version: 66.14
glider: 195
mission: 15
dive: 530
start: 2 20 118 13 0 30
data:
$ID,195
$MISSION,15
$DIVE,530
$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,40
$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
$GPS1,200218,125428,4737.6987,-12255.0273,8,0.9,21,16.4,0.4,62.4,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-69.3
$GPS2,200218,125940,4737.7246,-12254.9404,7,1.0,32,16.4,0.4,68.3,8,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$TGT_LATLONG,4737.883,-12254.600
$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,44.5,516,-21.8,-10.000,-24.98,1489
$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,-1.01,-98.3,180,1840,556,484,0.0,0.0,0,59,0.00,0.00,-48.00,0.000,16386,0.000,0.000,180,1840,1686,1735,1637,0,0,0,0,0,0,26.55,28.83,26.56,8.30,48.22
$GC,62,-1.11,-203.3,180,1840,1734,1637,2.5,-2.8,7,126,8.75,2.25,-44.03,0.000,18692,0.194,0.050,2438,3246,3078,3154,3002,0,0,0,0,0,0,24.87,23.81,25.04,8.40,48.46
$GC,505,-1.01,-203.3,2438,3246,3154,3002,96.7,-22.5,57,513,0.12,2.15,0.00,0.000,3078,0.132,0.027,2478,1831,3078,3154,3003,0,0,0,0,0,0,25.61,26.06,25.67,8.54,49.84
$GC,634,-1.01,-203.3,2478,1831,3154,3002,122.3,-19.4,70,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1830,3078,3154,3002,0,0,0,0,0,0,26.65,26.65,26.65,8.55,49.44
$STATE,781,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,781,begin apogee
$GC,786,-0.21,0.0,2478,1830,3154,3002,151.7,-18.7,85,953,0.77,0.00,162.48,0.650,10246,0.114,0.000,2735,1829,2246,2370,2123,0,0,0,0,0,0,25.16,24.85,23.99,8.56,49.68
$STATE,954,end apogee,CONTROL_FINISHED_OK
$STATE,954,begin climb
$GC,956,1.11,203.3,2734,1829,2370,2122,159.9,0.0,102,1136,1.17,2.33,168.32,0.639,10500,0.067,0.036,3151,3250,1415,1517,1314,0,0,0,0,0,0,25.26,24.86,23.97,8.50,48.22
$GC,1193,1.02,203.3,3151,3250,1516,1314,124.8,21.6,125,1201,0.00,2.17,0.00,0.000,1030,0.000,0.028,3161,1847,1415,1516,1314,0,0,0,0,0,0,25.79,25.75,25.82,8.42,47.48
$GC,1383,0.93,203.3,3161,1848,1516,1310,84.5,20.5,144,1394,0.15,2.20,0.00,0.000,4612,0.147,0.037,3123,445,1413,1516,1310,0,0,0,0,0,0,25.77,25.83,25.81,8.43,48.54
$GC,1482,0.93,203.3,3122,445,1515,1307,66.0,18.0,153,1490,0.00,2.17,0.00,0.000,1030,0.000,0.028,3122,1848,1411,1516,1307,0,0,0,0,0,0,26.06,26.02,26.10,8.42,48.30
$GC,1610,0.93,203.3,3122,1848,1515,1307,44.6,16.7,166,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1848,1411,1515,1307,0,0,0,0,0,0,26.60,26.62,26.61,8.42,49.01
$GC,1730,0.93,203.3,3121,1848,1515,1307,26.0,14.8,178,1734,0.00,2.20,0.00,0.000,516,0.000,0.040,3132,448,1411,1515,1307,0,0,0,0,0,0,26.62,25.86,26.63,8.41,48.58
$GC,1810,0.93,203.3,3132,446,1516,1306,16.6,9.0,188,1817,0.00,2.17,0.00,0.000,1030,0.000,0.028,3133,1854,1410,1515,1306,0,0,0,0,0,0,26.11,26.08,26.14,8.41,48.46
$GC,1882,0.93,203.3,3132,1855,1515,1306,9.6,9.9,201,1889,0.00,2.20,0.00,0.000,260,0.000,0.037,3133,3249,1411,1516,1306,0,0,0,0,0,0,26.63,25.94,26.64,8.40,48.85
$GC,1932,0.93,203.3,3132,3249,1515,1306,3.8,12.0,210,1940,0.00,2.15,0.00,0.000,1030,0.000,0.028,3142,1836,1411,1516,1306,0,0,0,0,0,0,26.10,26.06,26.12,8.40,49.09
$STATE,1946,end climb,SURFACE_DEPTH_REACHED
$STATE,1946,begin surface coast
$FINISH,0.7,1.004232
$STATE,1973,end surface coast,CONTROL_FINISHED_OK
$STATE,1973,begin surface
$SM_CCo,1990,104.03,0.051,0,0,532,420.20
$SM_GC,1.79,7.70,0.00,104.03,0.030,0.000,0.051,184,1836,532,-8.07,-0.20,420.20,0,0,0,0,0,0,26.16,26.65,25.70
$IRIDIUM_FIX,4736.87,-12256.21,200218,115419
$TT8_MAMPS,0.026964,0.23968
$HUMID,47.08
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,18.1
$ALTIM_BOTTOM_PING,126.4,34.6
$24V_AH,23.81,94.263
$10V_AH,9.86,63.524
$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,18.675,22.000,330.800,104.025,0.000,0.000,0.000,201.975,2.000,0.000,33.776,553.411,523.316,446.338,824.221,96.618,0.000,993.764,0.000,484.245,0.000,15.160,0.000
$DEVICE_MAMPS,194.310,50.490,650.250,51.255,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,144.115,467.155,283.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312100
$DATA_FILE_SIZE,14118,217
$CAP_FILE_SIZE,38600,0
$CFSIZE,2097872896,2042593280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.006,346.63,1
$GPS,200218,133633,4737.779,-12254.664,24,0.9,26,16.4,0.0,0.0,8,4.8