version: 66.14
glider: 195
mission: 15
dive: 711
start: 2 27 118 13 12 32
data:
$ID,195
$MISSION,15
$DIVE,711
$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,46
$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
$GPS1,270218,130657,4738.2388,-12253.3408,12,0.9,32,16.4,0.3,55.8,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-59.2
$GPS2,270218,131149,4738.2715,-12253.2627,10,0.9,36,16.3,0.3,59.9,9,3.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$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,342.0,287,-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,10,-1.20,-63.7,170,1856,549,485,0.0,0.0,0,59,0.00,0.00,-47.50,0.000,16386,0.000,0.000,170,1856,1654,1716,1592,0,0,0,0,0,0,26.38,28.83,26.39,8.30,49.13
$GC,63,-1.28,-146.4,170,1856,1716,1592,2.1,-1.3,7,120,8.55,2.28,-39.95,0.000,18948,0.197,0.050,2389,447,2845,2913,2777,0,0,0,0,0,0,24.98,25.36,25.17,8.41,49.09
$GC,329,-1.16,-146.4,2388,447,2913,2778,58.5,-24.9,42,338,0.15,2.17,0.00,0.000,3078,0.151,0.028,2437,1838,2845,2913,2778,0,0,0,0,0,0,24.93,25.72,25.08,8.51,49.88
$GC,457,-1.16,-146.4,2436,1838,2913,2778,86.0,-20.3,55,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1838,2845,2913,2778,0,0,0,0,0,0,26.46,26.48,26.47,8.52,50.31
$GC,578,-1.16,-146.4,2436,1838,2914,2778,110.1,-19.5,67,583,0.00,2.22,0.00,0.000,260,0.000,0.037,2428,3256,2845,2913,2778,0,0,0,0,0,0,26.42,25.47,26.43,8.53,51.18
$GC,616,-1.16,-146.4,2427,3256,2914,2778,116.7,-19.5,70,623,0.00,2.17,0.00,0.000,1030,0.000,0.026,2427,1839,2845,2913,2778,0,0,0,0,0,0,25.74,25.72,25.77,8.53,50.94
$GC,805,-1.16,-146.4,2427,1839,2914,2778,153.9,-20.0,89,814,0.00,2.20,0.00,0.000,516,0.000,0.038,2428,448,2845,2913,2778,0,0,0,0,0,0,26.48,25.39,26.48,8.54,51.10
$STATE,836,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,836,begin apogee
$GC,844,-0.21,0.0,2417,1851,2913,2778,161.1,-20.9,92,969,1.05,0.00,116.22,0.672,10246,0.125,0.000,2740,1851,2246,2360,2132,0,0,0,0,0,0,24.36,24.91,24.20,8.54,50.47
$STATE,970,end apogee,CONTROL_FINISHED_OK
$STATE,970,begin climb
$GC,972,1.28,146.4,2739,1852,2360,2131,165.5,0.0,105,1104,1.30,2.28,121.50,0.662,10500,0.061,0.036,3205,3248,1649,1765,1533,0,0,0,0,0,0,25.17,24.62,23.89,8.49,49.52
$GC,1118,1.18,146.4,3205,3248,1764,1532,148.6,19.3,119,1127,0.00,2.15,0.00,0.000,1030,0.000,0.026,3216,1852,1647,1763,1532,0,0,0,0,0,0,25.11,25.07,25.13,8.44,48.34
$GC,1308,1.07,146.4,3215,1852,1761,1527,102.8,24.9,138,1318,0.17,2.22,0.00,0.000,4612,0.155,0.037,3172,446,1643,1760,1526,0,0,0,0,0,0,25.32,25.44,25.38,8.45,49.44
$GC,1405,1.07,146.4,3172,445,1760,1523,81.8,21.2,147,1413,0.00,2.17,0.00,0.000,1030,0.000,0.028,3172,1835,1641,1760,1522,0,0,0,0,0,0,25.79,25.77,25.82,8.45,49.48
$GC,1533,1.07,146.4,3172,1835,1760,1522,54.4,20.2,160,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1835,1641,1760,1522,0,0,0,0,0,0,26.40,26.41,26.41,8.44,49.52
$GC,1653,1.07,146.4,3172,1835,1760,1522,31.5,17.5,172,1663,0.00,2.22,0.00,0.000,516,0.000,0.038,3182,442,1640,1760,1521,0,0,0,0,0,0,26.44,25.54,26.44,8.44,49.84
$GC,1698,1.07,146.4,3182,442,1760,1521,23.5,18.6,176,1706,0.00,2.17,0.00,0.000,1030,0.000,0.028,3182,1845,1640,1760,1521,0,0,0,0,0,0,25.83,25.80,25.84,8.43,49.40
$GC,1830,1.07,146.4,3182,1845,1760,1521,7.0,9.4,199,1838,0.00,2.28,0.00,0.000,516,0.000,0.040,3193,448,1640,1760,1521,0,0,0,0,0,0,26.46,25.51,26.46,8.43,49.88
$STATE,1879,end climb,SURFACE_DEPTH_REACHED
$STATE,1879,begin surface coast
$FINISH,0.6,1.011806
$STATE,1907,end surface coast,CONTROL_FINISHED_OK
$STATE,1907,begin surface
$SM_CCo,1927,131.95,0.052,0,0,533,420.20
$SM_GC,1.52,7.90,2.22,131.95,0.028,0.027,0.052,173,1851,533,-8.06,-1.05,420.20,0,0,0,0,0,0,25.95,25.77,25.49
$IRIDIUM_FIX,4739.59,-12246.42,270218,121219
$TT8_MAMPS,0.026964,0.23968
$HUMID,47.79
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,17.4
$ALTIM_BOTTOM_PING,140.1,29.1
$24V_AH,23.89,109.171
$10V_AH,9.85,72.153
$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,19.125,31.000,237.725,131.950,0.000,0.000,0.000,174.150,3.250,0.000,37.774,557.291,533.431,416.262,762.484,115.059,0.000,903.637,0.000,440.182,0.000,25.712,0.000
$DEVICE_MAMPS,196.605,49.725,671.670,52.020,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,142.372,458.644,278.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312112
$DATA_FILE_SIZE,14092,213
$CAP_FILE_SIZE,40299,0
$CFSIZE,2097872896,2024800256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,63.52,1
$GPS,270218,134801,4738.568,-12253.109,7,0.9,24,16.4,0.4,45.0,9,4.1