version: 66.14
glider: 195
mission: 15
dive: 143
start: 2 4 118 16 17 3
data:
$ID,195
$MISSION,15
$DIVE,143
$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,75
$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,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,2850
$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,37
$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,75
$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
$GPS1,040218,161041,4739.0010,-12252.5430,4,0.9,11,16.4,0.0,203.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.2
$GPS2,040218,161552,4738.9878,-12252.5566,7,1.2,16,16.4,0.0,0.0,8,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.003426,-0.173171
$KALMAN_X,2308.599121,-720.353577,-439.621796,-380.483887,236.011719
$KALMAN_Y,-499.842468,-597.850098,-587.383240,2366.235840,93.931152
$MHEAD_RNG_PITCHd_Wd,164.7,274,-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,8,-1.20,-63.7,181,1843,550,476,0.0,0.0,0,43,0.00,0.00,-32.53,0.000,16386,0.000,0.000,181,1843,1336,1391,1282,0,0,0,0,0,0,26.60,28.83,26.61,8.29,46.57
$GC,46,-1.27,-133.6,181,1843,1391,1283,2.2,-2.6,5,106,8.68,2.22,-43.45,0.000,18692,0.200,0.053,2426,3258,2793,2878,2709,0,0,0,0,0,0,24.98,25.61,25.18,8.37,46.65
$GC,114,-1.09,-133.6,2426,3258,2879,2709,10.0,-19.2,15,122,0.17,2.17,0.00,0.000,3078,0.141,0.031,2493,1839,2794,2880,2709,0,0,0,0,0,0,25.51,26.10,25.72,8.49,47.16
$GC,185,-1.09,-133.6,2493,1839,2880,2709,22.7,-18.1,27,186,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1839,2794,2880,2709,0,0,0,0,0,0,26.66,26.67,26.67,8.49,46.06
$GC,305,-1.09,-133.6,2493,1839,2882,2709,40.2,-13.9,39,315,0.00,2.17,0.00,0.000,260,0.000,0.041,2485,3244,2794,2880,2709,0,0,0,0,0,0,26.71,26.04,26.72,8.50,46.33
$GC,420,-1.09,-133.6,2484,3244,2880,2709,59.1,-16.6,50,429,0.00,2.12,0.00,0.000,1030,0.000,0.031,2485,1833,2794,2880,2709,0,0,0,0,0,0,26.27,26.18,26.30,8.50,47.59
$GC,551,-1.09,-133.6,2484,1832,2880,2709,80.9,-16.2,63,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1833,2794,2880,2709,0,0,0,0,0,0,26.70,26.72,26.71,8.50,47.00
$GC,674,-1.09,-133.6,2484,1832,2881,2709,100.6,-16.4,75,678,0.00,2.20,0.00,0.000,516,0.000,0.043,2485,436,2794,2880,2709,0,0,0,0,0,0,26.72,26.02,26.73,8.51,48.11
$GC,721,-1.09,-133.6,2484,435,2880,2709,108.7,-16.7,79,735,0.00,2.20,0.00,0.000,1030,0.000,0.033,2475,1850,2794,2880,2709,0,0,0,0,0,0,26.22,26.20,26.25,8.51,47.59
$GC,913,-1.09,-133.6,2474,1850,2880,2709,139.1,-16.0,98,922,0.00,2.17,0.00,0.000,260,0.000,0.042,2464,3256,2794,2880,2709,0,0,0,0,0,0,26.76,26.06,26.77,8.52,47.75
$STATE,944,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,944,begin apogee
$GC,951,-0.21,0.0,2464,1836,2880,2709,144.4,-16.3,101,1066,0.95,0.00,106.38,0.679,10246,0.121,0.000,2772,1835,2247,2374,2121,0,0,0,0,0,0,25.40,24.62,24.08,8.52,47.79
$STATE,1067,end apogee,CONTROL_FINISHED_OK
$STATE,1067,begin climb
$GC,1069,1.27,133.6,2773,1835,2373,2121,148.5,0.0,113,1186,1.27,0.00,111.38,0.665,10502,0.055,0.000,3244,1835,1701,1822,1580,0,0,0,0,0,0,25.51,24.82,23.97,8.48,47.40
$GC,1366,1.12,133.6,3243,1835,1816,1574,84.9,26.0,143,1376,0.10,2.20,0.00,0.000,4612,0.184,0.041,3224,448,1694,1815,1574,0,0,0,0,0,0,25.83,25.90,25.87,8.43,47.16
$GC,1410,0.98,133.6,3223,448,1814,1573,73.6,26.0,147,1420,0.17,2.12,0.00,0.000,5126,0.148,0.032,3172,1838,1693,1814,1573,0,0,0,0,0,0,25.53,26.07,25.64,8.43,46.96
$GC,1540,0.98,133.6,3171,1838,1814,1571,46.0,20.6,160,1549,0.00,2.17,0.00,0.000,516,0.000,0.043,3180,453,1692,1814,1571,0,0,0,0,0,0,26.63,26.00,26.63,8.42,47.24
$GC,1593,0.92,133.6,3180,453,1813,1570,35.4,20.3,165,1603,0.10,2.12,0.00,0.000,5126,0.143,0.033,3150,1850,1692,1814,1570,0,0,0,0,0,0,25.79,26.14,25.86,8.42,46.88
$GC,1724,0.92,133.6,3149,1851,1814,1570,12.8,14.2,182,1732,0.00,2.20,0.00,0.000,260,0.000,0.041,3150,3248,1692,1814,1570,0,0,0,0,0,0,26.70,26.08,26.70,8.42,47.28
$GC,1760,0.92,133.6,3150,3248,1814,1570,8.1,11.7,188,1768,0.00,2.15,0.00,0.000,1030,0.000,0.031,3158,1838,1692,1814,1570,0,0,0,0,0,0,26.23,26.20,26.27,8.42,46.88
$GC,1831,1.12,248.7,3157,1838,1814,1570,5.2,-2.2,201,1898,0.10,2.25,55.92,0.510,10756,0.077,0.043,3251,448,1231,1334,1128,0,0,0,0,0,0,26.48,25.35,24.53,8.41,46.88
$STATE,1945,end climb,SURFACE_DEPTH_REACHED
$STATE,1945,begin surface coast
$FINISH,0.9,1.018317
$STATE,2007,end surface coast,CONTROL_FINISHED_OK
$STATE,2007,begin surface
$SM_CCo,2025,79.50,0.055,0,0,533,420.20
$SM_GC,1.75,8.52,2.20,79.50,0.064,0.031,0.055,180,1850,533,-8.20,-1.33,420.20,0,0,0,0,0,0,26.12,26.06,25.87
$IRIDIUM_FIX,4736.40,-12251.79,040218,152208
$TT8_MAMPS,0.026964,0.23968
$HUMID,45.43
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.1
$ALTIM_BOTTOM_PING,110.3,43.3
$24V_AH,23.97,65.312
$10V_AH,9.87,43.542
$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,20.075,34.900,273.675,79.500,0.000,0.000,0.000,236.100,3.000,0.000,17.228,556.168,581.124,405.228,820.730,83.897,33.417,971.035,0.000,454.188,0.000,24.184,0.000
$DEVICE_MAMPS,200.430,52.785,679.320,55.080,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,154.533,499.481,303.207,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312160
$DATA_FILE_SIZE,17628,232
$CAP_FILE_SIZE,43767,0
$CFSIZE,2097872896,2080735232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,165307,4738.771,-12252.521,4,1.1,17,16.3,0.0,0.0,10,4.9