version: 66.14
glider: 195
mission: 15
dive: 750
start: 2 28 118 23 52 29
data:
$ID,195
$MISSION,15
$DIVE,750
$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,53
$R_STBD_OVSHOOT,43
$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,15
$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
$GPS1,280218,234632,4737.6104,-12255.2188,14,0.8,26,16.4,0.4,31.4,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.0
$GPS2,280218,235138,4737.6548,-12255.1543,4,0.8,20,16.4,0.5,44.0,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$TGT_LATLONG,4737.883,-12254.600
$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,52.2,811,-26.9,-10.000,-29.67,993
$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,-1.18,-65.3,178,1847,555,487,0.0,0.0,0,66,0.00,0.00,-54.65,0.000,16386,0.000,0.000,177,1847,1824,1886,1763,0,0,0,0,0,0,26.33,28.83,26.34,8.31,48.77
$GC,70,-1.25,-128.5,177,1847,1887,1764,2.4,-3.5,8,114,8.55,2.25,-28.98,0.000,19204,0.195,0.047,2391,3255,2774,2854,2695,0,0,0,0,0,0,24.98,23.65,25.16,8.43,49.92
$GC,403,-1.12,-128.5,2390,3255,2856,2695,77.1,-24.2,47,412,0.17,2.15,0.00,0.000,3078,0.146,0.024,2453,1829,2775,2856,2695,0,0,0,0,0,0,25.24,25.96,25.44,8.52,49.88
$GC,534,-1.06,-128.5,2452,1829,2856,2696,104.9,-20.7,60,544,0.00,2.17,0.00,0.000,260,0.000,0.036,2444,3242,2775,2856,2695,0,0,0,0,0,0,26.46,25.82,26.46,8.52,49.40
$GC,593,-1.00,-128.5,2443,3243,2856,2695,117.6,-21.5,65,602,0.12,2.10,0.00,0.000,3078,0.138,0.025,2483,1852,2775,2856,2695,0,0,0,0,0,0,25.48,25.96,25.56,8.52,50.11
$STATE,760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,761,begin apogee
$GC,767,-0.21,0.0,2482,1852,2856,2696,148.0,-17.3,82,874,0.80,0.00,102.93,0.662,10246,0.122,0.000,2739,1852,2246,2358,2135,0,0,0,0,0,0,25.08,24.95,24.29,8.53,49.96
$STATE,875,end apogee,CONTROL_FINISHED_OK
$STATE,875,begin climb
$GC,877,1.25,128.5,2739,1852,2358,2134,154.2,0.0,93,994,1.30,2.35,106.80,0.668,10500,0.071,0.034,3195,3253,1721,1839,1604,0,0,0,0,0,0,25.16,24.46,23.77,8.49,49.60
$GC,1041,1.19,128.5,3194,3253,1835,1603,133.8,19.5,109,1051,0.00,2.17,0.00,0.000,1030,0.000,0.025,3205,1849,1719,1835,1603,0,0,0,0,0,0,25.18,25.11,25.21,8.44,48.26
$GC,1233,1.13,128.5,3204,1849,1833,1598,96.6,18.8,128,1243,0.00,2.22,0.00,0.000,516,0.000,0.037,3216,452,1715,1832,1598,0,0,0,0,0,0,26.24,25.60,26.25,8.45,49.84
$GC,1299,1.05,128.5,3215,452,1832,1595,83.1,20.1,134,1310,0.20,2.12,0.00,0.000,5126,0.142,0.026,3151,1845,1713,1832,1594,0,0,0,0,0,0,25.26,25.83,25.37,8.45,49.52
$GC,1429,1.05,128.5,3151,1845,1832,1593,61.7,15.4,147,1432,0.00,2.20,0.00,0.000,260,0.000,0.036,3151,3251,1712,1832,1593,0,0,0,0,0,0,26.39,25.79,26.39,8.44,49.76
$GC,1472,1.05,128.5,3151,3255,1831,1593,54.7,16.1,151,1476,0.00,2.12,0.00,0.000,1030,0.000,0.026,3158,1842,1712,1832,1593,0,0,0,0,0,0,26.00,25.92,26.03,8.44,49.88
$GC,1605,1.05,128.5,3158,1841,1832,1593,34.2,15.2,164,1609,0.00,2.20,0.00,0.000,516,0.000,0.038,3170,444,1712,1832,1593,0,0,0,0,0,0,26.44,25.79,26.45,8.44,50.11
$GC,1706,1.05,128.5,3169,444,1832,1590,18.8,15.2,174,1715,0.00,2.15,0.00,0.000,1030,0.000,0.026,3170,1837,1710,1831,1590,0,0,0,0,0,0,26.01,25.99,26.03,8.44,50.11
$GC,1780,1.07,149.9,3169,1837,1831,1589,11.8,7.8,187,1794,0.00,0.00,9.93,0.456,8198,0.000,0.000,3170,1837,1633,1750,1517,0,0,0,0,0,0,26.46,25.56,24.91,8.43,50.59
$GC,1858,1.11,189.3,3169,1837,1749,1515,6.6,5.9,201,1880,0.00,0.00,19.10,0.469,8198,0.000,0.000,3170,1837,1473,1578,1369,0,0,0,0,0,0,26.40,25.50,24.89,8.42,50.15
$STATE,1911,end climb,SURFACE_DEPTH_REACHED
$STATE,1911,begin surface coast
$FINISH,0.4,1.021387
$STATE,1949,end surface coast,CONTROL_FINISHED_OK
$STATE,1949,begin surface
$SM_CCo,1967,111.32,0.053,0,0,532,420.20
$SM_GC,1.39,7.82,0.00,111.32,0.028,0.000,0.053,174,1839,532,-8.07,-0.11,420.20,0,0,0,0,0,0,25.98,26.34,25.61
$IRIDIUM_FIX,4738.33,-12256.21,280218,224614
$TT8_MAMPS,0.026964,0.241178
$HUMID,48.62
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,140.9,20.5
$24V_AH,23.65,112.222
$10V_AH,9.84,73.907
$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,18.975,26.225,238.750,111.325,0.000,0.000,0.000,197.175,3.000,0.000,23.305,584.321,534.006,382.322,796.272,125.083,0.000,906.291,0.000,466.437,0.000,24.622,0.000
$DEVICE_MAMPS,195.075,46.665,667.845,52.785,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,145.296,467.150,283.884,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312056
$DATA_FILE_SIZE,14170,217
$CAP_FILE_SIZE,41278,0
$CFSIZE,2097872896,2020966400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,45.44,1
$GPS,010318,002808,4737.810,-12254.713,9,0.9,16,16.4,0.5,47.7,10,5.0