version: 66.14
glider: 195
mission: 15
dive: 621
start: 2 24 118 2 56 37
data:
$ID,195
$MISSION,15
$DIVE,621
$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
$GPS1,240218,025040,4737.4551,-12255.9609,9,0.9,15,16.4,0.6,48.0,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.4
$GPS2,240218,025554,4737.5156,-12255.8525,6,0.9,18,16.4,0.8,49.8,8,4.9
$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,199.0,362,-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,-63.7,168,1848,549,486,0.0,0.0,0,54,0.00,0.00,-41.92,0.000,16386,0.000,0.000,168,1848,1521,1576,1467,0,0,0,0,0,0,26.46,28.83,26.47,8.29,48.46
$GC,57,-1.28,-143.9,168,1848,1576,1468,2.1,-1.5,6,120,8.50,2.25,-44.17,0.000,18692,0.192,0.049,2383,3252,2835,2915,2755,0,0,0,0,0,0,24.93,23.68,25.08,8.38,48.50
$GC,155,-1.15,-143.9,2383,3252,2915,2756,14.1,-25.4,21,164,0.15,2.17,0.00,0.000,3078,0.143,0.027,2441,1829,2835,2914,2756,0,0,0,0,0,0,25.15,25.85,25.32,8.50,48.11
$GC,233,-1.15,-143.9,2440,1827,2915,2756,30.9,-20.5,30,243,0.00,2.15,0.00,0.000,516,0.000,0.037,2440,457,2835,2915,2756,0,0,0,0,0,0,26.53,25.60,26.53,8.49,48.46
$GC,259,-1.15,-143.9,2440,457,2915,2756,35.6,-20.1,32,266,0.00,2.15,0.00,0.000,1030,0.000,0.028,2432,1839,2835,2915,2756,0,0,0,0,0,0,25.87,25.84,25.89,8.50,48.26
$GC,387,-1.15,-143.9,2431,1839,2915,2756,62.4,-20.7,45,398,0.00,2.20,0.00,0.000,260,0.000,0.037,2421,3246,2835,2915,2756,0,0,0,0,0,0,26.55,25.63,26.55,8.51,49.37
$GC,442,-1.15,-143.9,2421,3246,2915,2756,74.4,-21.6,50,452,0.00,2.10,0.00,0.000,1030,0.000,0.026,2421,1845,2835,2915,2756,0,0,0,0,0,0,25.88,25.85,25.90,8.51,49.37
$GC,573,-1.15,-143.9,2421,1845,2915,2756,102.6,-21.2,63,584,0.00,2.17,0.00,0.000,516,0.000,0.037,2421,459,2835,2915,2756,0,0,0,0,0,0,26.55,25.55,26.56,8.52,49.72
$GC,657,-1.09,-143.9,2420,458,2916,2756,120.6,-21.7,70,667,0.15,2.12,0.00,0.000,3078,0.142,0.028,2456,1848,2835,2915,2756,0,0,0,0,0,0,25.22,25.80,25.26,8.53,50.19
$GC,847,-1.09,-143.9,2455,1848,2915,2756,154.6,-17.4,89,857,0.00,2.17,0.00,0.000,260,0.000,0.037,2446,3245,2835,2915,2756,0,0,0,0,0,0,26.56,25.58,26.57,8.53,50.78
$STATE,869,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,869,begin apogee
$GC,877,-0.21,0.0,2446,1844,2915,2756,159.0,-18.0,91,1000,0.93,0.00,115.82,0.656,10246,0.124,0.000,2736,1844,2245,2369,2122,0,0,0,0,0,0,24.53,24.65,24.17,8.53,50.43
$STATE,1001,end apogee,CONTROL_FINISHED_OK
$STATE,1001,begin climb
$GC,1004,1.28,143.9,2735,1844,2369,2121,164.8,0.0,104,1132,1.33,2.33,120.05,0.651,10756,0.059,0.038,3224,455,1658,1774,1543,0,0,0,0,0,0,25.27,24.83,24.00,8.50,49.05
$GC,1157,1.16,143.9,3224,454,1771,1541,146.6,20.6,119,1163,0.12,2.17,0.00,0.000,5126,0.159,0.028,3190,1841,1655,1771,1540,0,0,0,0,0,0,25.08,25.49,25.24,8.44,48.70
$GC,1353,1.10,143.9,3190,1842,1771,1536,103.4,21.9,138,1358,0.00,2.20,0.00,0.000,260,0.000,0.036,3190,3252,1653,1770,1536,0,0,0,0,0,0,26.40,25.70,26.41,8.45,49.29
$GC,1379,1.03,143.9,3190,3252,1769,1536,97.8,21.8,140,1384,0.17,2.17,0.00,0.000,5126,0.148,0.027,3148,1838,1652,1769,1535,0,0,0,0,0,0,25.28,25.84,25.47,8.45,49.33
$GC,1513,1.03,143.9,3147,1837,1768,1535,72.3,18.0,153,1517,0.00,2.22,0.00,0.000,516,0.000,0.040,3157,448,1652,1769,1535,0,0,0,0,0,0,26.49,25.64,26.50,8.44,49.72
$GC,1596,1.03,143.9,3157,448,1767,1534,56.9,18.1,161,1605,0.00,2.12,0.00,0.000,1030,0.000,0.028,3157,1840,1650,1767,1534,0,0,0,0,0,0,25.91,25.88,25.95,8.44,49.29
$GC,1726,1.03,143.9,3156,1841,1767,1533,32.5,19.3,174,1730,0.00,2.20,0.00,0.000,260,0.000,0.037,3157,3253,1650,1767,1534,0,0,0,0,0,0,26.53,25.68,26.54,8.43,49.40
$GC,1792,1.03,143.9,3156,3253,1767,1534,19.9,20.3,180,1801,0.00,2.15,0.00,0.000,1030,0.000,0.028,3167,1845,1650,1767,1533,0,0,0,0,0,0,25.89,25.86,25.92,8.43,49.72
$GC,1865,1.03,143.9,3166,1845,1766,1533,8.7,12.6,193,1872,0.00,2.25,0.00,0.000,516,0.000,0.041,3178,451,1650,1767,1533,0,0,0,0,0,0,26.54,25.60,26.55,8.42,49.60
$STATE,1919,end climb,SURFACE_DEPTH_REACHED
$STATE,1919,begin surface coast
$FINISH,0.8,1.020866
$STATE,1945,end surface coast,CONTROL_FINISHED_OK
$STATE,1945,begin surface
$SM_CCo,1965,133.55,0.055,0,0,532,420.20
$SM_GC,1.55,7.93,2.20,133.55,0.034,0.027,0.055,181,1851,532,-8.06,-1.24,420.20,0,0,0,0,0,0,26.03,25.88,25.58
$IRIDIUM_FIX,4738.80,-12300.63,240218,015538
$TT8_MAMPS,0.026964,0.240429
$HUMID,47.24
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,140.8,27.4
$24V_AH,23.68,101.875
$10V_AH,9.86,67.954
$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,19.275,43.700,235.875,133.550,0.000,0.000,0.000,218.875,3.000,0.000,20.221,561.465,559.143,447.230,768.199,110.238,0.000,980.664,0.000,425.583,0.000,22.798,0.000
$DEVICE_MAMPS,192.015,48.960,656.370,55.080,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,138.557,447.816,271.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312112
$DATA_FILE_SIZE,14155,208
$CAP_FILE_SIZE,44214,0
$CFSIZE,2097872896,2033647616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,51.62,1
$GPS,240218,033257,4737.318,-12256.071,8,0.9,36,16.4,0.3,53.8,9,4.9