version: 66.14
glider: 195
mission: 15
dive: 51
start: 2 2 118 17 48 43
data:
$ID,195
$MISSION,15
$DIVE,51
$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,1
$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,46
$R_STBD_OVSHOOT,42
$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
$GPS1,020218,174302,4738.0415,-12254.5078,4,0.9,26,16.4,0.3,56.1,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.0
$GPS2,020218,174733,4738.0742,-12254.4072,6,0.9,23,16.4,0.7,57.6,11,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.680,-12252.170
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.257860,-0.190599
$KALMAN_X,13724.738281,-14618.958984,2689.423584,-3177.459473,1341.782471
$KALMAN_Y,11899.896484,-10957.140625,-1686.870361,340.371643,2170.976318
$MHEAD_RNG_PITCHd_Wd,110.1,3008,-13.1,-10.000,-17.32,3645
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.79,-244.4,192,1851,572,465,0.0,0.0,0,38,0.00,0.00,-26.25,0.000,16386,0.000,0.000,192,1851,1202,1273,1131,0,0,0,0,0,0,26.61,28.83,26.62,8.29,47.51
$GC,40,-0.79,-244.4,192,1851,1273,1133,2.4,-3.4,4,126,9.05,2.22,-66.05,0.000,18692,0.197,0.054,2583,3247,3245,3317,3173,0,0,0,0,0,0,25.16,23.98,25.56,8.35,46.96
$GC,319,-0.73,-244.4,2583,3247,3317,3175,34.1,-12.3,44,327,0.00,2.15,0.00,0.000,1030,0.000,0.031,2584,1844,3246,3317,3175,0,0,0,0,0,0,26.25,26.20,26.27,8.53,47.59
$GC,447,-0.68,-244.4,2583,1843,3317,3175,50.6,-13.0,57,452,0.15,2.20,0.00,0.000,2564,0.121,0.044,2633,450,3246,3317,3176,0,0,0,0,0,0,26.16,26.06,26.23,8.53,47.48
$GC,481,-0.68,-244.4,2632,450,3317,3175,54.4,-11.7,60,491,0.00,2.15,0.00,0.000,1030,0.000,0.034,2629,1847,3246,3317,3175,0,0,0,0,0,0,26.29,26.20,26.33,8.54,47.48
$GC,611,-0.68,-244.4,2628,1848,3317,3175,66.5,-8.8,73,620,0.00,2.20,0.00,0.000,260,0.000,0.043,2620,3252,3246,3317,3175,0,0,0,0,0,0,26.74,26.10,26.76,8.54,48.11
$GC,635,-0.68,-244.4,2619,3252,3317,3175,68.5,-8.7,75,644,0.00,2.15,0.00,0.000,1030,0.000,0.031,2619,1844,3246,3317,3175,0,0,0,0,0,0,26.27,26.23,26.29,8.54,48.07
$GC,764,-0.68,-244.4,2619,1844,3317,3175,81.0,-9.3,88,773,0.00,2.20,0.00,0.000,516,0.000,0.044,2619,451,3246,3317,3175,0,0,0,0,0,0,26.75,26.05,26.77,8.55,48.14
$GC,797,-0.68,-244.4,2619,451,3317,3175,84.4,-9.9,91,801,0.00,2.12,0.00,0.000,1030,0.000,0.034,2611,1843,3246,3317,3175,0,0,0,0,0,0,26.30,26.20,26.34,8.55,47.71
$GC,929,-0.68,-244.4,2610,1844,3317,3175,97.9,-10.1,104,938,0.00,2.20,0.00,0.000,260,0.000,0.044,2605,3247,3246,3317,3175,0,0,0,0,0,0,26.76,26.09,26.77,8.55,48.14
$GC,984,-0.68,-244.4,2604,3247,3317,3175,103.6,-10.8,109,992,0.00,2.12,0.00,0.000,1030,0.000,0.031,2605,1850,3246,3317,3175,0,0,0,0,0,0,26.29,26.23,26.29,8.55,48.34
$GC,1172,-0.68,-244.4,2604,1849,3317,3175,124.8,-11.4,128,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1849,3246,3317,3175,0,0,0,0,0,0,26.77,26.77,26.77,8.55,47.79
$STATE,1351,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1351,begin apogee
$GC,1355,-0.21,0.0,2604,1849,3317,3175,142.3,-9.4,146,1552,0.47,0.00,189.30,0.672,10246,0.087,0.000,2780,1849,2246,2381,2111,0,0,0,0,0,0,25.88,24.63,24.12,8.56,48.89
$STATE,1553,end apogee,CONTROL_FINISHED_OK
$STATE,1554,begin climb
$GC,1556,0.79,244.4,2780,1848,2381,2111,145.6,0.0,166,1765,0.82,2.30,198.25,0.648,10756,0.053,0.043,3104,441,1249,1365,1133,0,0,0,0,0,0,25.42,24.61,24.10,8.48,46.33
$GC,1819,0.62,244.4,3104,441,1363,1130,109.9,19.0,192,1829,0.17,2.17,0.00,0.000,5126,0.116,0.032,3048,1839,1246,1363,1130,0,0,0,0,0,0,25.48,25.76,25.56,8.40,46.02
$GC,2010,0.53,244.4,3047,1839,1363,1128,81.9,14.4,211,2020,0.00,2.20,0.00,0.000,516,0.000,0.044,3056,454,1245,1363,1128,0,0,0,0,0,0,26.53,25.98,26.54,8.39,47.00
$GC,2045,0.45,244.4,3055,454,1363,1128,77.0,14.4,214,2054,0.17,2.17,0.00,0.000,5126,0.104,0.032,2995,1846,1245,1363,1128,0,0,0,0,0,0,25.84,26.15,25.92,8.40,47.63
$GC,2173,0.45,244.4,2995,1846,1363,1127,63.5,9.8,227,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1846,1245,1363,1127,0,0,0,0,0,0,26.64,26.65,26.65,8.39,47.63
$GC,2293,0.45,244.4,2995,1846,1363,1127,50.6,11.2,239,2303,0.00,2.20,0.00,0.000,516,0.000,0.044,3003,454,1245,1363,1127,0,0,0,0,0,0,26.69,26.07,26.70,8.39,47.71
$GC,2336,0.45,244.4,3003,453,1363,1127,46.0,10.3,243,2346,0.00,2.12,0.00,0.000,1030,0.000,0.032,3003,1849,1245,1363,1127,0,0,0,0,0,0,26.32,26.22,26.35,8.39,48.07
$GC,2467,0.45,244.4,3003,1849,1363,1127,33.7,8.7,256,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1849,1245,1363,1127,0,0,0,0,0,0,26.72,26.73,26.72,8.38,48.07
$GC,2586,0.45,244.4,3003,1849,1363,1127,22.7,9.6,268,2596,0.00,2.22,0.00,0.000,516,0.000,0.044,3011,447,1245,1363,1127,0,0,0,0,0,0,26.74,26.10,26.74,8.38,47.87
$GC,2703,0.45,244.4,3010,446,1363,1127,12.3,8.1,287,2710,0.00,2.15,0.00,0.000,1030,0.000,0.032,3011,1841,1245,1363,1127,0,0,0,0,0,0,26.29,26.26,26.33,8.38,47.44
$GC,2774,0.73,444.6,3010,1841,1362,1127,8.3,4.4,300,2879,0.12,2.25,93.65,0.518,10500,0.066,0.041,3119,3247,493,542,445,0,0,0,0,0,0,26.50,25.32,24.55,8.38,47.36
$STATE,2896,end climb,SURFACE_DEPTH_REACHED
$STATE,2896,begin surface coast
$FINISH,0.6,1.017622
$STATE,2952,end surface coast,CONTROL_FINISHED_OK
$STATE,2952,begin surface
$SM_CCo,3030,0.00,0.000,0,0,485,432.46
$SM_GC,2.41,7.62,2.22,0.00,0.030,0.032,0.000,195,1838,485,-8.18,1.19,432.46,0,0,0,0,0,0,26.03,25.94,26.09
$IRIDIUM_FIX,4737.86,-12251.79,020218,164716
$TT8_MAMPS,0.026964,0.263648
$HUMID,47.04
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.0
$ALTIM_BOTTOM_PING,75.3,76.8
$24V_AH,23.98,61.463
$10V_AH,9.85,40.922
$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,18.600,43.750,481.200,0.000,0.000,0.000,0.000,185.675,0.750,0.000,25.897,729.785,980.827,485.564,1040.674,90.445,33.428,1148.173,0.000,658.240,0.000,7.267,0.000
$DEVICE_MAMPS,197.370,54.315,671.670,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.178,710.155,431.151,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312028
$DATA_FILE_SIZE,24425,330
$CAP_FILE_SIZE,51538,0
$CFSIZE,2097872896,2089779200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,184027,4737.861,-12253.779,4,1.0,35,16.3,0.6,72.0,10,4.6