version: 66.14
glider: 195
mission: 15
dive: 154
start: 2 5 118 2 16 0
data:
$ID,195
$MISSION,15
$DIVE,154
$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,54
$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
$GPS1,050218,020906,4738.7300,-12252.0430,5,2.3,45,16.3,0.0,0.0,3,6.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-71.4
$GPS2,050218,021450,4738.7485,-12252.0361,7,0.9,15,16.3,0.0,0.0,10,4.3
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.172097,0.019560
$KALMAN_X,3246.997314,586.975342,-527.105530,-1893.525879,-135.404419
$KALMAN_Y,-1351.609985,314.123810,-547.542114,1831.871826,264.943390
$MHEAD_RNG_PITCHd_Wd,260.2,513,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-1.20,-63.7,192,1829,553,475,0.0,0.0,0,18,0.00,0.00,-7.30,0.000,16386,0.000,0.000,192,1828,712,766,658,0,0,0,0,0,0,26.60,28.83,26.62,8.29,46.61
$GC,21,-1.20,-63.7,192,1828,766,658,2.4,0.0,1,100,8.45,2.20,-59.72,0.000,18948,0.194,0.052,2418,457,2509,2592,2426,0,0,0,0,0,0,25.01,23.93,25.20,8.30,46.73
$GC,326,-1.01,-88.6,2417,457,2591,2426,28.2,-7.4,43,337,0.25,2.10,-1.35,0.000,19462,0.155,0.031,2483,1848,2612,2685,2540,0,0,0,0,0,0,25.43,26.20,25.55,8.47,46.69
$GC,455,-1.01,-88.6,2482,1847,2686,2541,41.2,-12.4,56,465,0.00,2.17,0.00,0.000,260,0.000,0.041,2474,3245,2613,2686,2541,0,0,0,0,0,0,26.73,26.08,26.74,8.48,46.69
$GC,488,-1.01,-88.6,2473,3245,2686,2541,45.5,-13.3,59,498,0.00,2.10,0.00,0.000,1030,0.000,0.030,2474,1847,2613,2686,2541,0,0,0,0,0,0,26.29,26.20,26.32,8.48,47.32
$GC,619,-1.01,-88.6,2473,1847,2686,2541,62.2,-13.3,72,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1847,2613,2686,2541,0,0,0,0,0,0,26.74,26.76,26.76,8.49,46.85
$GC,738,-1.01,-88.6,2473,1847,2686,2541,78.4,-13.0,84,748,0.00,2.20,0.00,0.000,516,0.000,0.041,2474,448,2613,2686,2541,0,0,0,0,0,0,26.75,26.03,26.77,8.49,47.67
$GC,783,-1.01,-88.6,2473,449,2686,2541,84.3,-13.8,88,791,0.00,2.15,0.00,0.000,1030,0.000,0.032,2463,1841,2613,2686,2541,0,0,0,0,0,0,26.23,26.20,26.27,8.49,47.24
$GC,911,-1.01,-88.6,2463,1841,2686,2541,102.5,-13.4,101,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1841,2613,2686,2541,0,0,0,0,0,0,26.75,26.77,26.76,8.49,47.32
$GC,1092,-1.01,-88.6,2463,1841,2686,2541,127.0,-13.6,119,1101,0.00,2.17,0.00,0.000,260,0.000,0.041,2453,3243,2613,2686,2540,0,0,0,0,0,0,26.76,26.06,26.77,8.50,48.18
$GC,1144,-1.01,-88.6,2452,3243,2686,2541,134.6,-14.4,124,1154,0.10,2.10,0.00,0.000,3078,0.157,0.030,2482,1843,2613,2686,2541,0,0,0,0,0,0,25.89,26.20,26.00,8.50,47.83
$STATE,1193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1193,begin apogee
$GC,1198,-0.21,0.0,2482,1843,2686,2541,141.4,-13.4,129,1275,0.77,0.00,71.90,0.678,10246,0.122,0.000,2736,1841,2246,2352,2141,0,0,0,0,0,0,25.42,25.06,24.13,8.51,48.50
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1276,begin climb
$GC,1278,1.22,88.6,2736,1841,2352,2141,145.1,0.0,137,1365,1.25,2.28,74.53,0.674,10500,0.063,0.039,3190,3244,1884,2022,1746,0,0,0,0,0,0,25.57,24.95,23.98,8.48,47.55
$GC,1382,1.11,88.6,3190,3244,2021,1746,134.8,13.7,147,1390,0.10,2.17,0.00,0.000,5126,0.158,0.031,3173,1853,1883,2021,1746,0,0,0,0,0,0,25.31,25.65,25.39,8.45,46.02
$GC,1572,1.03,88.6,3172,1852,2018,1742,100.5,18.3,166,1582,0.10,2.20,0.00,0.000,4612,0.174,0.041,3149,453,1879,2017,1741,0,0,0,0,0,0,25.91,25.92,25.95,8.45,47.00
$GC,1616,0.96,88.6,3148,453,2016,1740,92.1,18.5,170,1625,0.00,2.12,0.00,0.000,1030,0.000,0.032,3149,1845,1878,2017,1740,0,0,0,0,0,0,26.13,26.11,26.16,8.44,47.44
$GC,1746,0.96,88.6,3148,1845,2017,1739,70.4,16.7,183,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1845,1878,2017,1739,0,0,0,0,0,0,26.65,26.67,26.66,8.44,47.55
$GC,1865,0.96,88.6,3148,1845,2017,1739,51.6,15.4,195,1875,0.00,2.22,0.00,0.000,516,0.000,0.042,3159,440,1878,2017,1739,0,0,0,0,0,0,26.70,26.03,26.70,8.44,48.26
$GC,1899,0.91,88.6,3159,441,2016,1738,46.0,16.4,198,1909,0.15,2.15,0.00,0.000,5126,0.153,0.032,3112,1850,1877,2017,1738,0,0,0,0,0,0,25.72,26.19,25.79,8.44,47.71
$GC,2028,0.91,88.6,3112,1850,2017,1737,28.2,13.3,211,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1850,1877,2017,1737,0,0,0,0,0,0,26.73,26.74,26.73,8.44,47.20
$GC,2150,0.97,88.6,3112,1850,2017,1737,14.1,9.3,228,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1849,1877,2017,1737,0,0,0,0,0,0,26.74,26.75,26.75,8.43,47.24
$GC,2220,1.15,192.0,3112,1850,2017,1737,12.5,-0.9,241,2281,0.12,2.25,52.85,0.540,10756,0.068,0.041,3221,445,1462,1570,1354,0,0,0,0,0,0,26.49,24.94,24.46,8.43,47.59
$GC,2455,1.27,304.3,3221,445,1565,1350,5.9,-1.9,284,2521,0.00,2.17,56.03,0.509,9222,0.000,0.031,3221,1852,1003,1115,891,0,0,0,0,0,0,26.15,26.11,24.47,8.38,46.77
$STATE,2546,end climb,SURFACE_DEPTH_REACHED
$STATE,2547,begin surface coast
$FINISH,2.1,1.017600
$STATE,2594,end surface coast,CONTROL_FINISHED_OK
$STATE,2594,begin surface
$SM_CCo,2611,55.08,0.054,0,0,533,420.20
$SM_GC,2.16,8.30,0.00,55.08,0.056,0.000,0.054,197,1852,533,-8.05,0.25,420.20,0,0,0,0,0,0,26.01,26.43,25.83
$IRIDIUM_FIX,4738.33,-12256.21,050218,011701
$TT8_MAMPS,0.026964,0.23968
$HUMID,46.02
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.8
$ALTIM_BOTTOM_PING,105.2,45.1
$24V_AH,23.93,65.884
$10V_AH,9.85,44.077
$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,19.600,34.775,255.300,55.075,0.000,0.000,0.000,266.975,1.000,0.000,16.297,737.608,809.845,357.901,1031.897,101.770,33.421,1024.576,0.000,585.157,0.000,8.781,0.000
$DEVICE_MAMPS,194.310,52.020,677.790,54.315,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,207.158,663.137,403.207,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312160
$DATA_FILE_SIZE,21026,308
$CAP_FILE_SIZE,51671,0
$CFSIZE,2097872896,2079653888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,030121,4738.807,-12252.334,4,0.9,13,16.3,0.0,0.0,9,4.5