version: 66.14
glider: 195
mission: 15
dive: 158
start: 2 5 118 6 37 32
data:
$ID,195
$MISSION,15
$DIVE,158
$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,47
$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,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
$GPS1,050218,063232,4739.1211,-12252.4043,4,0.9,12,16.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.4
$GPS2,050218,063621,4739.1455,-12252.3799,7,0.9,15,16.4,0.0,0.0,9,4.5
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.195262,-0.205962
$KALMAN_X,5037.556641,628.765381,-404.788635,-4276.881836,717.861328
$KALMAN_Y,-1099.255005,619.045776,105.504349,1346.826050,312.766418
$MHEAD_RNG_PITCHd_Wd,207.1,436,-15.6,-10.000,-19.41,2747
$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,-0.83,-183.0,198,1849,509,443,0.0,0.0,0,37,0.00,0.00,-26.17,0.000,16386,0.000,0.000,198,1849,1135,1194,1076,0,0,0,0,0,0,26.71,28.83,26.72,8.27,46.22
$GC,39,-0.83,-183.0,198,1849,1194,1078,2.3,-3.9,4,113,9.10,2.28,-57.30,0.000,18948,0.200,0.053,2538,450,2996,3068,2924,0,0,0,0,0,0,24.82,23.85,25.25,8.34,46.96
$GC,245,-0.63,-183.0,2537,449,3070,2924,28.6,-15.6,35,253,0.22,2.17,0.00,0.000,3078,0.127,0.033,2600,1850,2997,3070,2925,0,0,0,0,0,0,25.52,26.13,25.63,8.50,46.49
$GC,373,-0.63,-183.0,2599,1850,3070,2925,43.8,-11.2,48,382,0.00,2.17,0.00,0.000,260,0.000,0.043,2592,3244,2997,3070,2925,0,0,0,0,0,0,26.74,26.00,26.75,8.51,46.73
$GC,436,-0.63,-183.0,2592,3244,3070,2925,51.1,-11.6,54,440,0.00,2.15,0.00,0.000,1030,0.000,0.031,2592,1826,2997,3070,2925,0,0,0,0,0,0,26.25,26.15,26.28,8.51,47.04
$GC,568,-0.63,-183.0,2591,1826,3070,2925,66.2,-11.2,67,578,0.00,2.17,0.00,0.000,516,0.000,0.043,2592,450,2997,3070,2925,0,0,0,0,0,0,26.75,25.96,26.77,8.51,46.96
$GC,593,-0.63,-183.0,2592,450,3070,2925,68.9,-11.3,69,601,0.00,2.17,0.00,0.000,1030,0.000,0.034,2587,1844,2997,3069,2925,0,0,0,0,0,0,26.17,26.15,26.21,8.51,47.24
$GC,721,-0.63,-183.0,2587,1844,3070,2924,84.1,-11.5,82,731,0.00,2.20,0.00,0.000,260,0.000,0.042,2578,3249,2997,3070,2925,0,0,0,0,0,0,26.76,26.00,26.77,8.52,47.71
$GC,794,-0.63,-183.0,2577,3249,3070,2925,92.3,-11.2,89,804,0.00,2.10,0.00,0.000,1030,0.000,0.030,2578,1841,2997,3070,2925,0,0,0,0,0,0,26.25,26.16,26.28,8.52,47.44
$GC,924,-0.63,-183.0,2577,1841,3070,2925,106.9,-11.2,102,934,0.10,2.20,0.00,0.000,2564,0.140,0.042,2613,451,2997,3070,2925,0,0,0,0,0,0,26.25,25.94,26.27,8.53,47.12
$GC,988,-0.69,-183.0,2613,451,3070,2925,113.2,-9.2,108,998,0.00,2.15,0.00,0.000,1030,0.000,0.034,2608,1854,2997,3070,2925,0,0,0,0,0,0,26.22,26.13,26.25,8.53,47.91
$GC,1178,-0.69,-183.0,2607,1854,3070,2925,130.1,-8.8,127,1188,0.00,2.20,0.00,0.000,260,0.000,0.042,2598,3258,2997,3070,2925,0,0,0,0,0,0,26.77,25.99,26.77,8.53,47.67
$STATE,1201,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1201,begin apogee
$GC,1208,-0.21,0.0,2597,1840,3070,2925,132.2,-8.9,129,1354,0.40,0.00,142.93,0.676,10246,0.094,0.000,2743,1840,2246,2377,2116,0,0,0,0,0,0,25.77,24.88,23.99,8.53,47.59
$STATE,1356,end apogee,CONTROL_FINISHED_OK
$STATE,1356,begin climb
$GC,1358,0.83,183.0,2743,1840,2377,2116,136.6,0.0,144,1522,0.88,2.28,150.75,0.658,10756,0.066,0.042,3072,454,1497,1613,1382,0,0,0,0,0,0,25.33,24.50,23.94,8.47,46.41
$GC,1556,0.73,183.0,3071,454,1613,1381,116.7,14.7,164,1566,0.00,2.17,0.00,0.000,1030,0.000,0.032,3072,1844,1497,1613,1381,0,0,0,0,0,0,25.72,25.68,25.75,8.41,45.27
$GC,1748,0.64,183.0,3071,1844,1613,1380,89.5,13.9,183,1758,0.15,2.20,0.00,0.000,4612,0.128,0.041,3028,455,1496,1613,1380,0,0,0,0,0,0,25.91,25.93,25.97,8.41,46.49
$GC,1793,0.64,183.0,3028,455,1613,1378,83.9,12.4,187,1801,0.00,2.17,0.00,0.000,1030,0.000,0.032,3028,1845,1495,1612,1378,0,0,0,0,0,0,26.15,26.11,26.17,8.41,46.69
$GC,1922,0.64,183.0,3028,1845,1612,1378,69.7,10.7,200,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1845,1495,1612,1378,0,0,0,0,0,0,26.65,26.66,26.65,8.41,46.73
$GC,2042,0.64,183.0,3028,1845,1612,1378,56.8,10.7,212,2051,0.00,2.20,0.00,0.000,260,0.000,0.041,3028,3258,1495,1612,1378,0,0,0,0,0,0,26.70,26.07,26.70,8.41,46.73
$GC,2078,0.64,183.0,3028,3258,1612,1378,53.1,11.3,215,2085,0.00,2.15,0.00,0.000,1030,0.000,0.031,3035,1853,1495,1612,1378,0,0,0,0,0,0,26.22,26.18,26.25,8.41,47.32
$GC,2204,0.64,183.0,3034,1853,1612,1377,38.8,10.7,228,2214,0.00,2.22,0.00,0.000,516,0.000,0.044,3046,448,1495,1612,1378,0,0,0,0,0,0,26.72,26.03,26.73,8.41,47.12
$GC,2280,0.64,183.0,3045,448,1612,1377,30.3,11.2,235,2288,0.00,2.17,0.00,0.000,1030,0.000,0.032,3046,1846,1494,1612,1377,0,0,0,0,0,0,26.25,26.20,26.27,8.40,47.32
$GC,2409,0.64,183.0,3045,1846,1612,1377,16.2,9.8,251,2417,0.00,2.22,0.00,0.000,260,0.000,0.041,3046,3258,1495,1612,1378,0,0,0,0,0,0,26.74,26.08,26.74,8.40,47.00
$GC,2439,0.64,183.0,3045,3258,1611,1377,12.8,12.2,256,2447,0.10,2.17,0.00,0.000,5126,0.112,0.031,3020,1838,1494,1612,1377,0,0,0,0,0,0,25.94,26.20,25.98,8.40,47.16
$GC,2511,0.84,317.1,3020,1838,1612,1377,7.4,5.0,269,2585,0.10,2.28,67.60,0.512,10756,0.074,0.044,3129,449,951,1063,839,0,0,0,0,0,0,26.51,25.27,24.45,8.39,46.85
$STATE,2606,end climb,SURFACE_DEPTH_REACHED
$STATE,2606,begin surface coast
$FINISH,1.9,1.017949
$STATE,2678,end surface coast,CONTROL_FINISHED_OK
$STATE,2678,begin surface
$SM_CCo,2697,48.47,0.055,0,0,533,420.20
$SM_GC,2.17,7.90,2.22,48.47,0.046,0.030,0.055,192,1860,533,-8.06,-0.93,420.20,0,0,0,0,0,0,26.06,26.01,25.83
$IRIDIUM_FIX,4738.72,-12249.11,050218,062904
$TT8_MAMPS,0.026964,0.263648
$HUMID,45.86
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.4
$ALTIM_BOTTOM_PING,105.8,36.1
$24V_AH,23.85,66.150
$10V_AH,9.84,44.294
$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,18.950,52.650,361.275,48.475,0.000,0.000,0.000,0.000,1.250,0.000,16.717,690.092,828.690,465.362,782.050,67.463,33.432,888.174,0.000,595.701,0.000,11.623,0.000
$DEVICE_MAMPS,199.665,52.785,676.260,55.080,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,198.330,641.503,389.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,21136,298
$CAP_FILE_SIZE,83088,5
$CFSIZE,2097872896,2079162368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,072413,4739.011,-12252.590,4,0.9,14,16.4,0.2,39.1,9,5.0