version: 66.14
glider: 195
mission: 15
dive: 91
start: 2 3 118 9 52 13
data:
$ID,195
$MISSION,15
$DIVE,91
$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,75
$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,1
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,0
$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,2850
$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,43
$R_STBD_OVSHOOT,39
$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,75
$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
$GPS1,030218,094652,4738.1357,-12252.1445,7,0.8,14,16.3,0.0,62.7,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-38.3
$GPS2,030218,095101,4738.1362,-12252.1445,5,0.7,17,16.3,0.0,0.0,11,4.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,4748.936,-12252.145
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.001867,-0.320650
$KALMAN_X,-161628.609375,156835.968750,-40994.496094,46962.167969,-6564.882812
$KALMAN_Y,8631522.000000,-9840211.000000,-275440.562500,1484467.000000,1157252.000000
$MHEAD_RNG_PITCHd_Wd,163.4,20000,-13.1,-10.000,-17.32,3645
$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,-0.79,-244.4,170,1846,580,456,0.0,0.0,0,133,0.00,0.00,-117.97,0.000,16390,0.000,0.000,170,1847,3245,3317,3173,0,0,0,0,0,0,26.61,24.00,26.62,8.26,47.24
$GC,136,-0.79,-244.4,170,1847,3317,3174,1.2,-0.3,19,151,7.65,2.25,0.00,0.000,2308,0.113,0.043,2582,3255,3246,3318,3175,0,0,0,0,0,0,25.13,25.35,25.25,8.50,46.53
$GC,658,-0.99,-244.4,2581,3255,3318,3175,1.5,-0.1,121,666,0.08,2.17,0.00,0.000,5126,0.063,0.033,2523,1847,3246,3318,3175,0,0,0,0,0,0,25.87,25.99,25.94,8.50,47.40
$GC,729,-1.19,-244.4,2521,1847,3319,3174,1.5,0.3,134,737,0.10,2.22,0.00,0.000,4356,0.086,0.042,2446,3257,3246,3318,3175,0,0,0,0,0,0,26.49,25.80,26.52,8.50,47.12
$GC,1244,-1.38,-244.4,2445,3257,3318,3175,1.6,0.2,235,1252,0.05,2.20,0.00,0.000,5126,0.086,0.033,2393,1833,3246,3318,3175,0,0,0,0,0,0,25.88,26.00,25.92,8.50,47.20
$GC,1315,-1.57,-244.4,2392,1833,3318,3175,1.6,-0.0,248,1324,0.10,2.28,0.00,0.000,4356,0.086,0.042,2319,3250,3246,3318,3175,0,0,0,0,0,0,26.50,25.81,26.50,8.50,47.63
$GC,1831,-1.75,-244.4,2319,3250,3318,3175,1.7,0.2,349,1838,0.00,2.17,0.00,0.000,1030,0.000,0.032,2320,1841,3246,3318,3174,0,0,0,0,0,0,26.05,26.00,26.07,8.50,48.14
$GC,1902,-1.92,-244.4,2319,1841,3318,3175,1.7,0.1,362,1910,0.17,2.25,0.00,0.000,4356,0.054,0.042,2201,3240,3246,3318,3175,0,0,0,0,0,0,26.48,25.79,26.48,8.50,47.71
$STATE,2259,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2259,begin apogee
$GC,2266,-0.21,0.0,2200,1834,3318,3175,1.8,0.1,432,2276,1.60,0.00,5.95,0.045,10242,0.065,0.000,2782,1834,3185,3256,3114,0,0,0,0,0,0,25.59,28.83,25.65,8.50,48.07
$STATE,2277,end apogee,SURFACE_DEPTH_REACHED
$STATE,2277,begin surface coast
$FINISH,1.9,1.017211
$STATE,2360,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2360,begin surface
$SM_CCo,2375,275.27,0.046,0,0,532,420.20
$SM_GC,1.49,6.60,0.00,275.27,0.021,0.000,0.046,168,1834,532,-8.20,-0.25,420.20,0,0,0,0,0,0,26.26,26.77,25.53
$IRIDIUM_FIX,4738.72,-12249.11,030218,085605
$TT8_MAMPS,0.026964,0.238931
$HUMID,45.58
$INTERNAL_PRESSURE,8.21449
$TCM_TEMP,7.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,1.9,14.8
$24V_AH,24.00,62.843
$10V_AH,9.87,41.931
$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,16.350,17.750,5.950,275.275,0.000,0.000,0.000,172.075,0.250,0.000,19.798,1076.793,178.404,399.378,1194.704,80.989,33.434,929.002,0.000,687.860,0.000,2.630,0.000
$DEVICE_MAMPS,113.220,42.840,45.135,45.900,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,311.389,968.143,590.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312132
$DATA_FILE_SIZE,28058,449
$CAP_FILE_SIZE,45154,0
$CFSIZE,2097872896,2085847040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030218,103731,4738.126,-12252.119,14,0.9,25,16.3,0.0,0.0,9,4.9