version: 66.14
glider: 195
mission: 15
dive: 691
start: 2 26 118 19 27 56
data:
$ID,195
$MISSION,15
$DIVE,691
$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,39
$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
$GPS1,260218,192153,4737.4512,-12255.8965,6,0.9,13,16.4,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.7
$GPS2,260218,192713,4737.4736,-12255.8447,9,0.8,17,16.4,0.0,0.0,10,4.4
$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,194.0,301,-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,10,-1.20,-63.7,176,1841,559,488,0.0,0.0,0,55,0.00,0.00,-43.15,0.000,16386,0.000,0.000,176,1841,1559,1620,1499,0,0,0,0,0,0,26.36,28.83,26.37,8.30,48.77
$GC,59,-1.28,-144.9,176,1841,1620,1500,2.1,-1.4,6,116,8.50,2.28,-43.30,0.000,18692,0.194,0.048,2385,3252,2839,2915,2763,0,0,0,0,0,0,24.97,23.58,25.15,8.40,49.05
$GC,167,-1.17,-144.9,2384,3252,2916,2764,15.5,-24.1,23,175,0.15,2.17,0.00,0.000,3078,0.146,0.026,2441,1829,2839,2916,2763,0,0,0,0,0,0,25.00,25.75,25.17,8.51,48.74
$GC,239,-1.17,-144.9,2441,1828,2916,2764,33.3,-24.3,31,248,0.00,2.15,0.00,0.000,516,0.000,0.038,2441,465,2839,2916,2763,0,0,0,0,0,0,26.44,25.45,26.44,8.51,48.77
$GC,256,-1.17,-144.9,2441,464,2916,2763,35.6,-23.8,32,263,0.00,2.15,0.00,0.000,1030,0.000,0.028,2432,1845,2839,2916,2763,0,0,0,0,0,0,25.76,25.72,25.78,8.51,49.52
$GC,382,-1.17,-144.9,2432,1845,2916,2764,65.9,-21.5,45,386,0.00,2.20,0.00,0.000,516,0.000,0.037,2432,457,2839,2916,2763,0,0,0,0,0,0,26.46,25.42,26.46,8.51,49.33
$GC,447,-1.17,-144.9,2432,456,2915,2763,79.8,-22.0,51,454,0.00,2.15,0.00,0.000,1030,0.000,0.028,2422,1837,2839,2916,2763,0,0,0,0,0,0,25.72,25.73,25.77,8.52,49.64
$GC,575,-1.17,-144.9,2421,1838,2916,2763,107.8,-21.8,64,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1838,2839,2916,2763,0,0,0,0,0,0,26.46,26.47,26.47,8.53,50.31
$GC,757,-1.17,-144.9,2422,1838,2916,2763,145.0,-20.5,82,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1838,2839,2916,2763,0,0,0,0,0,0,26.47,26.48,26.48,8.54,50.90
$STATE,845,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,845,begin apogee
$GC,851,-0.21,0.0,2422,1838,2916,2763,163.5,-20.1,91,970,1.02,0.00,114.82,0.670,10246,0.123,0.000,2738,1837,2246,2367,2126,0,0,0,0,0,0,24.31,24.92,24.18,8.54,51.10
$STATE,971,end apogee,CONTROL_FINISHED_OK
$STATE,971,begin climb
$GC,974,1.28,144.9,2737,1837,2366,2125,166.8,0.0,103,1109,1.30,2.28,119.43,0.660,10756,0.051,0.037,3226,460,1655,1770,1540,0,0,0,0,0,0,25.24,24.40,23.93,8.50,49.56
$GC,1175,1.14,144.9,3226,460,1769,1536,136.1,25.0,123,1185,0.15,2.15,0.00,0.000,5126,0.151,0.027,3184,1843,1652,1769,1536,0,0,0,0,0,0,24.93,25.46,25.01,8.45,48.38
$GC,1367,1.09,144.9,3183,1843,1769,1533,94.0,20.6,142,1377,0.00,2.20,0.00,0.000,516,0.000,0.038,3192,454,1651,1769,1533,0,0,0,0,0,0,26.33,25.51,26.34,8.45,49.64
$GC,1403,1.02,144.9,3191,454,1767,1533,86.2,21.0,145,1413,0.15,2.17,0.00,0.000,5126,0.137,0.028,3148,1840,1650,1767,1533,0,0,0,0,0,0,25.20,25.75,25.27,8.45,50.31
$GC,1532,1.02,144.9,3148,1840,1767,1531,61.6,17.7,158,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1840,1649,1767,1531,0,0,0,0,0,0,26.41,26.42,26.42,8.44,50.59
$GC,1653,1.02,144.9,3148,1840,1767,1530,41.0,16.9,170,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1840,1649,1767,1531,0,0,0,0,0,0,26.44,26.45,26.44,8.44,49.88
$GC,1782,1.02,144.9,3148,1840,1767,1531,21.5,13.5,183,1791,0.00,2.17,0.00,0.000,516,0.000,0.038,3156,463,1649,1767,1531,0,0,0,0,0,0,26.46,25.47,26.46,8.43,49.80
$GC,1872,1.02,144.9,3155,463,1767,1529,8.5,14.9,198,1879,0.00,2.17,0.00,0.000,1030,0.000,0.028,3156,1852,1648,1767,1530,0,0,0,0,0,0,25.76,25.72,25.78,8.42,49.60
$STATE,1915,end climb,SURFACE_DEPTH_REACHED
$STATE,1916,begin surface coast
$FINISH,0.8,1.001196
$STATE,1942,end surface coast,CONTROL_FINISHED_OK
$STATE,1943,begin surface
$SM_CCo,1960,134.60,0.053,0,0,532,420.20
$SM_GC,1.75,7.95,0.00,134.60,0.037,0.000,0.053,180,1853,532,-8.06,0.28,420.20,0,0,0,0,0,0,25.93,26.47,25.48
$IRIDIUM_FIX,4736.01,-12258.89,260218,181817
$TT8_MAMPS,0.026964,0.23968
$HUMID,48.07
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.3,17.1
$ALTIM_BOTTOM_PING,155.4,17.4
$24V_AH,23.58,107.538
$10V_AH,9.85,71.242
$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,19.225,26.250,234.250,134.600,0.000,0.000,0.000,217.750,4.250,0.000,18.226,554.439,586.167,421.008,763.378,120.733,0.000,950.165,0.000,417.187,0.000,33.120,0.000
$DEVICE_MAMPS,193.545,48.195,670.140,52.785,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,140.854,454.321,275.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312068
$DATA_FILE_SIZE,14099,211
$CAP_FILE_SIZE,41639,0
$CFSIZE,2097872896,2026766336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.019,30.18,1
$GPS,260218,200355,4737.261,-12256.077,8,1.0,18,16.4,0.3,54.8,8,5.0