version: 66.14
glider: 195
mission: 15
dive: 668
start: 2 25 118 23 7 30
data:
$ID,195
$MISSION,15
$DIVE,668
$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,47
$R_STBD_OVSHOOT,38
$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
$GPS1,250218,230130,4737.3813,-12255.8535,5,0.8,15,16.4,0.4,58.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-60.2
$GPS2,250218,230639,4737.4463,-12255.7412,6,0.8,19,16.4,0.8,47.3,10,4.8
$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,212.3,363,-19.4,-10.000,-22.82,1850
$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,-0.93,-122.5,159,1832,551,484,0.0,0.0,0,65,0.00,0.00,-53.62,0.000,16386,0.000,0.000,159,1832,1806,1864,1749,0,0,0,0,0,0,26.41,28.83,26.43,8.30,48.77
$GC,69,-1.05,-240.3,159,1832,1864,1749,2.5,-3.5,8,125,8.82,0.00,-40.35,0.000,18950,0.193,0.000,2467,1833,3228,3289,3168,0,0,0,0,0,0,24.94,25.48,25.13,8.42,49.13
$GC,197,-0.93,-240.3,2467,1833,3290,3170,23.5,-22.5,28,204,0.10,0.00,0.00,0.000,2054,0.158,0.000,2502,1833,3230,3290,3170,0,0,0,0,0,0,25.87,25.90,25.88,8.55,48.62
$GC,325,-0.93,-240.3,2501,1833,3290,3170,49.9,-19.4,41,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1833,3229,3289,3170,0,0,0,0,0,0,26.49,26.50,26.50,8.54,49.29
$GC,445,-0.93,-240.3,2502,1833,3290,3170,72.8,-19.0,53,450,0.00,2.28,0.00,0.000,260,0.000,0.040,2493,3258,3230,3290,3170,0,0,0,0,0,0,26.50,25.39,26.51,8.55,49.72
$GC,478,-0.93,-240.3,2493,3258,3290,3170,79.3,-19.6,56,487,0.00,2.15,0.00,0.000,1030,0.000,0.028,2493,1843,3230,3290,3170,0,0,0,0,0,0,25.70,25.67,25.73,8.55,49.84
$GC,610,-0.93,-240.3,2493,1844,3289,3170,103.6,-18.4,69,614,0.00,2.22,0.00,0.000,516,0.000,0.040,2493,444,3230,3290,3170,0,0,0,0,0,0,26.50,25.32,26.51,8.56,49.88
$GC,645,-0.93,-240.3,2493,444,3289,3169,110.1,-18.5,72,655,0.00,2.15,0.00,0.000,1030,0.000,0.031,2484,1839,3230,3290,3170,0,0,0,0,0,0,25.64,25.60,25.67,8.56,50.63
$GC,838,-0.93,-240.3,2484,1839,3290,3169,146.0,-18.9,91,847,0.00,2.22,0.00,0.000,260,0.000,0.039,2474,3252,3230,3290,3170,0,0,0,0,0,0,26.44,25.37,26.45,8.57,50.47
$GC,891,-0.93,-240.3,2473,3252,3290,3170,155.5,-18.8,95,899,0.10,2.17,0.00,0.000,3078,0.122,0.028,2506,1833,3230,3290,3170,0,0,0,0,0,0,25.30,25.67,25.33,8.57,50.55
$STATE,908,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,908,begin apogee
$GC,914,-0.21,0.0,2505,1833,3290,3169,159.8,-17.9,97,1110,0.70,0.00,189.18,0.665,10246,0.104,0.000,2740,1832,2246,2365,2127,0,0,0,0,0,0,24.70,24.79,24.06,8.57,50.82
$STATE,1111,end apogee,CONTROL_FINISHED_OK
$STATE,1111,begin climb
$GC,1114,1.05,240.3,2740,1832,2364,2126,164.8,0.0,117,1323,1.12,2.33,199.20,0.646,11012,0.067,0.039,3146,454,1266,1362,1170,0,0,0,0,0,0,25.04,24.68,23.93,8.50,48.50
$GC,1352,0.94,240.3,3146,452,1361,1168,132.8,20.2,140,1360,0.10,2.22,0.00,0.000,5126,0.132,0.028,3106,1840,1264,1361,1168,0,0,0,0,0,0,24.84,25.25,24.98,8.41,47.59
$GC,1541,0.94,240.3,3106,1840,1361,1163,97.0,17.7,159,1551,0.00,2.22,0.00,0.000,516,0.000,0.040,3113,451,1262,1361,1164,0,0,0,0,0,0,26.32,25.48,26.32,8.41,49.01
$GC,1567,0.94,240.3,3113,451,1362,1164,92.4,18.2,161,1574,0.00,2.17,0.00,0.000,1030,0.000,0.028,3113,1843,1262,1361,1163,0,0,0,0,0,0,25.75,25.75,25.79,8.41,48.85
$GC,1695,0.94,240.3,3113,1843,1361,1163,68.5,18.2,174,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1843,1262,1361,1163,0,0,0,0,0,0,26.42,26.44,26.43,8.41,49.96
$GC,1816,0.94,240.3,3113,1843,1361,1163,47.8,17.3,186,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1844,1262,1361,1163,0,0,0,0,0,0,26.46,26.47,26.47,8.40,49.29
$GC,1945,0.94,240.3,3113,1843,1361,1162,26.3,15.7,199,1950,0.00,2.22,0.00,0.000,516,0.000,0.040,3123,455,1262,1361,1163,0,0,0,0,0,0,26.48,25.47,26.49,8.40,49.80
$GC,2026,0.94,240.3,3122,455,1361,1162,12.9,15.9,210,2034,0.00,2.17,0.00,0.000,1030,0.000,0.028,3123,1843,1261,1361,1162,0,0,0,0,0,0,25.78,25.76,25.82,8.39,49.25
$STATE,2091,end climb,SURFACE_DEPTH_REACHED
$STATE,2091,begin surface coast
$FINISH,0.7,1.021296
$STATE,2107,end surface coast,CONTROL_FINISHED_OK
$STATE,2107,begin surface
$SM_CCo,2125,87.43,0.050,0,0,533,420.20
$SM_GC,1.58,7.60,0.00,87.43,0.022,0.000,0.050,179,1843,533,-8.06,0.03,420.20,0,0,0,0,0,0,25.92,26.50,25.46
$IRIDIUM_FIX,4736.40,-12251.79,250218,221018
$TT8_MAMPS,0.026964,0.241178
$HUMID,47.75
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.0
$ALTIM_BOTTOM_PING,155.5,11.0
$24V_AH,23.93,105.584
$10V_AH,9.85,70.229
$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,18.550,26.550,388.375,87.425,0.000,0.000,0.000,207.125,4.500,0.000,20.979,563.643,593.623,496.852,786.084,121.026,0.000,1046.978,0.000,446.144,0.000,37.399,0.000
$DEVICE_MAMPS,192.780,39.780,664.785,50.490,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,148.583,484.351,293.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,14183,225
$CAP_FILE_SIZE,42152,0
$CFSIZE,2097872896,2029027328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,911.06,0x2139a2,2,24
$CURRENT,0.164,42.14,1
$GPS,250218,234547,4737.368,-12256.007,5,1.1,41,16.4,0.3,44.4,9,5.0