version: 66.14
glider: 195
mission: 15
dive: 471
start: 2 18 118 8 3 25
data:
$ID,195
$MISSION,15
$DIVE,471
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,180218,075759,4737.5010,-12255.8691,5,0.9,15,16.4,0.6,45.1,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.6
$GPS2,180218,080234,4737.5557,-12255.7803,5,0.9,17,16.4,0.5,49.9,9,4.8
$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,204.7,472,-19.8,-10.000,-23.22,1773
$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,-0.94,-117.4,182,1841,577,487,0.0,0.0,0,60,0.00,0.00,-48.78,0.000,16386,0.000,0.000,182,1842,1700,1757,1643,0,0,0,0,0,0,26.58,28.83,26.60,8.30,47.99
$GC,63,-1.06,-230.2,182,1842,1758,1643,2.4,-3.5,7,120,8.85,0.00,-44.25,0.000,18694,0.196,0.000,2466,1841,3188,3256,3120,0,0,0,0,0,0,24.81,24.34,25.00,8.42,47.99
$GC,190,-0.91,-230.2,2465,1841,3257,3121,23.0,-22.1,27,200,0.15,2.20,0.00,0.000,2308,0.145,0.037,2508,3251,3189,3257,3121,0,0,0,0,0,0,25.90,25.96,25.94,8.54,47.71
$GC,234,-0.84,-230.2,2507,3252,3257,3121,32.4,-20.8,31,244,0.10,2.12,0.00,0.000,3078,0.122,0.028,2540,1830,3189,3257,3121,0,0,0,0,0,0,25.79,26.10,25.84,8.54,47.87
$GC,364,-0.84,-230.2,2539,1830,3257,3121,54.5,-17.1,44,369,0.00,2.15,0.00,0.000,516,0.000,0.041,2540,453,3189,3257,3121,0,0,0,0,0,0,26.67,25.93,26.67,8.54,48.07
$GC,429,-0.84,-230.2,2539,452,3257,3121,65.3,-16.9,50,433,0.00,2.15,0.00,0.000,1030,0.000,0.031,2532,1855,3189,3257,3121,0,0,0,0,0,0,26.19,26.10,26.22,8.55,48.26
$GC,561,-0.84,-230.2,2531,1855,3257,3121,88.5,-17.7,63,565,0.00,2.15,0.00,0.000,260,0.000,0.040,2522,3245,3189,3257,3121,0,0,0,0,0,0,26.68,25.98,26.69,8.55,48.74
$GC,637,-0.84,-230.2,2521,3245,3257,3121,101.0,-16.8,70,645,0.00,2.12,0.00,0.000,1030,0.000,0.028,2522,1847,3189,3257,3121,0,0,0,0,0,0,26.16,26.13,26.19,8.55,48.89
$GC,825,-0.84,-230.2,2521,1847,3257,3120,133.5,-16.6,89,829,0.00,2.17,0.00,0.000,516,0.000,0.040,2523,452,3189,3257,3121,0,0,0,0,0,0,26.68,25.91,26.70,8.56,49.09
$GC,850,-0.84,-230.2,2521,452,3257,3121,137.5,-16.9,91,858,0.00,2.15,0.00,0.000,1030,0.000,0.031,2513,1838,3189,3257,3121,0,0,0,0,0,0,26.15,26.10,26.17,8.57,49.37
$STATE,986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,986,begin apogee
$GC,991,-0.21,0.0,2512,1838,3257,3121,161.2,-16.7,105,1180,0.65,0.00,184.02,0.652,10246,0.090,0.000,2743,1838,2246,2374,2118,0,0,0,0,0,0,25.65,24.79,23.91,8.57,49.56
$STATE,1181,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1183,1.06,230.2,2743,1838,2374,2118,162.8,0.0,124,1389,1.10,2.28,191.70,0.637,10756,0.072,0.041,3141,451,1307,1412,1202,0,0,0,0,0,0,25.24,24.82,23.88,8.50,47.79
$GC,1488,0.97,230.2,3141,451,1411,1199,121.8,20.1,154,1498,0.00,2.12,0.00,0.000,1030,0.000,0.029,3141,1834,1305,1411,1199,0,0,0,0,0,0,25.96,25.91,26.01,8.42,47.28
$GC,1678,0.89,230.2,3141,1834,1411,1198,84.6,18.7,173,1686,0.12,0.00,0.00,0.000,4102,0.142,0.000,3100,1835,1304,1411,1198,0,0,0,0,0,0,25.96,26.05,26.00,8.41,48.34
$GC,1807,0.89,230.2,3099,1835,1411,1198,63.6,15.6,186,1817,0.00,2.17,0.00,0.000,516,0.000,0.042,3107,454,1304,1411,1198,0,0,0,0,0,0,26.63,25.94,26.64,8.41,48.74
$GC,1870,0.89,230.2,3107,454,1411,1197,53.3,15.7,192,1880,0.00,2.15,0.00,0.000,1030,0.000,0.029,3108,1857,1304,1411,1197,0,0,0,0,0,0,26.22,26.13,26.25,8.41,48.11
$GC,2001,0.89,230.2,3107,1857,1411,1197,33.6,14.1,205,2005,0.00,2.22,0.00,0.000,516,0.000,0.041,3117,453,1304,1412,1197,0,0,0,0,0,0,26.66,25.95,26.67,8.40,48.07
$GC,2046,0.89,230.2,3117,452,1411,1197,27.0,15.4,209,2050,0.00,2.12,0.00,0.000,1030,0.000,0.029,3117,1853,1304,1411,1197,0,0,0,0,0,0,26.22,26.14,26.25,8.40,48.03
$GC,2177,0.94,277.7,3117,1854,1411,1196,11.7,7.3,229,2213,0.00,2.20,25.30,0.480,8452,0.000,0.037,3117,3252,1111,1214,1009,0,0,0,0,0,0,26.67,25.27,24.40,8.38,48.93
$STATE,2280,end climb,SURFACE_DEPTH_REACHED
$STATE,2280,begin surface coast
$FINISH,0.4,1.010887
$STATE,2314,end surface coast,CONTROL_FINISHED_OK
$STATE,2314,begin surface
$SM_CCo,2333,69.07,0.050,0,0,533,420.20
$SM_GC,1.48,7.57,2.20,69.07,0.028,0.028,0.050,176,1831,533,-8.06,1.24,420.20,0,0,0,0,0,0,26.21,26.10,25.86
$IRIDIUM_FIX,4735.54,-12254.47,180218,065902
$TT8_MAMPS,0.026964,0.23968
$HUMID,47.00
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,17.7
$ALTIM_BOTTOM_PING,120.2,49.5
$24V_AH,23.88,89.379
$10V_AH,9.85,60.868
$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,18.550,34.700,401.025,69.075,0.000,0.000,0.000,183.300,1.750,0.000,18.433,634.854,647.383,471.488,863.880,99.688,0.000,1050.709,0.000,532.637,0.000,13.597,0.000
$DEVICE_MAMPS,195.840,42.075,651.780,50.490,0.000,0.000,0.000,82.620,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,167.988,544.709,330.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312160
$DATA_FILE_SIZE,17680,253
$CAP_FILE_SIZE,44810,0
$CFSIZE,2097872896,2048393216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.093,60.13,1
$GPS,180218,084427,4737.385,-12255.978,4,0.7,17,16.4,0.7,58.3,11,4.9