version: 66.14
glider: 195
mission: 15
dive: 151
start: 2 4 118 23 29 24
data:
$ID,195
$MISSION,15
$DIVE,151
$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,53
$R_STBD_OVSHOOT,36
$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
$GPS1,040218,232251,4739.1606,-12252.9541,4,0.9,11,16.4,0.0,212.8,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.3
$GPS2,040218,232813,4739.1504,-12252.9902,7,0.9,14,16.4,0.0,78.8,9,4.6
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.180057,-0.092161
$KALMAN_X,3673.980469,-68.436813,383.036133,-3759.164307,121.947357
$KALMAN_Y,-1216.942871,-386.167480,-193.878113,2778.332520,-106.139038
$MHEAD_RNG_PITCHd_Wd,100.7,893,-23.2,-10.000,-26.31,1316
$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,7,begin dive
$GC,9,-1.05,-86.8,199,1840,517,435,0.0,0.0,0,37,0.00,0.00,-26.33,0.000,16386,0.000,0.000,199,1841,1169,1246,1092,0,0,0,0,0,0,26.60,28.83,26.60,8.28,46.65
$GC,40,-1.05,-86.8,199,1841,1246,1093,2.4,-3.0,4,107,8.60,2.20,-50.62,0.000,18948,0.194,0.052,2465,453,2601,2676,2527,0,0,0,0,0,0,25.02,25.61,25.21,8.34,46.85
$GC,176,-0.85,-86.8,2465,452,2676,2528,19.6,-16.5,27,184,0.22,2.17,0.00,0.000,3078,0.151,0.033,2536,1850,2602,2676,2528,0,0,0,0,0,0,25.41,26.13,25.64,8.47,46.49
$GC,244,-0.78,-86.8,2535,1850,2677,2528,27.1,-9.8,34,253,0.00,2.17,0.00,0.000,260,0.000,0.041,2527,3252,2602,2676,2528,0,0,0,0,0,0,26.69,26.05,26.70,8.48,46.61
$GC,348,-0.71,-86.8,2526,3252,2676,2528,35.9,-8.5,44,358,0.17,2.10,0.00,0.000,3078,0.139,0.031,2580,1843,2602,2676,2528,0,0,0,0,0,0,25.72,26.18,25.87,8.48,46.53
$GC,477,-0.71,-86.8,2580,1843,2677,2528,46.4,-8.3,57,486,0.00,2.20,0.00,0.000,516,0.000,0.042,2580,449,2602,2676,2528,0,0,0,0,0,0,26.73,26.03,26.74,8.48,47.08
$GC,803,-0.71,-86.8,2580,449,2677,2528,76.8,-9.5,89,813,0.00,2.15,0.00,0.000,1030,0.000,0.032,2573,1852,2602,2676,2528,0,0,0,0,0,0,26.28,26.19,26.32,8.48,47.48
$GC,934,-0.80,-112.5,2572,1852,2676,2528,87.8,-8.0,102,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1853,2602,2677,2528,0,0,0,0,0,0,26.76,26.77,26.77,8.49,47.67
$GC,1054,-0.88,-112.5,2572,1853,2677,2528,98.8,-9.4,114,1056,0.08,0.00,0.00,0.000,4102,0.098,0.000,2495,1853,2602,2676,2528,0,0,0,0,0,0,26.54,26.56,26.55,8.49,47.75
$GC,1174,-0.88,-112.5,2494,1853,2677,2528,112.2,-10.9,126,1184,0.10,2.15,0.00,0.000,2308,0.157,0.040,2519,3239,2602,2676,2528,0,0,0,0,0,0,26.20,26.06,26.21,8.50,47.87
$GC,1282,-0.88,-112.5,2518,3239,2676,2528,123.4,-10.5,136,1290,0.00,2.12,0.00,0.000,1030,0.000,0.031,2518,1847,2602,2676,2528,0,0,0,0,0,0,26.22,26.18,26.25,8.50,48.54
$STATE,1396,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1396,begin apogee
$GC,1401,-0.21,0.0,2518,1847,2676,2527,136.6,-11.1,148,1478,0.68,0.00,68.75,0.674,10246,0.117,0.000,2742,1847,2249,2355,2143,0,0,0,0,0,0,25.47,24.67,24.13,8.50,47.79
$STATE,1479,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1481,1.08,112.5,2742,1847,2355,2143,139.7,0.0,156,1581,1.10,0.00,94.90,0.671,10502,0.065,0.000,3144,1847,1787,1925,1650,0,0,0,0,0,0,25.58,24.83,23.96,8.48,48.11
$GC,1759,0.98,112.5,3143,1847,1921,1647,99.4,18.7,184,1764,0.00,2.20,0.00,0.000,260,0.000,0.040,3144,3250,1784,1921,1647,0,0,0,0,0,0,26.48,25.92,26.49,8.43,47.24
$GC,1782,0.87,112.5,3143,3250,1920,1647,95.3,18.1,186,1793,0.20,2.12,0.00,0.000,5126,0.140,0.031,3094,1841,1783,1920,1647,0,0,0,0,0,0,25.51,26.03,25.62,8.44,48.07
$GC,1912,0.87,112.5,3093,1841,1920,1645,75.7,14.7,199,1921,0.00,2.22,0.00,0.000,516,0.000,0.044,3103,439,1781,1919,1644,0,0,0,0,0,0,26.63,25.97,26.63,8.43,47.63
$GC,1985,0.87,112.5,3102,439,1918,1642,64.6,15.4,206,1994,0.00,2.15,0.00,0.000,1030,0.000,0.031,3103,1841,1780,1919,1642,0,0,0,0,0,0,26.25,26.15,26.28,8.43,47.55
$GC,2115,0.87,112.5,3102,1841,1919,1642,45.9,14.2,219,2124,0.00,2.22,0.00,0.000,516,0.000,0.044,3112,440,1780,1918,1642,0,0,0,0,0,0,26.70,26.01,26.71,8.43,47.71
$GC,2149,0.87,112.5,3111,441,1919,1641,41.5,13.7,222,2157,0.00,2.17,0.00,0.000,1030,0.000,0.031,3112,1838,1779,1918,1641,0,0,0,0,0,0,26.23,26.19,26.29,8.43,47.67
$GC,2278,0.87,112.5,3111,1838,1919,1641,23.4,14.1,235,2287,0.00,2.17,0.00,0.000,516,0.000,0.044,3114,446,1779,1918,1641,0,0,0,0,0,0,26.73,26.01,26.74,8.43,47.20
$GC,2300,0.87,112.5,3113,446,1919,1641,20.1,14.2,237,2313,0.00,2.15,0.00,0.000,1030,0.000,0.031,3114,1848,1779,1918,1641,0,0,0,0,0,0,26.29,26.20,26.33,8.42,47.12
$GC,2437,1.01,250.9,3113,1848,1918,1641,10.0,-0.8,262,2516,0.00,2.25,69.80,0.529,8452,0.000,0.041,3114,3255,1222,1333,1111,0,0,0,0,0,0,26.74,25.27,24.44,8.42,47.28
$STATE,2603,end climb,SURFACE_DEPTH_REACHED
$STATE,2603,begin surface coast
$FINISH,2.1,1.017197
$STATE,2649,end surface coast,CONTROL_FINISHED_OK
$STATE,2649,begin surface
$SM_CCo,2668,79.72,0.055,0,0,530,420.20
$SM_GC,2.44,7.75,2.22,79.72,0.039,0.031,0.055,187,1834,530,-8.08,1.22,420.20,0,0,0,0,0,0,26.13,26.03,25.84
$IRIDIUM_FIX,4739.20,-12253.53,040218,222712
$TT8_MAMPS,0.026964,0.265895
$HUMID,45.90
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,17.8
$ALTIM_BOTTOM_PING,101.0,45.3
$24V_AH,23.96,65.722
$10V_AH,9.80,43.931
$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,18.900,39.175,233.450,79.725,0.000,0.000,0.000,248.800,0.750,0.000,15.419,731.873,851.745,383.446,1037.448,96.278,33.424,1035.144,0.000,610.574,0.000,7.178,0.000
$DEVICE_MAMPS,194.310,52.020,673.965,55.080,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,201.843,645.898,392.874,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,21195,300
$CAP_FILE_SIZE,51175,0
$CFSIZE,2097872896,2079948800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,001610,4738.999,-12252.698,4,0.8,16,16.4,0.0,0.0,10,4.6