version: 66.11
glider: 195
mission: 7
dive: 4
start: 10 22 113 21 17 54
data:
$ID,195
$MISSION,7
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,10
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59371
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2995.0237
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.6
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2262
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.046516
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408959
$GPS1,221013,211008,4744.282,-12224.170,1,1.2,2,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-57.4
$GPS2,221013,211658,4744.272,-12224.145,4,1.2,5,16.3
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.147,0.141
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,297.4,612,-23.0,-10.000,-26.13,1337
$D_GRID,150
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.15,-88.2,199,2022,760,482,0.0,0.0,0,101,0.00,0.00,-79.62,0.000,16390,0.000,0.000,200,2022,2622,2630,2614,0,0,0,0,0,0,28.83,28.83,26.32
$GC,104,-1.20,-138.8,199,2022,2631,2614,2.4,-6.1,13,126,7.75,2.22,-5.53,0.000,18692,0.204,0.056,2273,3428,2825,2864,2786,0,0,0,0,0,0,25.69,25.96,26.28
$GC,168,-1.20,-138.8,2272,3428,2865,2786,12.0,-17.3,24,176,0.00,2.12,0.00,0.000,1030,0.000,0.026,2273,2029,2825,2865,2786,0,0,0,0,0,0,28.83,26.09,28.83
$GC,244,-1.20,-138.8,2272,2029,2866,2786,27.8,-22.7,35,253,0.00,2.17,0.00,0.000,260,0.000,0.042,2262,3428,2826,2866,2786,0,0,0,0,0,0,28.83,26.09,28.83
$GC,347,-1.20,-138.8,2261,3428,2867,2786,51.0,-21.9,45,357,0.00,2.10,0.00,0.000,1030,0.000,0.027,2262,2018,2826,2866,2786,0,0,0,0,0,0,28.83,26.22,28.83
$GC,477,-1.20,-138.8,2262,2018,2866,2787,78.8,-21.6,58,488,0.00,2.12,0.00,0.000,516,0.000,0.039,2262,630,2826,2866,2787,0,0,0,0,0,0,28.83,26.23,28.83
$GC,677,-1.20,-138.8,2262,629,2867,2786,122.1,-21.8,76,687,0.10,2.15,0.00,0.000,3078,0.146,0.033,2282,2021,2826,2867,2786,0,0,0,0,0,0,26.13,26.35,28.83
$STATE,705,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,705,begin apogee
$GC,708,-0.23,0.0,2282,2021,2867,2786,128.8,-21.4,79,817,0.95,0.00,100.47,0.597,10246,0.125,0.000,2591,2022,2261,2368,2155,0,0,0,0,0,0,26.15,28.83,24.68
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,819,1.20,138.8,2591,2022,2368,2155,135.7,0.0,90,930,1.33,0.00,106.15,0.586,10758,0.070,0.000,3060,2022,1696,1834,1558,0,0,0,0,0,0,25.34,28.83,24.46
$GC,1047,1.20,138.8,3060,2022,1833,1553,114.0,14.6,113,1057,0.00,2.22,0.00,0.000,260,0.000,0.042,3060,3432,1693,1833,1553,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1091,1.20,138.8,3060,3432,1833,1553,106.8,16.6,117,1100,0.00,2.17,0.00,0.000,1030,0.000,0.027,3071,2028,1693,1833,1553,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1220,1.20,138.8,3070,2028,1833,1552,86.3,16.2,130,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2029,1692,1833,1552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,1.20,138.8,3070,2028,1833,1551,67.6,14.0,142,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2029,1692,1833,1551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1460,1.20,138.8,3071,2028,1833,1550,49.8,15.5,154,1470,0.00,2.15,0.00,0.000,516,0.000,0.041,3081,630,1690,1831,1550,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1564,1.20,138.8,3081,630,1830,1550,33.4,15.3,164,1573,0.00,2.10,0.00,0.000,1030,0.000,0.031,3082,2027,1690,1830,1550,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1696,1.20,138.8,2016,2024,1796,1547,13.1,17.3,180,1703,0.00,2.20,0.00,0.000,260,0.000,0.042,3081,3426,1690,1830,1550,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,1759,end climb,SURFACE_DEPTH_REACHED
$STATE,1759,begin surface coast
$FINISH,0.2,1.022458
$STATE,1770,end surface coast,CONTROL_FINISHED_OK
$STATE,1771,begin surface
$SM_CCo,1786,219.00,0.354,1,0,630,400.08
$SM_GC,0.34,7.50,2.15,219.00,0.034,0.026,0.354,184,2015,630,-7.66,1.36,400.08,0,0,0,0,1,0,26.39,26.38,24.91
$IRIDIUM_FIX,4726.11,-12223.37,221013,212150
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.78
$INTERNAL_PRESSURE,8.93717
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.5,9.4
$ALTIM_BOTTOM_PING,126.8,11.0
$24V_AH,24.5,1.073
$10V_AH,10.3,0.977
$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,17.625,25.900,206.625,219.000,0.000,0.000,0.000,0.000,3.250,0.000,5.465,474.061,529.328,483.634,561.617,25.565,29.126,787.534,0.000,556.047,0.000,22.517,0.000
$DEVICE_MAMPS,204.255,55.845,597.465,354.195,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,127.854,255.816,416.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323092
$DATA_FILE_SIZE,13713,194
$CAP_FILE_SIZE,61729,0
$CFSIZE,2097872896,2094465024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,221013,215200,4744.365,-12224.335,2,1.2,2,16.3