version: 66.14
glider: 195
mission: 15
dive: 172
start: 2 5 118 19 6 35
data:
$ID,195
$MISSION,15
$DIVE,172
$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,50
$R_STBD_OVSHOOT,46
$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
$GPS1,050218,190055,4738.7529,-12252.7480,8,0.7,37,16.4,0.2,0.0,11,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.6
$GPS2,050218,190525,4738.7788,-12252.7314,7,0.8,13,16.4,0.0,0.0,10,4.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.078729,-0.154278
$KALMAN_X,8861.435547,3.674896,-34.249939,-8277.954102,558.682617
$KALMAN_Y,3229.286377,-177.117737,128.272202,-2878.303223,460.803040
$MHEAD_RNG_PITCHd_Wd,190.6,513,-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,9,-1.20,-63.7,188,1854,550,477,0.0,0.0,0,31,0.00,0.00,-20.17,0.000,16386,0.000,0.000,188,1854,1038,1098,978,0,0,0,0,0,0,26.61,28.83,26.62,8.28,47.04
$GC,33,-1.20,-63.7,188,1854,1098,978,2.0,-2.4,3,100,8.52,2.22,-49.33,0.000,18948,0.197,0.054,2419,451,2508,2590,2426,0,0,0,0,0,0,24.99,25.61,25.18,8.34,46.65
$GC,169,-1.00,-63.7,2418,451,2590,2427,17.0,-10.2,26,177,0.22,2.15,0.00,0.000,3078,0.155,0.031,2488,1841,2509,2591,2427,0,0,0,0,0,0,25.40,26.16,25.63,8.47,46.18
$GC,242,-0.95,-91.9,2487,1840,2591,2428,22.2,-7.0,36,250,0.00,0.00,-1.70,0.000,16390,0.000,0.000,2487,1840,2624,2696,2553,0,0,0,0,0,0,26.70,25.61,26.61,8.48,46.81
$GC,370,-0.95,-91.9,2487,1840,2696,2554,37.1,-12.8,49,380,0.00,2.20,0.00,0.000,516,0.000,0.041,2487,447,2625,2697,2554,0,0,0,0,0,0,26.72,26.03,26.73,8.48,46.49
$GC,404,-0.90,-91.9,2486,447,2697,2554,41.4,-13.1,52,414,0.10,2.12,0.00,0.000,3078,0.150,0.031,2509,1847,2625,2697,2554,0,0,0,0,0,0,25.79,26.20,25.84,8.48,47.51
$GC,534,-0.90,-91.9,2509,1847,2697,2554,56.1,-11.3,65,543,0.00,2.17,0.00,0.000,516,0.000,0.042,2509,455,2625,2697,2554,0,0,0,0,0,0,26.74,26.03,26.74,8.48,47.28
$GC,647,-0.90,-91.9,2509,456,2697,2554,70.6,-13.4,76,657,0.00,2.12,0.00,0.000,1030,0.000,0.032,2501,1842,2625,2697,2554,0,0,0,0,0,0,26.29,26.19,26.32,8.49,46.92
$GC,777,-0.90,-91.9,2501,1842,2697,2554,87.3,-13.0,89,787,0.00,2.17,0.00,0.000,260,0.000,0.041,2491,3246,2625,2697,2554,0,0,0,0,0,0,26.76,26.08,26.76,8.49,47.83
$GC,842,-0.90,-91.9,2489,3246,2697,2554,95.1,-12.3,95,851,0.08,2.12,0.00,0.000,3078,0.148,0.030,2514,1841,2625,2697,2554,0,0,0,0,0,0,25.89,26.21,25.96,8.50,47.55
$GC,975,-0.97,-91.9,2513,1841,2697,2554,110.2,-11.4,108,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1841,2625,2697,2554,0,0,0,0,0,0,26.73,26.74,26.74,8.51,48.42
$GC,1163,-1.04,-91.9,2513,1841,2697,2554,131.7,-10.9,127,1173,0.08,2.15,0.00,0.000,4612,0.098,0.041,2442,456,2625,2696,2554,0,0,0,0,0,0,26.54,26.03,26.55,8.50,47.91
$GC,1248,-0.97,-91.9,2441,456,2697,2554,143.5,-14.2,135,1258,0.20,2.10,0.00,0.000,3078,0.142,0.033,2492,1841,2625,2697,2554,0,0,0,0,0,0,25.56,26.18,25.66,8.51,48.26
$STATE,1275,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1276,begin apogee
$GC,1280,-0.21,0.0,2492,1841,2698,2554,147.6,-13.9,138,1358,0.75,0.00,74.18,0.685,10246,0.118,0.000,2741,1841,2247,2354,2141,0,0,0,0,0,0,25.44,25.01,24.06,8.51,47.91
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1359,begin climb
$GC,1361,1.23,91.9,2741,1841,2354,2140,150.7,0.0,146,1448,1.23,2.25,77.38,0.673,11012,0.057,0.038,3193,3249,1871,2010,1733,0,0,0,0,0,0,25.58,24.51,23.96,8.48,47.12
$GC,1492,1.09,91.9,3193,3249,2007,1733,134.8,18.2,159,1502,0.12,2.15,0.00,0.000,5126,0.170,0.030,3170,1837,1870,2007,1733,0,0,0,0,0,0,25.37,25.76,25.55,8.45,46.41
$GC,1683,1.02,91.9,3170,1837,2006,1729,99.0,18.1,178,1687,0.00,2.22,0.00,0.000,516,0.000,0.043,3179,449,1867,2006,1729,0,0,0,0,0,0,26.56,25.95,26.58,8.45,47.87
$GC,1777,0.93,91.9,3179,448,2005,1726,81.2,18.8,187,1787,0.20,2.12,0.00,0.000,5126,0.143,0.031,3119,1843,1864,2004,1725,0,0,0,0,0,0,25.55,26.15,25.67,8.45,47.75
$GC,1906,0.93,91.9,3119,1843,2005,1725,61.4,14.9,200,1916,0.00,2.20,0.00,0.000,260,0.000,0.041,3119,3258,1864,2004,1725,0,0,0,0,0,0,26.69,26.07,26.70,8.44,48.22
$GC,1949,0.93,91.9,3118,3258,2004,1725,54.9,15.6,204,1953,0.00,2.12,0.00,0.000,1030,0.000,0.031,3127,1840,1864,2004,1725,0,0,0,0,0,0,26.27,26.17,26.29,8.45,47.55
$GC,2081,0.93,91.9,3127,1840,2005,1725,36.0,14.6,217,2091,0.00,2.20,0.00,0.000,516,0.000,0.043,3138,451,1865,2005,1725,0,0,0,0,0,0,26.72,26.04,26.73,8.45,47.44
$GC,2175,0.93,91.9,3138,451,2005,1724,22.6,12.9,226,2184,0.00,2.15,0.00,0.000,1030,0.000,0.031,3138,1855,1864,2004,1724,0,0,0,0,0,0,26.29,26.22,26.31,8.44,47.55
$GC,2306,0.93,91.9,3137,1856,2005,1724,7.0,8.7,249,2313,0.00,2.20,0.00,0.000,260,0.000,0.041,3138,3256,1864,2005,1724,0,0,0,0,0,0,26.74,26.10,26.75,8.43,47.44
$STATE,2580,end climb,NO_VERTICAL_VELOCITY
$STATE,2580,begin surface
$SM_CCo,2583,172.23,0.510,0,0,497,428.54
$SM_GC,1.66,7.70,2.25,0.00,0.028,0.031,0.000,186,1839,484,-8.05,1.24,432.46,0,0,0,0,0,0,25.89,25.75,25.93
$IRIDIUM_FIX,4736.40,-12251.79,050218,181036
$TT8_MAMPS,0.026964,0.23968
$HUMID,46.41
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.1
$ALTIM_BOTTOM_PING,120.6,35.9
$24V_AH,23.96,66.917
$10V_AH,9.84,44.978
$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,19.200,43.425,151.550,172.225,0.000,0.000,0.000,193.525,2.000,0.000,14.353,768.148,891.426,422.199,983.084,97.466,33.430,998.852,0.000,589.522,0.000,16.439,0.000
$DEVICE_MAMPS,196.605,53.550,685.440,510.255,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.400,652.274,397.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312088
$DATA_FILE_SIZE,21030,303
$CAP_FILE_SIZE,53669,0
$CFSIZE,2097872896,2077818880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,195512,4738.665,-12252.663,8,0.9,12,16.3,0.0,0.0,9,4.9