version: 66.14
glider: 195
mission: 15
dive: 167
start: 2 5 118 14 34 0
data:
$ID,195
$MISSION,15
$DIVE,167
$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,44
$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
$GPS1,050218,142823,4739.1382,-12252.2441,9,0.9,39,16.4,0.3,29.9,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.4
$GPS2,050218,143248,4739.1704,-12252.2031,6,0.9,14,16.4,0.0,0.0,8,4.6
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.079560,-0.153851
$KALMAN_X,7791.904785,-255.051010,-506.111633,-5820.462402,56.636841
$KALMAN_Y,1690.482910,259.088684,-465.407532,-462.864197,39.117615
$MHEAD_RNG_PITCHd_Wd,190.9,525,-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,-63.7,186,1846,553,478,0.0,0.0,0,37,0.00,0.00,-26.27,0.000,16386,0.000,0.000,186,1847,1203,1273,1133,0,0,0,0,0,0,26.62,28.83,26.63,8.28,46.53
$GC,39,-1.20,-63.7,187,1847,1273,1134,2.3,-3.7,4,100,8.50,2.25,-46.42,0.000,18692,0.197,0.051,2406,3254,2508,2590,2426,0,0,0,0,0,0,25.00,23.95,25.19,8.35,47.08
$GC,139,-0.96,-63.7,2405,3254,2591,2426,12.1,-20.9,20,147,0.25,2.17,0.00,0.000,3078,0.146,0.031,2495,1829,2508,2591,2426,0,0,0,0,0,0,25.40,26.14,25.63,8.47,46.53
$GC,216,-0.90,-63.7,2495,1828,2592,2427,22.3,-12.2,32,225,0.00,2.20,0.00,0.000,260,0.000,0.041,2486,3251,2509,2591,2427,0,0,0,0,0,0,26.69,26.06,26.70,8.47,46.33
$GC,332,-0.86,-98.5,2486,3251,2591,2427,31.1,-6.3,43,343,0.12,2.08,-1.77,0.000,19462,0.143,0.029,2524,1832,2653,2723,2583,0,0,0,0,0,0,25.75,26.20,25.83,8.47,46.49
$GC,461,-0.86,-98.5,2524,1832,2724,2584,41.8,-9.2,56,470,0.00,2.17,0.00,0.000,516,0.000,0.042,2524,451,2654,2724,2584,0,0,0,0,0,0,26.73,26.04,26.74,8.48,46.88
$GC,546,-0.86,-98.5,2524,451,2724,2584,51.6,-12.5,64,554,0.00,2.15,0.00,0.000,1030,0.000,0.031,2516,1841,2654,2724,2584,0,0,0,0,0,0,26.24,26.19,26.27,8.48,47.24
$GC,674,-0.86,-98.5,2516,1841,2724,2584,67.6,-12.7,77,684,0.00,2.20,0.00,0.000,260,0.000,0.041,2506,3254,2654,2724,2584,0,0,0,0,0,0,26.74,26.08,26.76,8.49,47.91
$GC,727,-0.86,-98.5,2505,3254,2724,2584,74.2,-12.5,82,737,0.00,2.12,0.00,0.000,1030,0.000,0.030,2505,1838,2654,2725,2584,0,0,0,0,0,0,26.29,26.21,26.33,8.49,47.71
$GC,857,-0.86,-98.5,2505,1838,2724,2584,90.3,-12.6,95,867,0.00,2.17,0.00,0.000,260,0.000,0.041,2495,3252,2654,2724,2584,0,0,0,0,0,0,26.76,26.08,26.77,8.50,47.79
$GC,880,-0.91,-98.5,2494,3252,2724,2584,93.1,-12.7,97,890,0.00,2.10,0.00,0.000,1030,0.000,0.030,2495,1843,2654,2724,2584,0,0,0,0,0,0,26.25,26.20,26.27,8.49,48.11
$GC,1010,-0.91,-98.5,2494,1843,2724,2584,109.7,-12.6,110,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1843,2654,2724,2584,0,0,0,0,0,0,26.76,26.77,26.77,8.50,47.55
$GC,1190,-0.91,-98.5,2494,1843,2724,2584,132.3,-12.6,128,1200,0.00,2.17,0.00,0.000,260,0.000,0.041,2484,3253,2654,2724,2584,0,0,0,0,0,0,26.76,26.08,26.77,8.50,48.26
$STATE,1221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1222,begin apogee
$GC,1228,-0.21,0.0,2484,1843,2724,2584,136.4,-12.8,131,1314,0.77,0.00,79.22,0.680,10246,0.120,0.000,2738,1843,2247,2355,2139,0,0,0,0,0,0,25.41,24.99,24.09,8.50,48.26
$STATE,1315,end apogee,CONTROL_FINISHED_OK
$STATE,1315,begin climb
$GC,1317,1.23,98.5,2737,1843,2355,2139,140.3,0.0,140,1404,1.25,0.00,82.93,0.665,10502,0.063,0.000,3190,1843,1844,1982,1707,0,0,0,0,0,0,25.54,24.81,23.97,8.47,47.04
$GC,1583,1.13,98.5,3190,1843,1979,1703,97.1,20.3,167,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1843,1841,1979,1703,0,0,0,0,0,0,26.49,26.50,26.50,8.44,47.04
$GC,1703,1.03,98.5,3190,1843,1978,1702,73.0,20.2,179,1705,0.15,0.00,0.00,0.000,4102,0.157,0.000,3148,1843,1840,1978,1703,0,0,0,0,0,0,25.86,26.05,25.98,8.44,47.63
$GC,1824,1.03,98.5,3147,1843,1978,1702,52.8,15.9,191,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1843,1840,1978,1702,0,0,0,0,0,0,26.67,26.68,26.68,8.44,47.59
$GC,1944,1.03,98.5,3147,1843,1978,1701,33.0,16.1,203,1953,0.00,2.20,0.00,0.000,260,0.000,0.040,3147,3261,1839,1978,1701,0,0,0,0,0,0,26.71,26.09,26.71,8.43,48.26
$GC,1958,1.03,98.5,3147,3261,1977,1701,31.5,16.5,204,1966,0.00,2.15,0.00,0.000,1030,0.000,0.031,3155,1848,1839,1977,1701,0,0,0,0,0,0,26.22,26.19,26.26,8.43,47.55
$GC,2090,1.03,98.5,3155,1847,1977,1701,11.2,14.3,223,2098,0.00,2.22,0.00,0.000,516,0.000,0.043,3166,451,1838,1976,1701,0,0,0,0,0,0,26.73,26.06,26.74,8.42,47.83
$GC,2214,1.28,236.1,3166,451,1976,1697,6.5,-4.5,246,2293,0.10,2.15,68.25,0.512,11270,0.049,0.031,3244,1848,1283,1389,1178,0,0,0,0,0,0,26.17,26.22,24.44,8.42,47.63
$GC,2357,1.37,329.4,3244,1848,1389,1175,4.1,0.2,270,2411,0.00,2.22,46.03,0.495,8452,0.000,0.037,3244,3258,902,1012,793,0,0,0,0,0,0,26.41,24.88,24.46,8.37,46.65
$STATE,2417,end climb,SURFACE_DEPTH_REACHED
$STATE,2417,begin surface coast
$FINISH,0.8,1.016856
$STATE,2519,end surface coast,CONTROL_FINISHED_OK
$STATE,2519,begin surface
$SM_CCo,2538,44.30,0.055,0,0,533,420.20
$SM_GC,2.67,8.40,2.22,44.30,0.057,0.030,0.055,184,1829,533,-8.07,1.27,420.20,0,0,0,0,0,0,26.10,26.01,25.84
$IRIDIUM_FIX,4739.20,-12253.53,050218,134223
$TT8_MAMPS,0.026964,0.24717
$HUMID,46.18
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,106.0,39.1
$24V_AH,23.95,66.652
$10V_AH,9.84,44.729
$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,19.550,39.150,276.425,44.300,0.000,0.000,0.000,192.500,1.250,0.000,17.007,713.674,775.339,371.649,932.365,87.955,33.430,946.156,0.000,555.099,0.000,11.633,0.000
$DEVICE_MAMPS,196.605,51.255,680.085,55.080,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,200.654,643.781,391.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,21107,299
$CAP_FILE_SIZE,49236,0
$CFSIZE,2097872896,2078310400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,151759,4738.993,-12252.349,8,0.8,14,16.4,0.0,0.0,10,5.0