version: 66.14
glider: 195
mission: 15
dive: 224
start: 2 7 118 22 46 53
data:
$ID,195
$MISSION,15
$DIVE,224
$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,47
$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
$GPS1,070218,224116,4738.3130,-12253.3896,4,0.9,14,16.4,0.0,47.7,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-72.5
$GPS2,070218,224542,4738.3281,-12253.3535,10,0.9,17,16.4,0.2,25.4,9,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.170730,0.029174
$KALMAN_X,17754.085938,-11.512581,156.860825,-18130.978516,360.214294
$KALMAN_Y,3059.411865,113.969925,182.963898,-3892.463867,146.410324
$MHEAD_RNG_PITCHd_Wd,263.3,249,-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,-63.7,183,1857,509,433,0.0,0.0,0,31,0.00,0.00,-20.80,0.000,16386,0.000,0.000,183,1858,1014,1082,946,0,0,0,0,0,0,26.62,28.83,26.63,8.29,47.16
$GC,34,-1.20,-63.7,183,1858,1083,946,2.2,-3.0,3,107,8.55,2.25,-54.25,0.000,18948,0.195,0.052,2418,451,2508,2588,2429,0,0,0,0,0,0,24.96,23.92,25.15,8.34,47.20
$GC,372,-1.01,-63.7,2417,450,2588,2430,33.9,-9.4,51,380,0.22,2.15,0.00,0.000,3078,0.155,0.031,2486,1846,2509,2588,2430,0,0,0,0,0,0,25.40,26.19,25.63,8.48,46.73
$GC,498,-1.01,-63.7,2486,1846,2588,2430,45.8,-9.8,64,508,0.00,2.17,0.00,0.000,260,0.000,0.041,2478,3247,2509,2588,2430,0,0,0,0,0,0,26.74,26.07,26.75,8.48,47.04
$GC,682,-1.01,-63.7,2477,3247,2589,2430,65.9,-12.0,82,692,0.00,2.12,0.00,0.000,1030,0.000,0.030,2478,1830,2509,2588,2430,0,0,0,0,0,0,26.29,26.20,26.32,8.48,47.32
$GC,813,-1.01,-63.7,2477,1830,2588,2430,80.5,-10.4,95,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1829,2509,2588,2430,0,0,0,0,0,0,26.76,26.77,26.77,8.48,48.34
$GC,932,-1.01,-63.7,2477,1830,2588,2430,93.4,-10.5,107,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1830,2509,2588,2430,0,0,0,0,0,0,26.76,26.77,26.77,8.49,48.18
$GC,1054,-1.01,-63.7,2477,1830,2588,2430,105.8,-10.5,119,1063,0.00,2.12,0.00,0.000,516,0.000,0.042,2477,460,2509,2588,2430,0,0,0,0,0,0,26.72,26.01,26.72,8.49,48.77
$GC,1097,-1.01,-63.7,2477,460,2588,2430,110.8,-11.2,123,1107,0.00,2.08,0.00,0.000,1030,0.000,0.031,2467,1835,2509,2589,2430,0,0,0,0,0,0,26.22,26.18,26.25,8.49,48.50
$GC,1288,-1.01,-63.7,2467,1835,2588,2430,130.4,-9.8,142,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1835,2508,2588,2429,0,0,0,0,0,0,26.73,26.74,26.74,8.50,48.34
$GC,1476,-1.01,-63.7,2467,1835,2588,2430,149.6,-10.4,161,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1835,2509,2588,2430,0,0,0,0,0,0,26.76,26.77,26.77,8.50,48.85
$STATE,1575,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1575,begin apogee
$GC,1579,-0.21,0.0,2467,1835,2588,2430,159.7,-10.0,171,1637,0.85,0.00,51.78,0.685,10246,0.125,0.000,2739,1835,2246,2348,2145,0,0,0,0,0,0,25.29,25.02,24.03,8.50,48.34
$STATE,1638,end apogee,CONTROL_FINISHED_OK
$STATE,1638,begin climb
$GC,1640,1.20,63.7,2739,1835,2348,2145,161.8,0.0,177,1707,1.20,2.22,54.10,0.680,10756,0.060,0.039,3191,453,1987,2126,1848,0,0,0,0,0,0,25.67,24.49,23.92,8.48,47.99
$GC,1752,1.06,63.7,3191,453,2125,1848,149.6,15.4,188,1763,0.12,2.12,0.00,0.000,5126,0.160,0.031,3156,1838,1986,2125,1848,0,0,0,0,0,0,25.44,25.82,25.64,8.46,46.53
$GC,1943,0.99,63.7,3156,1838,2125,1845,120.4,15.7,207,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1838,1985,2125,1845,0,0,0,0,0,0,26.60,26.60,26.60,8.46,47.75
$GC,2132,0.93,63.7,3156,1838,2123,1844,91.6,15.7,226,2142,0.12,2.17,0.00,0.000,4612,0.164,0.040,3124,454,1983,2123,1844,0,0,0,0,0,0,25.98,26.01,26.02,8.46,48.18
$GC,2216,0.93,63.7,3124,454,2122,1844,79.8,13.5,234,2226,0.00,2.12,0.00,0.000,1030,0.000,0.031,3125,1845,1983,2122,1844,0,0,0,0,0,0,26.27,26.19,26.30,8.46,47.63
$GC,2345,0.93,63.7,3124,1845,2122,1844,63.4,12.2,247,2355,0.00,2.20,0.00,0.000,516,0.000,0.042,3135,451,1982,2122,1843,0,0,0,0,0,0,26.73,26.02,26.74,8.46,47.79
$GC,2391,0.93,63.7,3134,450,2122,1844,58.0,12.6,251,2399,0.00,2.15,0.00,0.000,1030,0.000,0.031,3135,1839,1982,2122,1843,0,0,0,0,0,0,26.25,26.20,26.27,8.46,47.99
$GC,2518,0.93,63.7,3134,1839,2122,1844,42.5,11.7,264,2528,0.00,2.20,0.00,0.000,260,0.000,0.040,3135,3259,1983,2122,1844,0,0,0,0,0,0,26.74,26.07,26.76,8.45,47.48
$GC,2673,0.93,63.7,3134,3259,2122,1843,23.4,12.4,279,2684,0.12,2.12,0.00,0.000,5126,0.158,0.030,3109,1846,1982,2122,1843,0,0,0,0,0,0,25.79,26.20,25.92,8.45,47.40
$GC,2804,0.97,102.1,3108,1846,2122,1843,12.0,5.9,301,2832,0.00,2.20,19.95,0.513,8708,0.000,0.041,3117,452,1827,1973,1681,0,0,0,0,0,0,26.76,24.87,24.39,8.44,47.51
$STATE,3215,end climb,NO_VERTICAL_VELOCITY
$STATE,3215,begin surface
$SM_CCo,3218,163.93,0.490,0,0,498,428.54
$SM_GC,1.71,7.75,2.22,0.00,0.032,0.029,0.000,181,1858,482,-8.07,-1.10,432.95,0,0,0,0,0,0,25.89,25.80,25.94
$IRIDIUM_FIX,4738.72,-12249.11,070218,213851
$TT8_MAMPS,0.026215,0.265146
$HUMID,46.49
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,18.1
$ALTIM_BOTTOM_PING,150.5,18.8
$24V_AH,23.92,69.564
$10V_AH,9.80,47.693
$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,18.950,34.650,125.825,163.925,0.000,0.000,0.000,185.875,3.750,0.000,18.238,950.097,1169.512,387.491,1178.966,99.024,33.454,1003.483,0.000,720.737,0.000,28.752,0.000
$DEVICE_MAMPS,195.075,52.020,684.675,490.365,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.754,820.196,500.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312592
$DATA_FILE_SIZE,27973,381
$CAP_FILE_SIZE,55749,0
$CFSIZE,2097872896,2072707072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070218,234616,4738.482,-12253.510,21,0.8,31,16.4,0.3,141.0,10,4.9