version: 66.14
glider: 195
mission: 15
dive: 170
start: 2 5 118 17 15 33
data:
$ID,195
$MISSION,15
$DIVE,170
$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,45
$R_STBD_OVSHOOT,45
$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
$GPS1,050218,170939,4738.7402,-12252.6143,8,0.9,33,16.3,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-73.1
$GPS2,050218,171423,4738.7510,-12252.5967,6,0.9,16,16.3,0.0,0.0,11,4.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.164115,-0.086343
$KALMAN_X,9392.869141,-466.661621,-965.027100,-7240.705566,869.907471
$KALMAN_Y,3014.651367,-95.029633,-531.724915,-2135.279541,601.644653
$MHEAD_RNG_PITCHd_Wd,226.0,408,-25.4,-10.000,-28.34,1106
$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,-1.13,-72.8,184,1846,550,475,0.0,0.0,0,18,0.00,0.00,-7.35,0.000,16386,0.000,0.000,183,1847,704,756,653,0,0,0,0,0,0,26.60,28.83,26.62,8.28,46.49
$GC,21,-1.13,-72.8,183,1846,756,653,2.0,0.0,1,101,8.45,2.25,-64.90,0.000,18692,0.190,0.052,2427,3255,2546,2626,2467,0,0,0,0,0,0,25.08,23.94,25.27,8.30,46.49
$GC,369,-0.96,-72.8,2427,3255,2626,2469,37.9,-9.5,46,379,0.22,2.10,0.00,0.000,3078,0.145,0.030,2495,1834,2547,2626,2469,0,0,0,0,0,0,25.53,26.21,25.63,8.47,46.88
$GC,498,-0.91,-72.8,2495,1834,2626,2468,50.6,-10.6,59,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1834,2547,2626,2469,0,0,0,0,0,0,26.74,26.75,26.74,8.47,47.16
$GC,618,-0.91,-72.8,2495,1834,2626,2469,64.1,-11.0,71,627,0.00,2.20,0.00,0.000,260,0.000,0.041,2486,3243,2547,2626,2469,0,0,0,0,0,0,26.74,26.08,26.76,8.48,47.04
$GC,681,-0.91,-72.8,2486,3243,2626,2469,71.5,-11.6,77,691,0.10,2.10,0.00,0.000,3078,0.157,0.030,2516,1843,2547,2626,2469,0,0,0,0,0,0,25.91,26.22,26.03,8.48,47.40
$GC,811,-0.91,-72.8,2515,1843,2625,2468,84.9,-10.4,90,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1843,2547,2626,2469,0,0,0,0,0,0,26.76,26.77,26.76,8.48,47.83
$GC,931,-0.91,-72.8,2515,1843,2626,2469,96.9,-10.0,102,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1843,2547,2626,2469,0,0,0,0,0,0,26.76,26.77,26.77,8.49,47.83
$GC,1051,-0.91,-72.8,2515,1843,2626,2469,109.4,-10.7,114,1060,0.00,2.20,0.00,0.000,260,0.000,0.041,2507,3252,2547,2625,2469,0,0,0,0,0,0,26.76,26.08,26.77,8.49,48.34
$GC,1095,-0.91,-72.8,2506,3252,2626,2469,113.9,-10.5,118,1103,0.00,2.15,0.00,0.000,1030,0.000,0.030,2507,1838,2547,2626,2469,0,0,0,0,0,0,26.25,26.21,26.27,8.49,48.07
$GC,1284,-0.91,-72.8,2506,1839,2626,2469,133.0,-10.3,137,1293,0.00,2.17,0.00,0.000,260,0.000,0.041,2496,3244,2547,2626,2469,0,0,0,0,0,0,26.76,26.08,26.77,8.50,48.14
$GC,1390,-0.91,-72.8,2496,3244,2626,2469,143.1,-9.4,147,1398,0.00,2.12,0.00,0.000,1030,0.000,0.030,2496,1848,2547,2626,2469,0,0,0,0,0,0,26.24,26.20,26.27,8.50,47.83
$STATE,1407,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1407,begin apogee
$GC,1412,-0.21,0.0,2496,1847,2626,2469,145.0,-10.2,149,1478,0.75,0.00,59.22,0.688,10246,0.121,0.000,2741,1847,2246,2352,2141,0,0,0,0,0,0,25.41,24.65,24.09,8.50,48.22
$STATE,1479,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1481,1.13,72.8,2741,1847,2352,2141,147.2,0.0,156,1549,1.15,0.00,61.40,0.673,10502,0.059,0.000,3166,1847,1949,2092,1807,0,0,0,0,0,0,25.65,24.85,23.97,8.48,47.63
$GC,1729,1.01,72.8,3165,1847,2090,1805,113.4,17.8,181,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1847,1947,2090,1805,0,0,0,0,0,0,26.51,26.52,26.52,8.45,47.48
$GC,1909,0.90,72.8,3166,1847,2089,1803,84.1,15.9,199,1911,0.20,0.00,0.00,0.000,4102,0.151,0.000,3108,1847,1946,2089,1803,0,0,0,0,0,0,25.75,25.98,25.90,8.45,48.50
$GC,2029,0.90,72.8,3107,1847,2089,1802,67.8,13.4,211,2038,0.00,2.17,0.00,0.000,260,0.000,0.041,3108,3250,1945,2089,1802,0,0,0,0,0,0,26.70,26.10,26.70,8.45,47.95
$GC,2063,0.90,72.8,3107,3250,2089,1802,63.4,13.3,214,2072,0.00,2.15,0.00,0.000,1030,0.000,0.031,3115,1844,1945,2088,1802,0,0,0,0,0,0,26.22,26.18,26.25,8.44,47.99
$GC,2192,0.90,72.8,3114,1844,2088,1802,47.0,11.7,227,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1844,1945,2088,1802,0,0,0,0,0,0,26.72,26.74,26.74,8.44,48.22
$GC,2312,0.90,72.8,3114,1844,2088,1802,32.7,12.4,239,2322,0.00,2.17,0.00,0.000,516,0.000,0.043,3126,454,1944,2088,1801,0,0,0,0,0,0,26.74,26.07,26.75,8.44,47.40
$GC,2377,0.90,72.8,3125,454,2087,1801,24.5,13.2,245,2385,0.00,2.15,0.00,0.000,1030,0.000,0.031,3126,1847,1944,2087,1801,0,0,0,0,0,0,26.26,26.23,26.29,8.44,47.79
$GC,2508,0.90,72.8,3125,1847,2087,1801,11.1,10.0,266,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1846,1944,2087,1801,0,0,0,0,0,0,26.75,26.77,26.76,8.43,47.12
$GC,2577,1.01,185.2,3125,1847,2087,1801,7.4,-0.4,279,2644,0.00,2.28,56.67,0.523,8708,0.000,0.042,3136,445,1489,1604,1374,0,0,0,0,0,0,26.75,25.29,24.43,8.43,47.75
$GC,2920,1.18,293.7,3136,444,1598,1370,5.3,-0.0,343,2980,0.08,2.17,54.25,0.509,11270,0.055,0.031,3218,1852,1048,1158,938,0,0,0,0,0,0,26.08,26.16,24.46,8.38,47.00
$STATE,3006,end climb,SURFACE_DEPTH_REACHED
$STATE,3006,begin surface coast
$FINISH,1.0,1.016686
$STATE,3089,end surface coast,CONTROL_FINISHED_OK
$STATE,3089,begin surface
$SM_CCo,3105,60.45,0.055,0,0,533,420.20
$SM_GC,2.80,8.20,0.00,60.45,0.050,0.000,0.055,190,1853,533,-8.06,0.25,420.20,0,0,0,0,0,0,26.08,26.51,25.83
$IRIDIUM_FIX,4736.25,-12158.63,050218,161417
$TT8_MAMPS,0.026964,0.243425
$HUMID,46.53
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,105.1,49.8
$24V_AH,23.94,66.807
$10V_AH,9.83,44.884
$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,19.150,30.400,231.550,60.450,0.000,0.000,0.000,205.450,1.000,0.000,18.236,896.873,1000.026,350.981,1133.557,96.493,33.421,982.115,0.000,683.384,0.000,8.796,0.000
$DEVICE_MAMPS,190.485,52.020,687.735,55.080,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.905,803.061,489.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312052
$DATA_FILE_SIZE,24636,373
$CAP_FILE_SIZE,53624,0
$CFSIZE,2097872896,2078015488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,180925,4738.781,-12252.717,9,0.8,25,16.4,0.2,15.7,11,4.9