version: 66.14
glider: 195
mission: 15
dive: 538
start: 2 20 118 20 40 29
data:
$ID,195
$MISSION,15
$DIVE,538
$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,45
$R_STBD_OVSHOOT,41
$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
$GPS1,200218,203526,4737.9883,-12254.5225,5,0.9,45,16.4,0.4,79.9,9,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.7
$GPS2,200218,203933,4738.0005,-12254.4521,6,0.9,17,16.4,0.0,0.0,9,4.3
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$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,223.4,285,-26.9,-10.000,-29.67,993
$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,-1.18,-65.3,181,1837,552,484,0.0,0.0,0,60,0.00,0.00,-49.45,0.000,16386,0.000,0.000,181,1837,1729,1781,1677,0,0,0,0,0,0,26.55,28.83,26.56,8.30,48.46
$GC,64,-1.25,-132.2,181,1837,1782,1677,2.5,-3.1,7,114,8.62,2.20,-33.20,0.000,18948,0.195,0.048,2400,445,2787,2866,2708,0,0,0,0,0,0,24.82,25.54,25.00,8.41,47.99
$GC,127,-1.06,-132.2,2400,445,2867,2708,8.9,-16.8,16,136,0.22,2.17,0.00,0.000,3078,0.148,0.030,2460,1844,2788,2868,2708,0,0,0,0,0,0,25.22,25.98,25.32,8.51,48.30
$GC,201,-1.06,-132.2,2459,1844,2868,2708,26.4,-20.5,26,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1844,2788,2868,2708,0,0,0,0,0,0,26.60,26.61,26.61,8.51,47.87
$GC,321,-1.06,-132.2,2459,1844,2868,2708,47.4,-18.0,38,325,0.00,2.20,0.00,0.000,516,0.000,0.038,2459,448,2788,2868,2708,0,0,0,0,0,0,26.63,25.81,26.63,8.52,48.77
$GC,409,-1.01,-132.2,2459,447,2868,2708,63.7,-19.1,46,417,0.10,2.17,0.00,0.000,3078,0.145,0.029,2480,1851,2788,2868,2708,0,0,0,0,0,0,25.60,26.02,25.65,8.51,49.37
$GC,537,-1.01,-132.2,2480,1851,2868,2708,86.9,-16.7,59,540,0.00,2.17,0.00,0.000,260,0.000,0.038,2472,3250,2788,2868,2708,0,0,0,0,0,0,26.64,25.84,26.65,8.52,49.48
$GC,655,-1.01,-132.2,2471,3252,2868,2708,106.5,-17.1,70,665,0.00,2.12,0.00,0.000,1030,0.000,0.027,2472,1827,2788,2868,2708,0,0,0,0,0,0,26.06,26.01,26.08,8.52,49.64
$GC,844,-1.01,-132.2,2471,1826,2868,2708,139.3,-16.8,89,853,0.00,2.12,0.00,0.000,516,0.000,0.039,2472,461,2788,2868,2708,0,0,0,0,0,0,26.64,25.79,26.65,8.53,49.72
$STATE,917,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,917,begin apogee
$GC,924,-0.21,0.0,2461,1846,2868,2708,152.5,-17.8,96,1039,0.88,0.00,106.38,0.653,10246,0.122,0.000,2740,1845,2245,2355,2135,0,0,0,0,0,0,24.98,24.59,24.08,8.53,49.56
$STATE,1040,end apogee,CONTROL_FINISHED_OK
$STATE,1040,begin climb
$GC,1042,1.25,132.2,2740,1845,2355,2135,154.9,0.0,108,1162,1.38,2.28,110.30,0.646,10500,0.094,0.036,3195,3244,1706,1824,1589,0,0,0,0,0,0,25.12,24.87,23.97,8.49,48.70
$GC,1239,1.17,132.2,3194,3244,1820,1589,130.2,20.6,127,1249,0.00,2.10,0.00,0.000,1030,0.000,0.028,3204,1853,1704,1820,1589,0,0,0,0,0,0,25.83,25.79,25.86,8.45,48.30
$GC,1430,1.08,132.2,3204,1853,1819,1586,92.2,19.8,146,1441,0.12,2.20,0.00,0.000,4612,0.158,0.037,3175,439,1701,1817,1585,0,0,0,0,0,0,25.83,25.82,25.86,8.45,49.44
$GC,1477,1.02,132.2,3175,439,1817,1583,83.3,18.9,150,1488,0.10,2.12,0.00,0.000,5126,0.140,0.028,3146,1839,1699,1817,1582,0,0,0,0,0,0,25.64,26.03,25.70,8.45,48.85
$GC,1607,1.02,132.2,3145,1838,1817,1581,63.1,13.6,163,1611,0.00,2.20,0.00,0.000,260,0.000,0.037,3146,3252,1699,1817,1581,0,0,0,0,0,0,26.60,25.90,26.60,8.44,48.89
$GC,1663,1.02,132.2,3145,3252,1817,1581,53.8,17.4,168,1671,0.00,2.15,0.00,0.000,1030,0.000,0.028,3153,1841,1699,1817,1581,0,0,0,0,0,0,26.06,26.03,26.10,8.45,49.56
$GC,1792,1.02,132.2,3153,1842,1816,1581,33.0,17.0,181,1801,0.00,2.20,0.00,0.000,516,0.000,0.040,3164,451,1699,1817,1581,0,0,0,0,0,0,26.63,25.83,26.63,8.44,49.25
$GC,2076,1.06,167.6,3164,451,1817,1578,4.7,6.4,227,2098,0.00,2.15,16.65,0.454,9222,0.000,0.028,3164,1850,1560,1672,1449,0,0,0,0,0,0,26.10,26.07,24.57,8.43,48.97
$STATE,2104,end climb,SURFACE_DEPTH_REACHED
$STATE,2104,begin surface coast
$FINISH,0.6,1.009325
$STATE,2152,end surface coast,CONTROL_FINISHED_OK
$STATE,2153,begin surface
$SM_CCo,2170,120.45,0.052,0,0,532,420.20
$SM_GC,1.72,7.85,0.00,120.45,0.034,0.000,0.052,174,1850,532,-8.07,0.20,420.20,0,0,0,0,0,0,26.13,26.55,25.75
$IRIDIUM_FIX,4739.67,-12257.95,200218,194644
$TT8_MAMPS,0.026964,0.247919
$HUMID,47.40
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.2
$ALTIM_BOTTOM_PING,136.0,25.9
$24V_AH,23.97,94.926
$10V_AH,9.86,63.917
$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,19.275,34.750,233.325,120.450,0.000,0.000,0.000,158.450,2.750,0.000,18.898,653.019,612.094,405.618,813.215,99.907,0.000,909.093,0.000,501.867,0.000,22.512,0.000
$DEVICE_MAMPS,195.075,48.195,652.545,52.020,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,161.193,516.721,314.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312120
$DATA_FILE_SIZE,17623,240
$CAP_FILE_SIZE,44279,0
$CFSIZE,2097872896,2041806848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115,78.93,1
$GPS,200218,211938,4737.936,-12254.501,5,0.9,16,16.4,0.3,75.5,9,5.0