25.20,25.78,25.39,8.52,49.29
$GC,244,-0.99,-176.8,2466,1837,3030,2912,31.5,-21.3,32,254,0.00,2.22,0.00,0.000,260,0.000,0.037,2457,3249,2971,3030,2912,0,0,0,0,0,0,26.42,25.54,26.43,8.53,48.89
$GC,300,-0.93,-176.8,2457,3248,3030,2912,43.6,-21.5,37,310,0.15,2.10,0.00,0.000,3078,0.125,0.026,2504,1833,2971,3030,2912,0,0,0,0,0,0,25.25,25.77,25.29,8.52,49.52
$GC,429,-0.93,-176.8,2504,1833,3030,2912,67.2,-17.6,50,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1834,2971,3031,2912,0,0,0,0,0,0,26.45,26.46,26.46,8.53,49.21
$GC,549,-0.93,-176.8,2504,1833,3030,2912,87.8,-16.7,62,559,0.00,2.17,0.00,0.000,516,0.000,0.038,2504,457,2971,3030,2912,0,0,0,0,0,0,26.46,25.46,26.46,8.54,49.92
$GC,614,-0.93,-176.8,2504,457,3029,2912,99.3,-18.0,68,628,0.00,2.12,0.00,0.000,1030,0.000,0.028,2496,1845,2971,3030,2912,0,0,0,0,0,0,25.75,25.72,25.79,8.54,50.27
$GC,749,-0.93,-176.8,2496,1845,3030,2912,122.4,-17.0,81,759,0.00,2.17,0.00,0.000,260,0.000,0.037,2486,3238,2971,3030,2912,0,0,0,0,0,0,26.46,25.50,26.46,8.54,50.70
$GC,785,-0.93,-176.8,2485,3238,3030,2912,128.6,-17.1,84,794,0.00,2.12,0.00,0.000,1030,0.000,0.025,2486,1847,2971,3030,2912,0,0,0,0,0,0,25.79,25.75,25.82,8.55,50.66
$STATE,961,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,961,begin apogee
$GC,967,-0.21,0.0,2485,1846,3030,2911,160.8,-17.6,102,1114,0.77,0.00,139.52,0.667,10246,0.113,0.000,2737,1846,2245,2362,2128,0,0,0,0,0,0,24.63,24.82,24.12,8.56,50.86
$STATE,1115,end apogee,CONTROL_FINISHED_OK
$STATE,1116,begin climb
$GC,1118,1.15,176.8,2736,1846,2362,2129,164.8,0.0,117,1275,1.23,0.00,145.43,0.654,10502,0.060,0.000,3172,1846,1525,1631,1420,0,0,0,0,0,0,25.07,24.25,23.80,8.50,48.93
$GC,1455,1.06,176.8,3171,1846,1630,1414,108.8,22.5,151,1459,0.00,2.25,0.00,0.000,516,0.000,0.038,3183,445,1522,1630,1414,0,0,0,0,0,0,26.16,25.44,26.17,8.44,48.85
$GC,1501,0.96,176.8,3182,445,1628,1413,99.1,22.2,155,1509,0.15,2.17,0.00,0.000,5126,0.132,0.028,3125,1836,1520,1627,1413,0,0,0,0,0,0,25.11,25.72,25.27,8.44,49.60
$GC,1629,0.96,176.8,3125,1836,1628,1412,75.6,17.7,168,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1836,1519,1627,1412,0,0,0,0,0,0,26.36,26.37,26.36,8.43,49.33
$GC,1749,0.96,176.8,3125,1836,1627,1412,55.2,16.1,180,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1836,1520,1628,1412,0,0,0,0,0,0,26.41,26.42,26.42,8.44,49.72
$GC,1869,0.96,176.8,3125,1836,1628,1412,35.5,16.5,192,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1836,1519,1627,1412,0,0,0,0,0,0,26.44,26.45,26.44,8.43,50.63
$GC,1990,0.96,176.8,3125,1836,1627,1412,16.6,16.5,206,1999,0.00,2.25,0.00,0.000,260,0.000,0.037,3125,3249,1519,1627,1412,0,0,0,0,0,0,26.45,25.60,26.46,8.42,50.35
$STATE,2087,end climb,SURFACE_DEPTH_REACHED
$STATE,2087,begin surface coast
$FINISH,0.7,1.001921
$STATE,2110,end surface coast,CONTROL_FINISHED_OK
$STATE,2110,begin surface
$SM_CCo,2130,117.75,0.052,0,0,534,420.20
$SM_GC,1.63,7.75,2.20,117.75,0.030,0.028,0.052,177,1846,534,-8.08,1.58,420.20,0,0,0,0,0,0,25.91,25.74,25.46
$IRIDIUM_FIX,4737.86,-12251.79,270218,202307
$TT8_MAMPS,0.026964,0.264397
$HUMID,48.38
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.8
$ALTIM_BOTTOM_PING,120.6,49.0
$24V_AH,23.56,109.866
$10V_AH,9.83,72.591
$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,18.850,26.200,284.950,117.750,0.000,0.000,0.000,217.650,2.000,0.000,16.682,582.480,661.147,447.826,791.076,121.938,0.000,993.881,0.000,445.082,0.000,16.471,0.000
$DEVICE_MAMPS,195.075,49.725,667.080,52.020,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,151.959,490.839,298.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312128
$DATA_FILE_SIZE,14208,228
$CAP_FILE_SIZE,41288,0
$CFSIZE,2097872896,2023915520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,32.15,1
$GPS,270218,220959,4737.381,-12255.899,4,0.9,16,16.4,0.5,46.1,9,4.6