version: 66.14
glider: 195
mission: 15
dive: 704
start: 2 27 118 6 57 22
data:
$ID,195
$MISSION,15
$DIVE,704
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,270218,065218,4737.4692,-12255.8271,2,0.9,13,16.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.4
$GPS2,270218,065637,4737.4692,-12255.8115,9,0.9,15,16.4,0.0,0.0,9,4.7
$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,209.0,322,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,181,1860,547,486,0.0,0.0,0,60,0.00,0.00,-48.38,0.000,16386,0.000,0.000,181,1860,1696,1747,1646,0,0,0,0,0,0,26.39,28.83,26.39,8.30,49.13
$GC,63,-1.27,-136.9,181,1860,1748,1647,2.4,-2.3,7,114,8.52,2.25,-35.72,0.000,18692,0.196,0.048,2387,3254,2807,2885,2730,0,0,0,0,0,0,24.96,23.56,25.16,8.41,48.93
$GC,133,-1.13,-136.9,2387,3254,2885,2731,8.8,-16.9,17,142,0.15,2.17,0.00,0.000,3078,0.149,0.025,2443,1825,2808,2886,2731,0,0,0,0,0,0,24.99,25.76,25.15,8.51,48.81
$GC,207,-1.13,-136.9,2443,1825,2886,2731,25.3,-22.8,28,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1825,2808,2886,2731,0,0,0,0,0,0,26.44,26.45,26.45,8.51,48.70
$GC,327,-1.13,-136.9,2443,1825,2886,2730,52.0,-20.8,40,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1825,2808,2886,2731,0,0,0,0,0,0,26.46,26.48,26.47,8.51,49.21
$GC,447,-1.13,-136.9,2443,1825,2886,2730,77.3,-20.5,52,458,0.00,2.22,0.00,0.000,260,0.000,0.037,2434,3245,2808,2886,2731,0,0,0,0,0,0,26.48,25.48,26.48,8.52,50.51
$GC,474,-1.13,-136.9,2433,3245,2886,2730,82.1,-19.6,54,482,0.00,2.15,0.00,0.000,1030,0.000,0.026,2435,1843,2808,2886,2730,0,0,0,0,0,0,25.77,25.74,25.79,8.52,49.64
$GC,603,-1.13,-136.9,2434,1844,2886,2731,107.8,-19.8,67,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1844,2808,2886,2731,0,0,0,0,0,0,26.48,26.48,26.48,8.53,50.66
$GC,782,-1.13,-136.9,2434,1844,2886,2730,141.6,-18.5,85,793,0.00,2.20,0.00,0.000,260,0.000,0.037,2424,3246,2808,2886,2730,0,0,0,0,0,0,26.48,25.44,26.49,8.54,50.86
$GC,830,-1.13,-136.9,2423,3246,2886,2730,150.1,-18.9,89,839,0.00,2.15,0.00,0.000,1030,0.000,0.025,2424,1844,2808,2886,2731,0,0,0,0,0,0,25.74,25.72,25.77,8.54,51.06
$STATE,876,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,876,begin apogee
$GC,882,-0.21,0.0,2424,1844,2886,2730,160.1,-19.4,94,998,1.02,0.00,109.22,0.671,10246,0.126,0.000,2738,1843,2246,2361,2131,0,0,0,0,0,0,24.26,24.93,24.20,8.54,50.23
$STATE,1000,end apogee,CONTROL_FINISHED_OK
$STATE,1000,begin climb
$GC,1002,1.27,136.9,2737,1843,2360,2130,166.5,0.0,106,1130,1.30,2.25,113.38,0.661,10500,0.063,0.034,3203,3245,1688,1802,1575,0,0,0,0,0,0,25.21,24.38,23.90,8.50,49.88
$GC,1158,1.17,136.9,3203,3245,1800,1574,152.5,19.1,121,1166,0.00,2.20,0.00,0.000,1030,0.000,0.026,3213,1850,1687,1800,1574,0,0,0,0,0,0,25.28,25.24,25.29,8.46,48.81
$GC,1345,1.06,136.9,3213,1850,1799,1570,107.7,23.4,140,1357,0.17,2.22,0.00,0.000,4612,0.156,0.036,3170,449,1683,1798,1569,0,0,0,0,0,0,25.34,25.46,25.39,8.45,49.88
$GC,1416,1.06,136.9,3169,449,1797,1566,93.1,20.6,146,1424,0.00,2.17,0.00,0.000,1030,0.000,0.027,3170,1840,1681,1796,1566,0,0,0,0,0,0,25.82,25.77,25.81,8.45,49.68
$GC,1543,1.06,136.9,3170,1840,1797,1565,67.4,19.4,159,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1839,1681,1797,1565,0,0,0,0,0,0,26.41,26.42,26.41,8.45,49.96
$GC,1664,1.06,136.9,3169,1840,1797,1564,44.8,18.1,171,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1840,1681,1797,1565,0,0,0,0,0,0,26.44,26.45,26.45,8.44,50.51
$GC,1793,1.06,136.9,3170,1840,1797,1564,22.9,15.2,184,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1839,1681,1797,1565,0,0,0,0,0,0,26.46,26.47,26.46,8.44,50.47
$GC,1917,1.06,136.9,3170,1840,1797,1564,5.5,13.9,206,1925,0.00,2.25,0.00,0.000,516,0.000,0.039,3180,451,1680,1797,1564,0,0,0,0,0,0,26.46,25.47,26.47,8.43,49.76
$STATE,1936,end climb,SURFACE_DEPTH_REACHED
$STATE,1936,begin surface coast
$FINISH,0.7,1.012519
$STATE,1958,end surface coast,CONTROL_FINISHED_OK
$STATE,1958,begin surface
$SM_CCo,1978,137.30,0.053,0,0,532,420.20
$SM_GC,1.75,7.93,2.22,137.30,0.031,0.028,0.053,175,1848,532,-8.07,-1.13,420.20,0,0,0,0,0,0,25.91,25.73,25.47
$IRIDIUM_FIX,4737.86,-12251.79,270218,061058
$TT8_MAMPS,0.026964,0.241927
$HUMID,48.38
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,136.0,33.0
$24V_AH,23.56,108.594
$10V_AH,9.85,71.825
$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,19.100,26.475,222.600,137.300,0.000,0.000,0.000,168.125,3.000,0.000,16.363,561.308,606.112,419.438,709.830,115.332,0.000,889.125,0.000,411.296,0.000,24.108,0.000
$DEVICE_MAMPS,195.840,48.195,670.905,52.785,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,142.404,458.550,278.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312072
$DATA_FILE_SIZE,14104,213
$CAP_FILE_SIZE,40712,0
$CFSIZE,2097872896,2025488384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.054,227.52,1
$GPS,270218,073337,4737.218,-12256.190,4,0.9,13,16.4,0.0,0.0,9,4.7