version: 66.14
glider: 195
mission: 15
dive: 163
start: 2 5 118 11 9 43
data:
$ID,195
$MISSION,15
$DIVE,163
$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,49
$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
$GPS1,050218,110344,4738.8076,-12252.5010,4,0.8,20,16.3,0.3,51.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.3
$GPS2,050218,110832,4738.8379,-12252.4473,6,0.8,19,16.3,0.3,50.2,10,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.101350,-0.140457
$KALMAN_X,6769.203125,-50.359406,717.888306,-6535.804199,166.746216
$KALMAN_Y,967.118652,435.917450,396.084961,-1390.510742,229.199417
$MHEAD_RNG_PITCHd_Wd,199.5,165,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,179,1854,518,436,0.0,0.0,0,37,0.00,0.00,-27.02,0.000,16386,0.000,0.000,179,1855,1167,1242,1092,0,0,0,0,0,0,26.60,28.83,26.62,8.28,46.45
$GC,40,-1.20,-63.7,180,1855,1242,1092,2.0,-2.2,4,107,8.60,2.22,-47.03,0.000,18692,0.199,0.052,2411,3255,2508,2592,2425,0,0,0,0,0,0,25.01,23.96,25.20,8.35,46.77
$GC,130,-1.05,-63.7,2410,3255,2592,2425,10.6,-19.5,18,138,0.17,2.15,0.00,0.000,3078,0.158,0.030,2473,1835,2509,2592,2426,0,0,0,0,0,0,25.46,26.15,25.68,8.47,46.18
$GC,201,-0.95,-63.7,2472,1836,2592,2426,18.9,-10.1,31,209,0.08,0.00,0.00,0.000,2054,0.190,0.000,2501,1834,2509,2592,2426,0,0,0,0,0,0,26.11,26.17,26.13,8.47,46.33
$GC,278,-0.95,-115.8,2500,1834,2593,2426,23.0,-4.5,39,288,0.00,2.17,-3.03,0.000,16900,0.000,0.055,2501,459,2723,2795,2652,0,0,0,0,0,0,26.70,25.58,26.66,8.47,46.77
$GC,403,-0.95,-115.8,2500,458,2797,2652,37.3,-14.5,51,407,0.00,2.12,0.00,0.000,1030,0.000,0.033,2493,1850,2724,2796,2653,0,0,0,0,0,0,26.27,26.17,26.30,8.49,46.96
$GC,535,-0.95,-115.8,2492,1850,2796,2652,55.3,-13.4,64,545,0.00,2.17,0.00,0.000,260,0.000,0.041,2482,3249,2724,2797,2652,0,0,0,0,0,0,26.74,26.08,26.75,8.49,47.36
$GC,618,-0.95,-115.8,2481,3249,2796,2652,68.0,-15.2,72,628,0.00,2.10,0.00,0.000,1030,0.000,0.031,2482,1851,2724,2796,2652,0,0,0,0,0,0,26.29,26.20,26.32,8.49,47.59
$GC,748,-0.95,-115.8,2481,1851,2797,2652,87.4,-14.7,85,758,0.00,2.20,0.00,0.000,516,0.000,0.043,2482,453,2724,2796,2652,0,0,0,0,0,0,26.75,26.03,26.76,8.50,47.48
$GC,773,-0.95,-115.8,2482,452,2797,2653,90.9,-14.9,87,783,0.10,2.10,0.00,0.000,3078,0.152,0.032,2501,1839,2724,2797,2652,0,0,0,0,0,0,25.82,26.20,25.86,8.50,47.59
$GC,903,-1.02,-115.8,2501,1839,2796,2652,108.9,-13.6,100,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1839,2724,2797,2652,0,0,0,0,0,0,26.75,26.77,26.76,8.51,48.14
$GC,1093,-1.09,-115.8,2501,1839,2795,2652,133.6,-13.1,119,1100,0.08,0.00,0.00,0.000,4102,0.097,0.000,2425,1840,2724,2796,2652,0,0,0,0,0,0,26.54,26.56,26.55,8.51,47.79
$STATE,1140,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1140,begin apogee
$GC,1144,-0.21,0.0,2424,1839,2796,2652,141.1,-15.6,124,1242,0.98,0.00,92.30,0.678,10246,0.128,0.000,2735,1839,2247,2367,2127,0,0,0,0,0,0,25.34,24.98,24.06,8.51,47.75
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1245,1.25,115.8,2735,1839,2366,2128,145.6,0.0,134,1352,1.27,0.00,96.57,0.666,10758,0.065,0.000,3196,1839,1773,1908,1638,0,0,0,0,0,0,25.48,24.49,23.98,8.48,47.83
$GC,1532,1.15,115.8,3195,1839,1904,1636,95.5,22.0,163,1541,0.00,2.17,0.00,0.000,516,0.000,0.042,3206,455,1769,1903,1636,0,0,0,0,0,0,26.49,25.91,26.50,8.43,47.08
$GC,1567,1.05,115.8,3206,455,1902,1634,88.1,22.6,166,1575,0.17,2.17,0.00,0.000,5126,0.143,0.031,3154,1846,1768,1902,1634,0,0,0,0,0,0,25.57,26.07,25.66,8.43,47.36
$GC,1695,1.05,115.8,3153,1847,1902,1632,62.5,18.6,179,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1847,1767,1902,1632,0,0,0,0,0,0,26.63,26.64,26.64,8.44,47.08
$GC,1815,1.05,115.8,3153,1847,1902,1632,41.0,18.2,191,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1847,1767,1902,1632,0,0,0,0,0,0,26.68,26.70,26.69,8.43,47.48
$GC,1935,1.05,115.8,3154,1847,1902,1632,20.6,16.5,203,1947,0.00,2.20,0.00,0.000,516,0.000,0.043,3162,451,1767,1902,1632,0,0,0,0,0,0,26.71,26.05,26.72,8.42,47.55
$GC,1971,1.05,115.8,3162,451,1902,1631,14.3,17.6,208,1979,0.00,2.17,0.00,0.000,1030,0.000,0.032,3162,1851,1766,1902,1631,0,0,0,0,0,0,26.25,26.22,26.28,8.42,47.71
$GC,2041,1.11,181.4,3162,1851,1902,1631,6.1,3.1,221,2082,0.00,2.20,32.33,0.505,8452,0.000,0.038,3162,3262,1506,1626,1386,0,0,0,0,0,0,26.73,24.99,24.51,8.42,47.16
$STATE,2214,end climb,NO_VERTICAL_VELOCITY
$STATE,2214,begin surface
$SM_CCo,2217,126.75,0.507,0,0,498,428.54
$SM_GC,1.84,7.95,2.25,0.00,0.039,0.030,0.000,179,1838,486,-8.08,1.36,431.97,0,0,0,0,0,0,25.90,25.79,25.94
$IRIDIUM_FIX,4738.72,-12249.11,050218,101251
$TT8_MAMPS,0.026964,0.266644
$HUMID,46.37
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.7
$ALTIM_BOTTOM_PING,125.7,25.3
$24V_AH,23.96,66.443
$10V_AH,9.80,44.541
$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,19.400,30.425,221.200,126.750,0.000,0.000,0.000,207.325,2.500,0.000,21.557,622.374,795.782,411.868,855.408,84.657,33.427,962.929,0.000,485.562,0.000,20.773,0.000
$DEVICE_MAMPS,198.900,55.080,677.790,507.195,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.665,544.660,331.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312080
$DATA_FILE_SIZE,17713,253
$CAP_FILE_SIZE,46373,0
$CFSIZE,2097872896,2078703616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,115149,4738.631,-12252.678,4,0.9,33,16.3,0.0,0.0,9,4.8