version: 66.14
glider: 195
mission: 15
dive: 520
start: 2 20 118 3 26 59
data:
$ID,195
$MISSION,15
$DIVE,520
$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,49
$R_STBD_OVSHOOT,42
$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
$GPS1,200218,032235,4738.2256,-12253.2666,8,0.8,40,16.3,0.0,182.9,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.3
$GPS2,200218,032610,4738.2109,-12253.2617,7,0.8,13,16.3,0.0,171.1,10,4.5
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$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,343.2,397,-21.8,-10.000,-24.98,1489
$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,-1.01,-98.3,172,1846,531,441,0.0,0.0,0,60,0.00,0.00,-48.67,0.000,16386,0.000,0.000,172,1846,1666,1722,1611,0,0,0,0,0,0,26.57,28.83,26.58,8.30,48.46
$GC,63,-1.12,-211.8,171,1845,1720,1611,2.4,-2.2,7,127,8.77,2.22,-46.28,0.000,18948,0.192,0.050,2442,444,3112,3186,3038,0,0,0,0,0,0,24.73,25.56,24.92,8.41,48.34
$GC,191,-1.04,-211.8,2442,444,3187,3038,22.6,-26.9,27,199,0.12,2.17,0.00,0.000,3078,0.141,0.031,2473,1837,3113,3187,3039,0,0,0,0,0,0,25.57,26.03,25.78,8.52,48.18
$GC,318,-0.97,-211.8,2472,1837,3187,3039,53.6,-22.2,40,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1837,3113,3187,3039,0,0,0,0,0,0,26.63,26.65,26.65,8.53,48.77
$GC,438,-0.92,-211.8,2472,1837,3187,3039,80.0,-21.3,52,440,0.12,0.00,0.00,0.000,2054,0.151,0.000,2512,1837,3113,3187,3039,0,0,0,0,0,0,26.01,26.13,26.08,8.54,49.88
$GC,558,-0.92,-211.8,2511,1837,3187,3039,102.1,-17.6,64,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1837,3112,3186,3039,0,0,0,0,0,0,26.65,26.65,26.65,8.54,49.48
$GC,739,-0.92,-211.8,2511,1837,3187,3039,133.4,-17.6,82,750,0.00,2.17,0.00,0.000,516,0.000,0.039,2511,450,3113,3187,3039,0,0,0,0,0,0,26.65,25.86,26.65,8.56,50.51
$GC,787,-0.92,-211.8,2511,450,3187,3039,141.4,-17.6,86,797,0.00,2.10,0.00,0.000,1030,0.000,0.031,2503,1842,3113,3187,3039,0,0,0,0,0,0,26.06,26.03,26.10,8.56,49.96
$STATE,913,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,915,begin apogee
$GC,920,-0.21,0.0,2503,1842,3187,3039,163.9,-17.1,99,1095,0.68,0.00,168.35,0.665,10246,0.085,0.000,2745,1842,2246,2373,2120,0,0,0,0,0,0,25.58,24.83,23.96,8.56,49.80
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1096,begin climb
$GC,1099,1.12,211.8,2745,1842,2373,2120,165.6,0.0,117,1287,1.20,0.00,175.88,0.647,10502,0.083,0.000,3154,1841,1381,1488,1274,0,0,0,0,0,0,25.14,24.76,23.94,8.49,48.58
$GC,1466,1.12,211.8,3153,1842,1488,1272,133.9,13.2,154,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1842,1380,1488,1272,0,0,0,0,0,0,26.46,26.47,26.46,8.42,48.42
$GC,1645,1.12,211.8,3153,1841,1488,1270,108.8,14.5,172,1656,0.00,2.20,0.00,0.000,516,0.000,0.041,3165,449,1379,1487,1271,0,0,0,0,0,0,26.58,25.86,26.59,8.43,49.80
$GC,1733,1.12,211.8,3164,450,1485,1270,95.0,16.0,180,1742,0.00,2.15,0.00,0.000,1030,0.000,0.030,3164,1838,1378,1486,1270,0,0,0,0,0,0,26.10,26.07,26.13,8.43,48.89
$GC,1862,1.12,211.8,3164,1838,1485,1270,73.4,16.7,193,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1838,1377,1485,1270,0,0,0,0,0,0,26.63,26.64,26.63,8.42,48.85
$GC,1983,1.12,211.8,3164,1838,1485,1269,53.0,17.2,205,1992,0.00,2.15,0.00,0.000,516,0.000,0.041,3174,453,1377,1485,1269,0,0,0,0,0,0,26.64,25.89,26.65,8.42,49.13
$GC,2027,1.12,211.8,3174,453,1485,1270,45.5,17.1,209,2036,0.00,2.10,0.00,0.000,1030,0.000,0.029,3174,1851,1377,1485,1269,0,0,0,0,0,0,26.13,26.09,26.15,8.41,49.21
$GC,2157,1.12,211.8,3174,1851,1485,1269,24.6,15.1,222,2167,0.00,2.17,0.00,0.000,516,0.000,0.041,3184,453,1377,1485,1269,0,0,0,0,0,0,26.65,25.89,26.65,8.41,49.40
$GC,2173,1.12,211.8,3184,452,1485,1269,23.3,14.5,223,2181,0.00,2.15,0.00,0.000,1030,0.000,0.028,3184,1848,1377,1485,1269,0,0,0,0,0,0,26.14,26.11,26.17,8.41,49.88
$GC,2304,1.12,211.8,3184,1848,1485,1269,5.3,12.6,247,2311,0.00,2.20,0.00,0.000,260,0.000,0.037,3185,3251,1377,1486,1269,0,0,0,0,0,0,26.65,25.96,26.65,8.40,48.89
$STATE,2323,end climb,SURFACE_DEPTH_REACHED
$STATE,2323,begin surface coast
$FINISH,0.7,1.010532
$STATE,2345,end surface coast,CONTROL_FINISHED_OK
$STATE,2345,begin surface
$SM_CCo,2364,100.32,0.052,0,0,533,420.20
$SM_GC,1.68,7.78,2.20,100.32,0.029,0.028,0.052,185,1832,533,-8.05,1.24,420.20,0,0,0,0,0,0,26.19,26.06,25.72
$IRIDIUM_FIX,4735.54,-12254.47,200218,024214
$TT8_MAMPS,0.026964,0.265895
$HUMID,48.07
$INTERNAL_PRESSURE,8.28285
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,155.2,17.6
$24V_AH,23.94,93.369
$10V_AH,9.84,63.042
$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,18.675,26.000,344.225,100.325,0.000,0.000,0.000,139.325,4.250,0.000,14.458,635.572,732.470,477.879,787.094,91.561,0.000,972.571,0.000,490.132,0.000,33.272,0.000
$DEVICE_MAMPS,192.015,49.725,664.785,52.020,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.220,546.818,332.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312100
$DATA_FILE_SIZE,17481,254
$CAP_FILE_SIZE,42619,0
$CFSIZE,2097872896,2043576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,124.39,1
$GPS,200218,040859,4738.521,-12253.176,5,0.9,12,16.4,0.0,0.0,10,4.8