version: 66.14
glider: 195
mission: 15
dive: 732
start: 2 28 118 7 39 5
data:
$ID,195
$MISSION,15
$DIVE,732
$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,47
$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
$GPS1,280218,073323,4737.6826,-12255.4092,20,0.9,23,16.4,0.2,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.1
$GPS2,280218,073823,4737.6548,-12255.3945,2,0.9,15,16.4,0.2,0.0,9,4.8
$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,209.3,940,-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,-63.7,182,1843,546,487,0.0,0.0,0,53,0.00,0.00,-41.67,0.000,16386,0.000,0.000,182,1843,1518,1560,1477,0,0,0,0,0,0,26.34,28.83,26.36,8.31,49.29
$GC,57,-1.28,-146.3,182,1843,1561,1479,2.0,-1.3,6,121,8.48,2.22,-47.08,0.000,18692,0.193,0.047,2383,3254,2844,2920,2769,0,0,0,0,0,0,24.98,25.35,25.15,8.40,49.37
$GC,187,-1.16,-146.3,2383,3254,2921,2770,20.5,-27.7,27,196,0.17,2.17,0.00,0.000,3078,0.153,0.025,2433,1826,2845,2921,2770,0,0,0,0,0,0,25.12,25.82,25.19,8.52,48.62
$GC,315,-1.08,-146.3,2432,1825,2921,2770,54.8,-24.1,40,326,0.10,2.15,0.00,0.000,2564,0.177,0.034,2465,454,2845,2921,2770,0,0,0,0,0,0,25.79,25.63,25.80,8.52,49.44
$GC,434,-1.08,-146.3,2465,454,2921,2770,82.0,-22.1,51,444,0.00,2.10,0.00,0.000,1030,0.000,0.027,2456,1846,2845,2921,2770,0,0,0,0,0,0,25.86,25.84,25.89,8.52,49.56
$GC,564,-1.08,-146.3,2456,1846,2921,2770,108.8,-19.8,64,577,0.00,2.17,0.00,0.000,516,0.000,0.036,2456,456,2845,2921,2770,0,0,0,0,0,0,26.46,25.63,26.47,8.53,50.51
$GC,591,-1.08,-146.3,2456,455,2921,2770,114.3,-19.4,66,602,0.00,2.12,0.00,0.000,1030,0.000,0.027,2446,1851,2845,2921,2770,0,0,0,0,0,0,25.86,25.83,25.88,8.53,50.51
$GC,781,-1.08,-146.3,2445,1851,2921,2770,151.5,-19.4,85,791,0.00,2.17,0.00,0.000,260,0.000,0.037,2435,3249,2845,2921,2770,0,0,0,0,0,0,26.48,25.65,26.48,8.53,50.66
$STATE,813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,813,begin apogee
$GC,822,-0.21,0.0,2435,1848,2921,2769,158.6,-20.7,88,945,0.98,0.00,116.07,0.667,10246,0.125,0.000,2738,1847,2246,2364,2128,0,0,0,0,0,0,24.63,24.90,24.21,8.53,50.19
$STATE,946,end apogee,CONTROL_FINISHED_OK
$STATE,946,begin climb
$GC,949,1.28,146.3,2738,1847,2364,2127,164.5,0.0,101,1078,1.33,2.33,121.35,0.669,11012,0.067,0.037,3217,461,1649,1765,1534,0,0,0,0,0,0,25.15,24.50,23.76,8.48,48.74
$GC,1110,1.19,146.3,3216,461,1761,1530,146.2,20.0,117,1119,0.00,2.17,0.00,0.000,1030,0.000,0.026,3217,1837,1645,1762,1529,0,0,0,0,0,0,25.10,25.07,25.12,8.44,48.22
$GC,1301,1.12,146.3,3216,1837,1761,1525,102.0,23.1,136,1311,0.12,2.20,0.00,0.000,4356,0.158,0.034,3178,3255,1642,1760,1525,0,0,0,0,0,0,25.52,25.60,25.56,8.44,49.37
$GC,1356,1.12,146.3,3177,3255,1760,1525,89.0,22.6,141,1367,0.00,2.15,0.00,0.000,1030,0.000,0.026,3186,1831,1642,1760,1525,0,0,0,0,0,0,25.85,25.77,25.89,8.44,49.60
$GC,1487,1.12,146.3,3186,1831,1760,1524,63.0,19.4,154,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1831,1641,1759,1524,0,0,0,0,0,0,26.39,26.40,26.39,8.44,49.88
$GC,1608,1.12,146.3,3186,1831,1759,1523,41.6,17.4,166,1617,0.00,2.17,0.00,0.000,516,0.000,0.038,3197,454,1641,1759,1523,0,0,0,0,0,0,26.43,25.66,26.44,8.43,50.11
$GC,1664,1.12,146.3,3196,454,1758,1523,31.8,18.4,171,1672,0.00,2.17,0.00,0.000,1030,0.000,0.027,3197,1848,1640,1758,1523,0,0,0,0,0,0,25.91,25.88,25.94,8.43,50.39
$GC,1794,1.12,146.3,3196,1849,1758,1522,13.4,12.0,189,1801,0.00,2.25,0.00,0.000,516,0.000,0.039,3207,452,1640,1758,1522,0,0,0,0,0,0,26.46,25.65,26.46,8.44,50.63
$GC,1880,1.12,146.3,3206,451,1758,1522,3.5,9.3,205,1888,0.10,2.15,0.00,0.000,5126,0.138,0.025,3177,1854,1640,1758,1522,0,0,0,0,0,0,25.49,25.91,25.54,8.42,49.84
$STATE,1894,end climb,SURFACE_DEPTH_REACHED
$STATE,1894,begin surface coast
$FINISH,0.5,1.021159
$STATE,1926,end surface coast,CONTROL_FINISHED_OK
$STATE,1926,begin surface
$SM_CCo,1944,132.07,0.054,0,0,533,420.20
$SM_GC,1.75,8.00,0.00,132.07,0.037,0.000,0.054,180,1854,533,-8.07,0.34,420.20,0,0,0,0,0,0,25.98,26.47,25.49
$IRIDIUM_FIX,4736.87,-12256.21,280218,063047
$TT8_MAMPS,0.026964,0.240429
$HUMID,48.22
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,136.2,31.9
$24V_AH,23.76,110.831
$10V_AH,9.85,73.097
$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,19.275,34.900,237.425,132.075,0.000,0.000,0.000,196.475,2.750,0.000,18.378,549.935,542.741,449.986,738.396,124.370,0.000,958.296,0.000,424.781,0.000,21.199,0.000
$DEVICE_MAMPS,192.780,46.665,668.610,53.550,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,141.862,458.555,278.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,14176,213
$CAP_FILE_SIZE,41868,0
$CFSIZE,2097872896,2022735872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,212.73,1
$GPS,280218,081505,4737.367,-12255.741,8,0.9,38,16.4,0.2,149.1,9,4.7