version: 66.14
glider: 195
mission: 15
dive: 726
start: 2 28 118 2 16 39
data:
$ID,195
$MISSION,15
$DIVE,726
$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,56
$R_STBD_OVSHOOT,61
$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
$GPS1,280218,021157,4738.2739,-12253.1641,5,0.8,17,16.3,0.0,68.1,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.8
$GPS2,280218,021545,4738.2935,-12253.1211,9,0.8,19,16.3,0.0,28.5,10,4.7
$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,288.0,265,-26.5,-10.000,-29.35,1019
$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,-1.17,-67.0,168,1864,521,447,0.0,0.0,0,59,0.00,0.00,-47.42,0.000,16386,0.000,0.000,168,1865,1619,1669,1570,0,0,0,0,0,0,26.39,28.83,26.39,8.31,49.56
$GC,63,-1.26,-151.9,168,1865,1669,1570,2.1,-1.5,7,120,8.57,2.20,-43.10,0.000,18692,0.195,0.048,2388,3233,2868,2939,2797,0,0,0,0,0,0,25.01,23.58,25.19,8.41,49.40
$GC,349,-1.14,-151.9,2387,3232,2940,2798,65.3,-24.5,43,359,0.17,2.08,0.00,0.000,3078,0.140,0.024,2440,1839,2868,2939,2798,0,0,0,0,0,0,25.20,25.89,25.27,8.52,49.48
$GC,478,-1.14,-151.9,2439,1839,2940,2798,92.4,-20.0,56,483,0.00,2.17,0.00,0.000,516,0.000,0.036,2440,459,2869,2940,2798,0,0,0,0,0,0,26.47,25.63,26.48,8.53,50.70
$GC,550,-1.09,-151.9,2439,458,2940,2797,107.0,-22.6,62,558,0.08,2.12,0.00,0.000,3078,0.156,0.028,2454,1827,2869,2940,2798,0,0,0,0,0,0,25.48,25.86,25.52,8.53,50.63
$GC,739,-1.09,-151.9,2453,1827,2940,2798,144.1,-19.1,81,743,0.00,2.22,0.00,0.000,260,0.000,0.036,2444,3248,2869,2940,2798,0,0,0,0,0,0,26.48,25.65,26.48,8.54,50.78
$GC,774,-1.09,-151.9,2444,3248,2940,2798,150.5,-19.4,84,783,0.00,2.08,0.00,0.000,1030,0.000,0.024,2445,1851,2869,2940,2798,0,0,0,0,0,0,25.90,25.86,25.93,8.54,50.66
$STATE,821,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,821,begin apogee
$GC,827,-0.21,0.0,2445,1851,2940,2798,159.2,-17.6,89,953,0.88,0.00,120.15,0.670,10246,0.103,0.000,2736,1851,2246,2366,2126,0,0,0,0,0,0,24.91,24.91,24.22,8.55,50.78
$STATE,954,end apogee,CONTROL_FINISHED_OK
$STATE,954,begin climb
$GC,956,1.26,151.9,2736,1851,2366,2126,159.3,0.0,102,1096,1.33,2.28,126.35,0.660,10500,0.069,0.033,3202,3245,1625,1741,1509,0,0,0,0,0,0,25.16,24.31,23.87,8.50,49.56
$GC,1121,1.17,151.9,3202,3245,1739,1509,138.3,21.0,118,1130,0.00,2.17,0.00,0.000,1030,0.000,0.025,3213,1847,1624,1739,1509,0,0,0,0,0,0,25.18,25.10,25.20,8.45,48.14
$GC,1313,1.08,151.9,3213,1848,1737,1505,93.9,23.5,137,1323,0.15,2.17,0.00,0.000,4612,0.157,0.035,3175,458,1620,1736,1504,0,0,0,0,0,0,25.44,25.54,25.48,8.44,49.64
$GC,1400,1.08,151.9,3174,457,1735,1501,75.3,19.6,145,1404,0.00,2.10,0.00,0.000,1030,0.000,0.026,3175,1843,1619,1736,1502,0,0,0,0,0,0,25.89,25.82,25.93,8.44,49.68
$GC,1533,1.08,151.9,3174,1843,1736,1501,50.3,18.0,158,1536,0.00,2.17,0.00,0.000,260,0.000,0.035,3175,3245,1618,1736,1501,0,0,0,0,0,0,26.41,25.70,26.42,8.44,49.56
$GC,1586,1.08,151.9,3174,3248,1735,1501,39.5,20.5,163,1596,0.00,2.10,0.00,0.000,1030,0.000,0.024,3185,1839,1618,1736,1501,0,0,0,0,0,0,25.91,25.87,25.93,8.44,50.07
$GC,1719,1.08,151.9,3185,1838,1736,1501,15.9,16.6,178,1726,0.00,2.22,0.00,0.000,516,0.000,0.038,3196,450,1618,1736,1501,0,0,0,0,0,0,26.45,25.65,26.46,8.43,50.31
$STATE,1826,end climb,SURFACE_DEPTH_REACHED
$STATE,1826,begin surface coast
$FINISH,0.7,1.008370
$STATE,1854,end surface coast,CONTROL_FINISHED_OK
$STATE,1854,begin surface
$SM_CCo,1874,128.25,0.051,0,0,533,420.20
$SM_GC,1.65,8.02,2.20,128.25,0.035,0.028,0.051,181,1841,533,-8.07,-1.39,420.20,0,0,0,0,0,0,25.98,25.86,25.49
$IRIDIUM_FIX,4741.52,-12250.84,280218,013336
$TT8_MAMPS,0.026964,0.266644
$HUMID,48.70
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.4
$ALTIM_BOTTOM_PING,130.3,38.1
$24V_AH,23.58,110.364
$10V_AH,9.84,72.813
$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,19.200,30.300,246.500,128.250,0.000,0.000,0.000,136.625,2.750,0.000,20.241,549.627,506.828,411.159,705.158,105.259,0.000,862.885,0.000,437.685,0.000,24.307,0.000
$DEVICE_MAMPS,195.075,48.195,670.140,51.255,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,135.479,437.133,265.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312148
$DATA_FILE_SIZE,14112,203
$CAP_FILE_SIZE,38593,0
$CFSIZE,2097872896,2023325696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.156,54.10,1
$GPS,280218,025109,4738.571,-12253.108,5,0.9,23,16.4,0.4,64.1,9,5.0