version: 66.14
glider: 195
mission: 15
dive: 40
start: 2 2 118 10 35 3
data:
$ID,195
$MISSION,15
$DIVE,40
$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,75
$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,1
$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,2850
$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,45
$R_STBD_OVSHOOT,39
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$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
$GPS1,020218,102934,4737.8452,-12254.6230,5,0.9,16,16.4,0.0,36.9,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-71.4
$GPS2,020218,103353,4737.8535,-12254.6025,7,0.9,16,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.228200,-0.225265
$KALMAN_X,3044.847656,265.839417,564.150024,-5515.214844,-326.867920
$KALMAN_Y,2413.903320,175.420868,263.942139,-3671.569580,-48.380844
$MHEAD_RNG_PITCHd_Wd,209.0,1618,-13.1,-10.000,-17.32,3645
$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,-0.79,-244.4,182,1849,559,481,0.0,0.0,0,31,0.00,0.00,-20.38,0.000,16386,0.000,0.000,181,1849,1063,1123,1003,0,0,0,0,0,0,26.60,28.83,26.60,8.29,46.85
$GC,34,-0.79,-244.4,182,1849,1124,1004,2.1,-1.9,3,113,9.12,0.00,-67.30,0.000,18694,0.198,0.000,2590,1848,3245,3319,3172,0,0,0,0,0,0,25.17,24.37,25.55,8.34,47.79
$GC,178,-0.71,-244.4,2590,1848,3321,3174,15.2,-14.7,27,186,0.10,2.22,0.00,0.000,2308,0.146,0.043,2619,3263,3247,3321,3174,0,0,0,0,0,0,26.17,26.03,26.18,8.53,47.16
$GC,254,-0.71,-244.4,2618,3263,3321,3174,24.1,-10.5,38,263,0.00,2.15,0.00,0.000,1030,0.000,0.031,2619,1842,3247,3321,3174,0,0,0,0,0,0,26.27,26.17,26.29,8.53,47.12
$GC,384,-0.71,-244.4,2618,1841,3321,3174,38.0,-10.3,51,394,0.00,2.17,0.00,0.000,516,0.000,0.044,2619,448,3247,3321,3174,0,0,0,0,0,0,26.72,26.03,26.73,8.53,47.32
$GC,469,-0.71,-244.4,2618,448,3321,3174,47.0,-11.0,59,478,0.00,2.12,0.00,0.000,1030,0.000,0.034,2610,1841,3247,3321,3174,0,0,0,0,0,0,26.22,26.19,26.26,8.54,46.96
$GC,597,-0.71,-244.4,2610,1841,3321,3173,59.8,-9.7,72,607,0.00,2.20,0.00,0.000,260,0.000,0.043,2601,3252,3247,3321,3174,0,0,0,0,0,0,26.74,26.08,26.76,8.55,47.44
$GC,680,-0.71,-244.4,2600,3252,3321,3174,67.9,-9.8,80,690,0.00,2.12,0.00,0.000,1030,0.000,0.031,2601,1828,3247,3321,3174,0,0,0,0,0,0,26.30,26.21,26.34,8.54,47.28
$GC,810,-0.71,-244.4,2600,1829,3321,3173,81.3,-10.3,93,819,0.00,2.25,0.00,0.000,260,0.000,0.044,2596,3257,3247,3321,3174,0,0,0,0,0,0,26.74,26.06,26.76,8.55,48.46
$GC,853,-0.71,-244.4,2595,3257,3321,3174,85.3,-9.4,97,862,0.00,2.15,0.00,0.000,1030,0.000,0.031,2596,1834,3247,3321,3173,0,0,0,0,0,0,26.29,26.20,26.33,8.55,47.79
$GC,983,-0.71,-244.4,2595,1834,3321,3174,98.3,-10.1,110,992,0.00,2.17,0.00,0.000,516,0.000,0.044,2595,451,3247,3321,3174,0,0,0,0,0,0,26.77,26.01,26.77,8.56,48.46
$GC,1036,-0.71,-244.4,2595,451,3321,3174,103.9,-10.8,115,1047,0.10,2.15,0.00,0.000,3078,0.132,0.034,2622,1851,3247,3321,3174,0,0,0,0,0,0,25.99,26.18,26.09,8.55,47.55
$GC,1227,-0.77,-244.4,2622,1851,3321,3173,120.2,-8.1,134,1231,0.00,2.17,0.00,0.000,260,0.000,0.044,2615,3248,3247,3321,3174,0,0,0,0,0,0,26.77,26.06,26.77,8.56,48.42
$GC,1311,-0.84,-244.4,2615,3248,3321,3173,126.8,-7.8,142,1321,0.05,2.10,0.00,0.000,5126,0.075,0.031,2545,1843,3247,3320,3174,0,0,0,0,0,0,26.11,26.20,26.15,8.56,48.62
$STATE,1479,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1479,begin apogee
$GC,1485,-0.21,0.0,2544,1843,3321,3173,147.8,-13.4,159,1681,0.68,0.00,191.07,0.667,10246,0.096,0.000,2781,1842,2245,2378,2113,0,0,0,0,0,0,25.68,24.98,24.13,8.57,48.81
$STATE,1682,end apogee,CONTROL_FINISHED_OK
$STATE,1683,begin climb
$GC,1684,0.79,244.4,2781,1842,2379,2113,152.0,0.0,179,1895,0.82,2.30,199.85,0.641,11012,0.057,0.044,3102,457,1248,1364,1133,0,0,0,0,0,0,25.40,24.98,24.14,8.49,46.37
$GC,1954,0.62,244.4,3101,457,1362,1130,115.0,19.2,206,1965,0.15,2.15,0.00,0.000,5126,0.116,0.032,3054,1841,1245,1362,1129,0,0,0,0,0,0,25.51,25.78,25.58,8.40,46.25
$GC,2145,0.53,244.4,3053,1842,1362,1128,87.5,13.3,225,2156,0.10,2.20,0.00,0.000,4612,0.137,0.043,3023,455,1245,1362,1128,0,0,0,0,0,0,26.08,25.98,26.10,8.40,47.12
$GC,2161,0.43,244.4,3022,455,1362,1128,86.2,13.3,226,2169,0.10,2.17,0.00,0.000,5126,0.106,0.031,2987,1854,1245,1362,1128,0,0,0,0,0,0,25.91,26.13,25.98,8.40,47.40
$GC,2289,0.43,244.4,2987,1854,1362,1127,72.5,10.1,239,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1854,1244,1362,1127,0,0,0,0,0,0,26.64,26.65,26.65,8.40,47.67
$GC,2409,0.43,244.4,2987,1855,1362,1127,61.4,8.7,251,2418,0.00,2.22,0.00,0.000,516,0.000,0.045,2987,454,1244,1362,1127,0,0,0,0,0,0,26.68,26.06,26.69,8.39,47.63
$GC,2462,0.43,244.4,2987,454,1362,1127,56.9,8.6,256,2471,0.00,2.12,0.00,0.000,1030,0.000,0.032,2988,1843,1244,1362,1127,0,0,0,0,0,0,26.32,26.22,26.34,8.39,47.79
$GC,2592,0.43,244.4,2987,1843,1362,1127,45.5,9.1,269,2601,0.00,2.20,0.00,0.000,260,0.000,0.041,2988,3256,1244,1362,1127,0,0,0,0,0,0,26.72,26.13,26.73,8.39,47.32
$GC,2616,0.43,244.4,2987,3256,1362,1127,43.3,9.8,271,2624,0.00,2.15,0.00,0.000,1030,0.000,0.032,2988,1850,1244,1362,1127,0,0,0,0,0,0,26.26,26.22,26.29,8.39,47.59
$GC,2744,0.43,244.4,2987,1850,1362,1127,30.5,9.4,284,2754,0.00,2.22,0.00,0.000,516,0.000,0.045,2988,448,1244,1362,1127,0,0,0,0,0,0,26.74,26.07,26.74,8.38,47.00
$GC,2818,0.43,244.4,2987,449,1362,1127,23.9,8.9,291,2828,0.00,2.15,0.00,0.000,1030,0.000,0.031,2987,1855,1244,1361,1127,0,0,0,0,0,0,26.34,26.25,26.36,8.39,47.48
$GC,2950,0.56,371.5,2987,1855,1362,1127,13.4,6.4,312,3024,0.08,2.28,65.03,0.513,10756,0.097,0.043,3074,445,728,835,621,0,0,0,0,0,0,26.53,25.08,24.65,8.38,48.03
$STATE,3066,end climb,SURFACE_DEPTH_REACHED
$STATE,3066,begin surface coast
$FINISH,0.8,1.017575
$STATE,3127,end surface coast,CONTROL_FINISHED_OK
$STATE,3127,begin surface
$SM_CCo,3145,23.80,0.061,0,0,533,420.20
$SM_GC,4.40,7.50,2.22,23.80,0.031,0.032,0.061,190,1847,533,-8.18,-1.19,420.20,0,0,0,0,0,0,26.11,26.03,25.82
$IRIDIUM_FIX,4735.06,-12250.06,020218,092938
$TT8_MAMPS,0.026964,0.246421
$HUMID,46.06
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.7
$ALTIM_BOTTOM_PING,80.3,81.4
$24V_AH,24.13,60.637
$10V_AH,9.90,40.525
$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,18.800,52.400,455.950,23.800,0.000,0.000,0.000,181.175,1.250,0.000,17.908,783.686,979.032,503.218,1092.385,97.805,33.438,1194.108,0.000,708.340,0.000,11.798,0.000
$DEVICE_MAMPS,198.135,45.135,667.080,61.200,0.000,0.000,0.000,83.385,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,228.213,738.033,448.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312096
$DATA_FILE_SIZE,24576,343
$CAP_FILE_SIZE,57269,0
$CFSIZE,2097872896,2090860544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,112858,4737.533,-12255.390,11,1.0,24,16.4,0.0,36.1,9,5.0