version: 66.14
glider: 195
mission: 15
dive: 171
start: 2 5 118 18 16 2
data:
$ID,195
$MISSION,15
$DIVE,171
$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,44
$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
$GPS1,050218,180925,4738.7812,-12252.7168,9,0.8,25,16.4,0.2,15.7,11,4.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.2
$GPS2,050218,181452,4738.8130,-12252.6836,7,0.8,27,16.4,0.2,0.0,11,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.124592,-0.120320
$KALMAN_X,9190.219727,-206.493164,-541.240723,-7829.301270,751.760254
$KALMAN_Y,3144.868896,-120.594147,-213.241196,-2445.096924,530.337524
$MHEAD_RNG_PITCHd_Wd,209.6,431,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-1.20,-63.7,190,1853,547,478,0.0,0.0,0,37,0.00,0.00,-26.17,0.000,16386,0.000,0.000,190,1853,1192,1264,1120,0,0,0,0,0,0,26.61,28.83,26.63,8.29,46.92
$GC,40,-1.20,-63.7,190,1853,1264,1122,2.4,-3.8,4,95,8.52,2.28,-40.30,0.000,18948,0.197,0.052,2417,448,2508,2592,2425,0,0,0,0,0,0,24.98,23.93,25.18,8.35,46.88
$GC,194,-1.02,-97.5,2417,447,2592,2426,17.8,-6.4,31,203,0.20,2.15,-2.28,0.000,19462,0.160,0.032,2477,1843,2648,2717,2579,0,0,0,0,0,0,25.40,26.17,25.67,8.47,46.65
$GC,267,-0.95,-97.5,2477,1843,2718,2579,24.3,-10.2,40,276,0.00,2.17,0.00,0.000,260,0.000,0.041,2469,3246,2648,2718,2578,0,0,0,0,0,0,26.70,26.06,26.71,8.47,46.81
$GC,462,-0.95,-97.5,2468,3247,2718,2579,48.3,-13.6,59,471,0.10,2.15,0.00,0.000,3078,0.146,0.030,2498,1830,2649,2719,2579,0,0,0,0,0,0,25.82,26.20,25.87,8.48,47.16
$GC,591,-0.95,-97.5,2498,1830,2718,2579,65.9,-13.2,72,601,0.00,2.15,0.00,0.000,516,0.000,0.042,2498,451,2648,2718,2579,0,0,0,0,0,0,26.74,26.03,26.76,8.49,47.75
$GC,616,-0.95,-97.5,2498,451,2719,2579,69.0,-13.7,74,624,0.00,2.15,0.00,0.000,1030,0.000,0.032,2490,1841,2648,2718,2579,0,0,0,0,0,0,26.22,26.19,26.25,8.49,47.59
$GC,744,-0.95,-97.5,2490,1841,2718,2579,85.7,-13.0,87,753,0.00,2.20,0.00,0.000,260,0.000,0.041,2480,3252,2648,2718,2579,0,0,0,0,0,0,26.75,26.07,26.76,8.49,47.63
$GC,807,-0.95,-97.5,2479,3252,2718,2579,94.5,-14.0,93,817,0.00,2.12,0.00,0.000,1030,0.000,0.031,2480,1840,2649,2719,2579,0,0,0,0,0,0,26.29,26.20,26.32,8.49,47.71
$GC,937,-0.95,-97.5,2479,1840,2718,2579,112.8,-14.1,106,947,0.00,2.20,0.00,0.000,516,0.000,0.042,2479,444,2648,2718,2579,0,0,0,0,0,0,26.76,26.02,26.77,8.50,48.46
$GC,970,-0.95,-97.5,2479,444,2718,2579,117.6,-14.3,109,981,0.12,2.12,0.00,0.000,3078,0.156,0.032,2505,1848,2648,2718,2579,0,0,0,0,0,0,25.79,26.18,25.93,8.50,48.38
$GC,1162,-1.02,-97.5,2505,1848,2719,2579,142.0,-11.5,128,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1848,2648,2718,2579,0,0,0,0,0,0,26.76,26.77,26.77,8.51,48.50
$STATE,1199,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1199,begin apogee
$GC,1203,-0.21,0.0,2505,1848,2718,2578,146.5,-11.1,132,1291,0.70,0.00,78.25,0.688,10246,0.116,0.000,2739,1848,2248,2355,2142,0,0,0,0,0,0,25.47,24.62,24.07,8.51,47.71
$STATE,1292,end apogee,CONTROL_FINISHED_OK
$STATE,1292,begin climb
$GC,1294,1.23,97.5,2739,1848,2355,2141,149.8,0.0,141,1384,1.25,2.30,82.38,0.672,10756,0.065,0.041,3203,451,1848,1984,1712,0,0,0,0,0,0,25.53,24.93,23.95,8.48,47.04
$GC,1436,1.09,97.5,3202,451,1982,1709,131.0,20.5,155,1444,0.12,2.17,0.00,0.000,5126,0.149,0.031,3167,1831,1845,1982,1708,0,0,0,0,0,0,25.39,25.79,25.49,8.45,46.10
$GC,1626,1.02,97.5,3167,1831,1981,1704,95.3,19.1,174,1635,0.00,2.17,0.00,0.000,516,0.000,0.041,3176,452,1842,1981,1704,0,0,0,0,0,0,26.57,25.94,26.58,8.45,47.36
$GC,1660,0.95,97.5,3175,452,1980,1704,88.7,19.1,177,1669,0.17,2.17,0.00,0.000,5126,0.142,0.031,3124,1845,1841,1980,1703,0,0,0,0,0,0,25.58,26.11,25.68,8.44,47.44
$GC,1788,0.95,97.5,3123,1845,1980,1703,67.7,15.7,190,1798,0.00,2.20,0.00,0.000,260,0.000,0.041,3123,3257,1841,1980,1703,0,0,0,0,0,0,26.67,26.06,26.67,8.44,47.40
$GC,1861,0.95,97.5,3123,3258,1980,1703,56.1,16.1,197,1871,0.00,2.12,0.00,0.000,1030,0.000,0.031,3131,1844,1841,1980,1703,0,0,0,0,0,0,26.27,26.17,26.30,8.44,47.28
$GC,1992,0.95,97.5,3131,1844,1980,1703,37.2,14.0,210,2001,0.00,2.17,0.00,0.000,516,0.000,0.043,3142,454,1841,1980,1703,0,0,0,0,0,0,26.72,26.05,26.72,8.43,47.91
$GC,2055,0.95,97.5,3141,454,1980,1702,27.1,16.2,216,2064,0.00,2.15,0.00,0.000,1030,0.000,0.032,3142,1858,1841,1980,1702,0,0,0,0,0,0,26.27,26.20,26.27,8.44,47.87
$GC,2186,0.95,97.5,3141,1858,1979,1702,10.3,13.8,236,2193,0.00,2.25,0.00,0.000,516,0.000,0.043,3153,451,1841,1980,1702,0,0,0,0,0,0,26.74,26.05,26.75,8.43,47.00
$GC,2303,1.18,218.4,3152,451,1980,1701,9.0,-2.8,258,2370,0.00,2.15,61.12,0.522,9222,0.000,0.031,3153,1849,1354,1465,1244,0,0,0,0,0,0,26.27,26.24,24.43,8.43,47.44
$GC,2434,1.32,281.9,3152,1849,1464,1240,5.2,3.3,280,2476,0.15,2.25,31.65,0.493,10756,0.057,0.042,3269,457,1094,1199,989,0,0,0,0,0,0,26.19,25.28,24.44,8.38,46.49
$STATE,2481,end climb,SURFACE_DEPTH_REACHED
$STATE,2482,begin surface coast
$FINISH,1.4,1.018247
$STATE,2529,end surface coast,CONTROL_FINISHED_OK
$STATE,2529,begin surface
$SM_CCo,2547,66.07,0.056,0,0,533,420.20
$SM_GC,2.41,8.60,2.20,66.07,0.064,0.030,0.056,189,1852,533,-8.08,-1.22,420.20,0,0,0,0,0,0,26.01,25.98,25.80
$IRIDIUM_FIX,4739.20,-12253.53,050218,171051
$TT8_MAMPS,0.026964,0.240429
$HUMID,46.06
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.0
$ALTIM_BOTTOM_PING,105.7,50.6
$24V_AH,23.93,66.859
$10V_AH,9.83,44.931
$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,19.950,48.025,253.400,66.075,0.000,0.000,0.000,236.425,1.250,0.000,28.442,717.654,748.255,390.373,1017.883,94.354,33.425,1029.133,0.000,587.740,0.000,11.683,0.000
$DEVICE_MAMPS,196.605,52.020,687.735,55.845,0.000,0.000,0.000,82.620,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,198.449,637.261,387.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21134,296
$CAP_FILE_SIZE,52682,0
$CFSIZE,2097872896,2077917184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,190055,4738.753,-12252.748,8,0.7,37,16.4,0.2,0.0,11,4.4