version: 66.14
glider: 195
mission: 15
dive: 152
start: 2 5 118 0 22 15
data:
$ID,195
$MISSION,15
$DIVE,152
$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,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,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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,050218,001610,4738.9985,-12252.6982,4,0.8,16,16.4,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-68.0
$GPS2,050218,002104,4738.9980,-12252.7207,6,0.8,16,16.4,0.0,17.2,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.173340,-0.102815
$KALMAN_X,3014.696289,405.300659,232.736435,-3085.345703,-191.841675
$KALMAN_Y,-873.513672,-336.555054,-522.744812,2437.024414,209.348877
$MHEAD_RNG_PITCHd_Wd,104.3,467,-23.3,-10.000,-26.39,1306
$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,-1.06,-86.2,187,1832,554,471,0.0,0.0,0,18,0.00,0.00,-8.10,0.000,16386,0.000,0.000,187,1832,729,786,673,0,0,0,0,0,0,26.61,28.83,26.62,8.29,46.73
$GC,21,-1.06,-86.2,187,1832,787,673,2.2,0.0,1,101,8.60,2.25,-65.55,0.000,18948,0.192,0.054,2464,445,2600,2675,2526,0,0,0,0,0,0,25.02,23.93,25.21,8.31,47.00
$GC,170,-0.84,-86.2,2463,444,2676,2528,19.8,-17.3,26,178,0.25,2.17,0.00,0.000,3078,0.147,0.032,2543,1847,2602,2676,2528,0,0,0,0,0,0,25.39,26.14,25.62,8.48,46.18
$GC,237,-0.76,-86.2,2542,1847,2676,2528,26.4,-8.6,33,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1847,2602,2676,2528,0,0,0,0,0,0,26.70,26.70,26.70,8.48,46.25
$GC,357,-0.76,-86.2,2542,1846,2676,2528,35.1,-8.5,45,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1847,2601,2676,2527,0,0,0,0,0,0,26.72,26.73,26.73,8.48,47.16
$GC,476,-0.76,-86.2,2542,1847,2676,2527,46.6,-10.3,57,486,0.00,2.22,0.00,0.000,516,0.000,0.042,2543,443,2601,2676,2527,0,0,0,0,0,0,26.74,26.01,26.74,8.48,47.00
$GC,643,-0.76,-86.2,2542,443,2676,2527,65.5,-11.0,73,651,0.00,2.15,0.00,0.000,1030,0.000,0.032,2534,1836,2602,2676,2528,0,0,0,0,0,0,26.23,26.20,26.27,8.48,47.44
$GC,772,-0.76,-86.2,2534,1836,2676,2527,78.6,-10.5,86,774,0.10,0.00,0.00,0.000,2054,0.154,0.000,2564,1837,2601,2676,2527,0,0,0,0,0,0,26.25,26.32,26.29,8.49,47.48
$GC,892,-0.83,-86.2,2563,1837,2676,2527,89.0,-8.5,98,902,0.00,2.17,0.00,0.000,260,0.000,0.041,2556,3243,2601,2675,2528,0,0,0,0,0,0,26.76,26.06,26.77,8.48,47.75
$GC,957,-0.89,-86.2,2555,3243,2676,2528,94.9,-9.6,104,965,0.00,2.12,0.00,0.000,1030,0.000,0.031,2556,1849,2602,2676,2528,0,0,0,0,0,0,26.22,26.19,26.25,8.49,47.83
$GC,1085,-0.94,-86.2,2555,1849,2676,2528,107.5,-9.3,117,1095,0.10,2.20,0.00,0.000,4612,0.079,0.041,2468,447,2601,2676,2527,0,0,0,0,0,0,26.53,25.99,26.53,8.50,48.14
$GC,1145,-0.84,-86.2,2468,447,2677,2528,114.7,-12.9,122,1153,0.25,2.15,0.00,0.000,3078,0.136,0.033,2534,1837,2601,2675,2528,0,0,0,0,0,0,25.50,26.18,25.60,8.50,48.03
$GC,1333,-0.84,-86.2,2534,1837,2676,2527,134.3,-10.2,141,1343,0.00,2.17,0.00,0.000,260,0.000,0.041,2526,3240,2601,2676,2527,0,0,0,0,0,0,26.76,26.03,26.77,8.50,48.42
$GC,1419,-0.84,-86.2,2526,3240,2676,2527,142.8,-10.0,149,1427,0.00,2.12,0.00,0.000,1030,0.000,0.031,2526,1841,2602,2676,2528,0,0,0,0,0,0,26.22,26.20,26.25,8.51,48.14
$STATE,1445,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1445,begin apogee
$GC,1450,-0.21,0.0,2526,1841,2676,2528,145.6,-9.4,152,1527,0.62,0.00,69.65,0.679,10246,0.113,0.000,2737,1841,2248,2355,2141,0,0,0,0,0,0,25.49,24.65,24.10,8.51,47.79
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1530,1.06,86.2,2737,1841,2355,2141,146.7,0.0,160,1610,1.12,2.25,72.80,0.675,10500,0.070,0.040,3141,3246,1894,2036,1752,0,0,0,0,0,0,25.54,24.94,23.98,8.48,47.59
$GC,1671,0.96,86.2,3140,3246,2033,1751,134.3,14.6,174,1679,0.00,2.17,0.00,0.000,1030,0.000,0.031,3151,1844,1891,2032,1751,0,0,0,0,0,0,25.83,25.81,25.86,8.45,46.81
$GC,1859,0.85,86.2,3150,1843,2030,1749,105.8,15.3,193,1861,0.22,0.00,0.00,0.000,4102,0.142,0.000,3083,1843,1890,2030,1750,0,0,0,0,0,0,25.69,25.92,25.84,8.45,47.28
$GC,2040,0.85,86.2,3083,1843,2030,1748,85.7,10.9,211,2049,0.00,2.17,0.00,0.000,516,0.000,0.044,3092,452,1888,2030,1747,0,0,0,0,0,0,26.67,26.00,26.68,8.45,48.14
$GC,2103,0.85,86.2,3091,452,2030,1746,78.2,11.9,217,2112,0.00,2.10,0.00,0.000,1030,0.000,0.031,3092,1836,1888,2030,1746,0,0,0,0,0,0,26.22,26.17,26.25,8.45,47.40
$GC,2233,0.85,86.2,3091,1836,2030,1746,63.0,11.5,230,2242,0.00,2.20,0.00,0.000,260,0.000,0.041,3092,3252,1888,2030,1746,0,0,0,0,0,0,26.72,26.07,26.73,8.45,48.22
$GC,2296,0.85,86.2,3091,3252,2030,1746,54.8,13.0,236,2306,0.00,2.12,0.00,0.000,1030,0.000,0.031,3101,1839,1888,2030,1746,0,0,0,0,0,0,26.28,26.19,26.31,8.45,47.55
$GC,2426,0.85,86.2,3101,1839,2030,1746,39.9,10.9,249,2436,0.00,2.20,0.00,0.000,516,0.000,0.043,3112,446,1888,2030,1746,0,0,0,0,0,0,26.74,26.02,26.74,8.45,47.87
$GC,2481,0.85,86.2,3111,446,2030,1745,33.3,12.6,254,2489,0.00,2.17,0.00,0.000,1030,0.000,0.032,3112,1847,1887,2030,1745,0,0,0,0,0,0,26.24,26.20,26.27,8.44,47.51
$GC,2612,0.85,86.2,3111,1846,2029,1745,18.6,10.5,268,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1846,1887,2030,1745,0,0,0,0,0,0,26.75,26.76,26.76,8.44,47.48
$GC,2682,0.90,134.9,3111,1847,2030,1745,12.5,6.2,281,2716,0.00,2.20,24.58,0.522,8452,0.000,0.040,3112,3244,1694,1830,1558,0,0,0,0,0,0,26.75,25.39,24.48,8.44,47.83
$STATE,2887,end climb,NO_VERTICAL_VELOCITY
$STATE,2887,begin surface
$SM_CCo,2890,151.43,0.517,0,0,498,428.54
$SM_GC,1.92,7.68,2.22,0.00,0.030,0.031,0.000,189,1841,485,-8.06,1.36,431.97,0,0,0,0,0,0,25.85,25.74,25.90
$IRIDIUM_FIX,4738.33,-12256.21,040218,232408
$TT8_MAMPS,0.026964,0.243425
$HUMID,46.65
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.6
$ALTIM_BOTTOM_PING,110.2,45.0
$24V_AH,23.93,65.781
$10V_AH,9.85,43.981
$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,18.950,43.575,167.025,151.425,0.000,0.000,0.000,216.500,1.500,0.000,18.087,808.671,1103.789,413.526,1045.527,101.988,33.423,1032.648,0.000,625.888,0.000,13.276,0.000
$DEVICE_MAMPS,192.015,53.550,678.555,517.140,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.548,688.966,419.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,21040,320
$CAP_FILE_SIZE,56078,0
$CFSIZE,2097872896,2079850496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,011549,4738.814,-12252.412,4,0.9,23,16.3,0.0,0.0,10,5.0