version: 66.14
glider: 195
mission: 15
dive: 567
start: 2 22 118 0 15 42
data:
$ID,195
$MISSION,15
$DIVE,567
$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,46
$R_STBD_OVSHOOT,44
$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
$GPS1,220218,000956,4737.5117,-12255.8350,18,0.9,44,16.4,0.0,57.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.1
$GPS2,220218,001500,4737.5200,-12255.8066,11,0.8,16,16.4,0.0,0.0,10,5.0
$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,193.3,399,-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,-63.7,179,1841,565,487,0.0,0.0,0,59,0.00,0.00,-48.30,0.000,16386,0.000,0.000,179,1842,1687,1736,1639,0,0,0,0,0,0,26.50,28.83,26.52,8.29,48.93
$GC,63,-1.27,-138.6,179,1842,1736,1640,2.2,-2.1,7,113,8.55,0.00,-37.15,0.000,18950,0.195,0.000,2396,1840,2815,2896,2735,0,0,0,0,0,0,24.90,24.25,25.08,8.40,48.46
$GC,179,-1.17,-138.6,2396,1840,2897,2736,21.3,-30.1,26,187,0.12,0.00,0.00,0.000,2054,0.170,0.000,2433,1840,2817,2898,2736,0,0,0,0,0,0,25.85,25.96,25.91,8.50,48.03
$GC,307,-1.17,-138.6,2432,1840,2898,2735,50.6,-20.5,39,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1840,2817,2898,2736,0,0,0,0,0,0,26.59,26.60,26.60,8.51,48.62
$GC,428,-1.17,-138.6,2432,1840,2898,2736,74.6,-19.2,51,437,0.00,2.17,0.00,0.000,260,0.000,0.038,2424,3243,2817,2898,2736,0,0,0,0,0,0,26.60,25.79,26.62,8.51,49.40
$GC,472,-1.17,-138.6,2423,3243,2898,2736,83.2,-19.8,55,480,0.00,2.12,0.00,0.000,1030,0.000,0.027,2424,1843,2817,2898,2736,0,0,0,0,0,0,26.01,25.98,26.04,8.51,49.48
$GC,601,-1.17,-138.6,2423,1843,2898,2736,109.0,-19.9,68,606,0.00,2.20,0.00,0.000,516,0.000,0.038,2424,444,2817,2898,2736,0,0,0,0,0,0,26.61,25.74,26.62,8.52,49.88
$GC,667,-1.11,-138.6,2423,444,2897,2736,122.8,-20.9,74,673,0.12,2.15,0.00,0.000,3078,0.160,0.028,2450,1850,2817,2898,2736,0,0,0,0,0,0,25.50,25.96,25.62,8.53,50.00
$STATE,850,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,850,begin apogee
$GC,855,-0.21,0.0,2450,1850,2898,2736,156.2,-17.7,92,972,0.90,0.00,111.40,0.664,10246,0.122,0.000,2737,1851,2245,2365,2126,0,0,0,0,0,0,24.87,24.94,24.10,8.53,49.60
$STATE,973,end apogee,CONTROL_FINISHED_OK
$STATE,973,begin climb
$GC,975,1.27,138.6,2737,1851,2365,2126,161.6,0.0,104,1103,1.30,2.28,115.47,0.658,10756,0.063,0.037,3215,452,1679,1796,1563,0,0,0,0,0,0,25.30,24.48,23.95,8.49,48.81
$GC,1128,1.16,138.6,3214,452,1795,1560,140.8,21.3,119,1132,0.00,2.15,0.00,0.000,1030,0.000,0.028,3215,1837,1677,1795,1560,0,0,0,0,0,0,25.67,25.60,25.70,8.44,48.46
$GC,1322,1.06,138.6,3214,1837,1793,1556,93.1,24.3,138,1333,0.17,2.20,0.00,0.000,4612,0.152,0.037,3170,449,1674,1792,1556,0,0,0,0,0,0,25.58,25.70,25.63,8.44,48.85
$GC,1350,0.97,138.6,3169,449,1791,1556,86.9,24.1,140,1359,0.12,2.17,0.00,0.000,5126,0.139,0.028,3132,1846,1673,1791,1555,0,0,0,0,0,0,25.50,25.96,25.57,8.44,48.97
$GC,1479,0.97,138.6,3132,1845,1791,1554,63.2,17.5,153,1488,0.00,2.15,0.00,0.000,260,0.000,0.037,3132,3240,1672,1791,1554,0,0,0,0,0,0,26.55,25.84,26.56,8.44,49.29
$GC,1514,0.97,138.6,3132,3240,1791,1554,57.3,16.9,156,1522,0.00,2.15,0.00,0.000,1030,0.000,0.028,3140,1834,1672,1791,1554,0,0,0,0,0,0,26.00,25.97,26.03,8.44,49.40
$GC,1643,0.97,138.6,3139,1834,1791,1554,35.6,16.0,169,1647,0.00,2.17,0.00,0.000,516,0.000,0.041,3150,454,1672,1791,1554,0,0,0,0,0,0,26.58,25.76,26.59,8.44,48.85
$GC,1698,0.97,138.6,3150,454,1791,1552,27.1,15.8,174,1707,0.00,2.15,0.00,0.000,1030,0.000,0.028,3151,1848,1671,1791,1552,0,0,0,0,0,0,26.04,26.01,26.07,8.43,48.93
$GC,1832,0.97,138.6,3150,1848,1791,1552,9.7,9.6,195,1840,0.00,2.20,0.00,0.000,260,0.000,0.037,3151,3245,1671,1791,1552,0,0,0,0,0,0,26.60,25.84,26.61,8.43,48.93
$STATE,1897,end climb,SURFACE_DEPTH_REACHED
$STATE,1897,begin surface coast
$FINISH,0.7,1.021388
$STATE,1923,end surface coast,CONTROL_FINISHED_OK
$STATE,1924,begin surface
$SM_CCo,1943,134.02,0.052,0,0,532,420.20
$SM_GC,1.66,7.70,2.17,134.02,0.027,0.028,0.052,169,1844,532,-8.07,1.61,420.20,0,0,0,0,0,0,26.15,25.97,25.64
$IRIDIUM_FIX,4736.87,-12256.21,210218,230436
$TT8_MAMPS,0.026964,0.264397
$HUMID,47.28
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,141.8,23.1
$24V_AH,23.95,97.339
$10V_AH,9.84,65.339
$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,19.000,30.450,226.875,134.025,0.000,0.000,0.000,207.925,2.750,0.000,17.278,563.432,570.819,413.102,757.909,106.640,0.000,929.817,0.000,423.386,0.000,19.941,0.000
$DEVICE_MAMPS,195.075,40.545,664.020,52.020,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,141.897,456.422,277.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,14234,212
$CAP_FILE_SIZE,42085,0
$CFSIZE,2097872896,2038956032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,205.56,1
$GPS,220218,005117,4737.229,-12256.072,5,0.9,13,16.4,0.0,358.3,10,4.6