version: 66.14
glider: 195
mission: 15
dive: 772
start: 3 1 118 20 24 24
data:
$ID,195
$MISSION,15
$DIVE,772
$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,52
$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,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
$GPS1,010318,201818,4737.5122,-12255.7734,46,0.9,60,16.4,0.4,67.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.9
$GPS2,010318,202341,4737.5381,-12255.6943,5,0.9,27,16.4,0.3,70.8,9,5.0
$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,205.3,515,-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,-63.7,170,1859,507,448,0.0,0.0,0,59,0.00,0.00,-47.70,0.000,16386,0.000,0.000,169,1859,1607,1650,1565,0,0,0,0,0,0,26.30,28.83,26.31,8.31,50.07
$GC,63,-1.27,-135.0,169,1859,1651,1565,2.2,-2.5,7,119,8.52,0.00,-39.67,0.000,18438,0.194,0.000,2395,1859,2799,2879,2720,0,0,0,0,0,0,25.00,25.39,25.18,8.41,49.52
$GC,185,-1.10,-135.0,2395,1859,2880,2720,21.0,-27.8,27,190,0.20,2.17,0.00,0.000,2308,0.160,0.037,2445,3246,2800,2880,2720,0,0,0,0,0,0,25.44,25.71,25.60,8.51,49.17
$GC,220,-0.98,-135.0,2445,3247,2880,2720,31.5,-29.5,30,225,0.17,2.12,0.00,0.000,3078,0.147,0.026,2496,1839,2800,2880,2720,0,0,0,0,0,0,25.40,25.89,25.58,8.52,48.93
$GC,354,-0.98,-135.0,2496,1839,2881,2720,59.9,-19.4,43,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1839,2800,2880,2720,0,0,0,0,0,0,26.40,26.41,26.41,8.52,49.96
$GC,474,-0.98,-135.0,2496,1839,2881,2720,82.6,-18.2,55,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1839,2800,2881,2720,0,0,0,0,0,0,26.41,26.42,26.42,8.52,49.60
$GC,594,-0.98,-135.0,2496,1839,2881,2720,104.2,-17.7,67,598,0.00,2.17,0.00,0.000,516,0.000,0.038,2496,455,2800,2881,2720,0,0,0,0,0,0,26.41,25.80,26.42,8.52,50.63
$GC,654,-0.98,-135.0,2496,454,2880,2720,114.6,-18.7,72,662,0.00,2.15,0.00,0.000,1030,0.000,0.028,2488,1839,2800,2881,2720,0,0,0,0,0,0,25.97,25.94,26.00,8.52,49.84
$GC,841,-0.98,-135.0,2488,1839,2881,2720,148.2,-17.6,91,846,0.00,2.20,0.00,0.000,260,0.000,0.037,2478,3246,2800,2881,2720,0,0,0,0,0,0,26.42,25.85,26.43,8.53,50.39
$GC,890,-0.98,-135.0,2477,3246,2881,2720,156.3,-17.9,95,894,0.00,2.10,0.00,0.000,1030,0.000,0.026,2478,1839,2800,2881,2720,0,0,0,0,0,0,26.03,25.96,26.06,8.53,50.66
$STATE,900,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,900,begin apogee
$GC,906,-0.21,0.0,2477,1839,2881,2720,159.3,-18.2,96,1023,0.80,0.00,107.68,0.666,10246,0.123,0.000,2734,1838,2247,2364,2130,0,0,0,0,0,0,25.29,24.57,24.12,8.53,50.78
$STATE,1024,end apogee,CONTROL_FINISHED_OK
$STATE,1024,begin climb
$GC,1026,1.27,135.0,2734,1838,2364,2130,166.1,0.0,108,1145,1.30,0.00,113.82,0.654,10502,0.056,0.000,3200,1838,1695,1813,1577,0,0,0,0,0,0,25.06,24.12,23.48,8.48,49.60
$GC,1324,1.27,135.0,3200,1838,1810,1572,122.1,20.1,138,1329,0.00,2.25,0.00,0.000,516,0.000,0.039,3211,452,1691,1810,1572,0,0,0,0,0,0,25.96,25.20,25.97,8.44,49.92
$GC,1368,1.21,135.0,3210,452,1809,1570,112.9,21.1,142,1373,0.00,2.17,0.00,0.000,1030,0.000,0.028,3211,1849,1689,1808,1570,0,0,0,0,0,0,25.58,25.51,25.62,8.44,50.03
$GC,1564,1.16,135.0,3210,1849,1808,1569,73.7,20.1,161,1569,0.00,2.22,0.00,0.000,516,0.000,0.038,3222,454,1688,1808,1569,0,0,0,0,0,0,26.35,25.58,26.36,8.44,50.00
$GC,1618,1.10,135.0,3221,453,1808,1567,62.8,19.3,166,1628,0.17,2.12,0.00,0.000,5126,0.135,0.028,3169,1842,1687,1808,1567,0,0,0,0,0,0,25.29,25.77,25.39,8.44,50.35
$GC,1749,1.10,135.0,3168,1842,1808,1566,41.6,16.1,179,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1842,1687,1808,1566,0,0,0,0,0,0,26.40,26.41,26.41,8.44,50.78
$GC,1879,1.10,135.0,3168,1842,1808,1565,22.6,13.7,192,1883,0.00,2.20,0.00,0.000,516,0.000,0.038,3177,453,1687,1808,1566,0,0,0,0,0,0,26.42,25.74,26.43,8.43,50.78
$GC,1925,1.10,135.0,3177,452,1808,1565,17.2,11.9,198,1932,0.00,2.15,0.00,0.000,1030,0.000,0.027,3178,1847,1686,1808,1565,0,0,0,0,0,0,25.92,25.89,25.95,8.44,50.90
$GC,1996,1.10,135.0,3177,1847,1808,1565,8.7,11.1,211,2004,0.00,2.20,0.00,0.000,260,0.000,0.037,3178,3240,1686,1808,1565,0,0,0,0,0,0,26.42,25.79,26.43,8.43,50.94
$STATE,2101,end climb,SURFACE_DEPTH_REACHED
$STATE,2101,begin surface coast
$FINISH,1.6,1.021193
$STATE,2160,end surface coast,CONTROL_FINISHED_OK
$STATE,2160,begin surface
$SM_CCo,2182,135.82,0.052,0,0,533,420.20
$SM_GC,1.60,8.40,2.17,135.82,0.062,0.026,0.052,186,1835,533,-8.07,1.53,420.20,0,0,0,0,0,0,25.94,25.92,25.61
$IRIDIUM_FIX,4729.54,-12603.75,010318,191431
$TT8_MAMPS,0.027713,0.266644
$HUMID,48.58
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,156.3,16.1
$24V_AH,23.48,113.966
$10V_AH,9.81,74.984
$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,19.575,30.425,221.500,135.825,0.000,0.000,0.000,205.550,4.000,0.000,30.200,649.785,646.135,410.740,823.737,140.304,0.000,931.553,0.000,454.342,0.000,30.455,0.000
$DEVICE_MAMPS,194.310,39.015,666.315,52.020,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,163.247,521.017,317.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312144
$DATA_FILE_SIZE,17541,242
$CAP_FILE_SIZE,44590,0
$CFSIZE,2097872896,2018803712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,165.32,1
$GPS,010318,210425,4737.296,-12255.986,14,0.9,37,16.4,0.3,64.3,9,4.8