version: 66.14
glider: 195
mission: 15
dive: 157
start: 2 5 118 5 2 54
data:
$ID,195
$MISSION,15
$DIVE,157
$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,41
$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
$GPS1,050218,045352,4738.8911,-12252.7041,4,0.9,39,16.4,0.3,199.9,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.2
$GPS2,050218,050142,4738.9170,-12252.6230,6,0.9,15,16.4,0.0,261.3,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.155162,-0.076972
$KALMAN_X,4484.725098,659.998840,-737.913635,-3720.991699,683.534790
$KALMAN_Y,-1863.739258,785.564209,17.538095,1615.835205,171.669022
$MHEAD_RNG_PITCHd_Wd,227.2,316,-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,8,-1.20,-63.7,181,1849,516,433,0.0,0.0,0,31,0.00,0.00,-20.65,0.000,16386,0.000,0.000,181,1850,1005,1076,935,0,0,0,0,0,0,26.58,28.83,26.59,8.28,46.77
$GC,34,-1.20,-63.7,181,1849,1076,936,2.1,-3.5,3,100,8.62,0.00,-52.65,0.000,18950,0.200,0.000,2416,1849,2508,2589,2427,0,0,0,0,0,0,24.97,24.38,25.16,8.33,46.61
$GC,164,-1.03,-63.7,2415,1850,2590,2428,16.7,-12.3,25,172,0.17,2.20,0.00,0.000,2564,0.168,0.039,2472,452,2509,2590,2428,0,0,0,0,0,0,25.71,25.86,25.78,8.47,45.90
$GC,285,-0.91,-91.2,2471,451,2590,2428,26.3,-7.1,39,296,0.17,2.10,-1.50,0.000,19462,0.151,0.031,2514,1844,2622,2694,2550,0,0,0,0,0,0,25.57,26.16,25.67,8.48,46.22
$GC,414,-0.91,-91.2,2513,1844,2694,2551,36.8,-10.1,52,424,0.00,2.17,0.00,0.000,260,0.000,0.041,2505,3253,2622,2694,2551,0,0,0,0,0,0,26.72,26.07,26.73,8.48,46.73
$GC,487,-0.91,-91.2,2505,3253,2694,2551,44.6,-11.0,59,497,0.00,2.12,0.00,0.000,1030,0.000,0.031,2505,1841,2622,2694,2551,0,0,0,0,0,0,26.28,26.19,26.31,8.48,46.85
$GC,617,-0.91,-91.2,2505,1841,2694,2551,60.2,-12.3,72,627,0.00,2.17,0.00,0.000,516,0.000,0.043,2505,449,2622,2694,2551,0,0,0,0,0,0,26.74,26.02,26.75,8.49,47.67
$GC,731,-0.91,-91.2,2505,450,2694,2551,74.4,-12.1,83,741,0.00,2.15,0.00,0.000,1030,0.000,0.032,2495,1854,2622,2694,2551,0,0,0,0,0,0,26.28,26.19,26.31,8.49,47.28
$GC,861,-0.91,-91.2,2494,1854,2695,2551,89.9,-12.4,96,871,0.00,2.15,0.00,0.000,260,0.000,0.041,2484,3247,2622,2694,2551,0,0,0,0,0,0,26.76,26.07,26.77,8.49,47.24
$GC,924,-0.91,-91.2,2484,3247,2695,2551,97.9,-12.7,102,934,0.10,2.12,0.00,0.000,3078,0.139,0.030,2515,1830,2622,2694,2551,0,0,0,0,0,0,25.84,26.20,25.91,8.50,47.99
$GC,1056,-0.98,-91.2,2514,1830,2694,2551,113.6,-11.9,115,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1830,2622,2694,2550,0,0,0,0,0,0,26.76,26.77,26.77,8.50,47.75
$GC,1245,-1.06,-91.2,2514,1830,2693,2551,134.2,-10.2,134,1247,0.08,0.00,0.00,0.000,4102,0.099,0.000,2442,1830,2622,2694,2551,0,0,0,0,0,0,26.54,26.56,26.55,8.50,47.99
$STATE,1293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1294,begin apogee
$GC,1298,-0.21,0.0,2442,1830,2694,2551,140.6,-13.1,139,1376,0.93,0.00,73.22,0.681,10246,0.128,0.000,2737,1829,2247,2354,2141,0,0,0,0,0,0,25.31,25.03,24.08,8.50,47.44
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1379,1.23,91.2,2736,1829,2353,2141,144.1,0.0,147,1465,1.25,0.00,76.82,0.672,10502,0.064,0.000,3189,1828,1874,2015,1733,0,0,0,0,0,0,25.54,24.49,23.97,8.47,47.36
$GC,1645,1.12,91.2,3188,1829,2011,1730,101.1,19.9,174,1655,0.00,2.15,0.00,0.000,516,0.000,0.042,3199,460,1870,2010,1730,0,0,0,0,0,0,26.50,25.89,26.51,8.45,47.51
$GC,1700,1.00,91.2,3198,459,2009,1729,90.4,20.5,179,1709,0.20,2.15,0.00,0.000,5126,0.143,0.031,3140,1841,1869,2010,1728,0,0,0,0,0,0,25.51,26.09,25.62,8.44,47.04
$GC,1828,1.00,91.2,3139,1841,2009,1727,67.8,16.6,192,1838,0.00,2.20,0.00,0.000,260,0.000,0.041,3140,3252,1868,2009,1727,0,0,0,0,0,0,26.65,26.03,26.65,8.44,47.63
$GC,1901,1.00,91.2,3139,3252,2009,1727,55.1,17.5,199,1911,0.00,2.12,0.00,0.000,1030,0.000,0.030,3148,1837,1868,2010,1727,0,0,0,0,0,0,26.25,26.16,26.28,8.44,47.28
$GC,2032,1.00,91.2,3147,1836,2009,1726,35.3,15.4,212,2041,0.00,2.17,0.00,0.000,516,0.000,0.043,3158,455,1867,2009,1726,0,0,0,0,0,0,26.71,26.06,26.72,8.44,47.16
$GC,2076,1.00,91.2,3158,456,2009,1725,28.6,15.7,216,2084,0.00,2.15,0.00,0.000,1030,0.000,0.031,3159,1841,1867,2009,1725,0,0,0,0,0,0,26.24,26.20,26.27,8.44,47.55
$GC,2208,1.00,91.2,3158,1841,2009,1725,9.6,11.7,236,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1841,1866,2008,1725,0,0,0,0,0,0,26.74,26.74,26.74,8.43,47.40
$GC,2278,1.21,230.0,3158,1840,2008,1725,7.6,-4.7,249,2358,0.08,2.22,70.22,0.527,11012,0.098,0.038,3238,3255,1306,1413,1199,0,0,0,0,0,0,26.52,24.89,24.43,8.42,47.12
$STATE,2430,end climb,SURFACE_DEPTH_REACHED
$STATE,2430,begin surface coast
$FINISH,2.8,1.018830
$STATE,2477,end surface coast,CONTROL_FINISHED_OK
$STATE,2477,begin surface
$SM_CCo,2480,100.30,0.493,0,0,498,428.54
$SM_GC,1.72,8.07,2.22,0.00,0.034,0.031,0.000,189,1850,487,-8.06,1.64,431.73,0,0,0,0,0,0,25.91,25.79,25.95
$IRIDIUM_FIX,4739.20,-12253.53,050218,035358
$TT8_MAMPS,0.026964,0.265895
$HUMID,46.02
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,17.9
$ALTIM_BOTTOM_PING,105.3,45.2
$24V_AH,23.97,66.058
$10V_AH,9.80,44.222
$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,19.675,34.600,220.275,100.300,0.000,0.000,0.000,392.450,1.000,0.000,17.058,695.868,878.766,390.030,1096.164,127.798,33.426,1165.360,0.000,564.998,0.000,8.783,0.000
$DEVICE_MAMPS,199.665,42.840,680.850,492.660,0.000,0.000,0.000,86.445,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.798,611.428,371.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312128
$DATA_FILE_SIZE,21144,284
$CAP_FILE_SIZE,51653,0
$CFSIZE,2097872896,2079358976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,054838,4738.881,-12252.756,5,1.0,15,16.4,0.0,0.0,10,4.7