version: 66.14
glider: 195
mission: 15
dive: 48
start: 2 2 118 15 9 48
data:
$ID,195
$MISSION,15
$DIVE,48
$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,400
$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,315
$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,49
$R_STBD_OVSHOOT,43
$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
$GPS1,020218,150513,4737.3291,-12255.0059,4,1.2,13,16.4,0.0,0.0,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-65.0
$GPS2,020218,150836,4737.3506,-12254.9893,6,1.0,15,16.4,0.2,0.0,9,4.6
$SPEED_LIMITS,0.173,0.388
$TGT_NAME,HEADING
$TGT_LATLONG,4744.987,-12306.347
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.296168,0.250420
$KALMAN_X,5201.238281,-3348.146729,-2295.716553,-1685.115723,3205.822510
$KALMAN_Y,2864.822021,-2448.593506,-1461.152466,-707.880981,-552.295044
$MHEAD_RNG_PITCHd_Wd,293.8,20000,-9.7,-10.000,-14.46,5752
$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,-391.0,176,1827,570,474,0.0,0.0,0,37,0.00,0.00,-26.65,0.000,16386,0.000,0.000,176,1827,1222,1296,1148,0,0,0,0,0,0,26.63,28.83,26.65,8.27,46.18
$GC,40,-0.79,-391.0,176,1827,1296,1149,2.2,-2.4,4,145,8.90,2.22,-85.75,0.000,18948,0.187,0.055,2583,453,3844,3774,3914,0,0,0,0,0,0,25.21,23.99,25.36,8.33,47.28
$GC,169,-0.68,-391.0,2583,453,3774,3915,12.2,-19.3,24,178,0.12,2.17,0.00,0.000,3078,0.100,0.037,2628,1835,3845,3774,3916,0,0,0,0,0,0,25.89,26.12,26.08,8.57,46.45
$GC,246,-0.68,-391.0,2627,1835,3774,3915,21.2,-10.8,37,255,0.00,2.20,0.00,0.000,260,0.000,0.044,2620,3244,3844,3774,3915,0,0,0,0,0,0,26.70,26.06,26.70,8.57,46.02
$GC,299,-0.68,-391.0,2619,3245,3774,3916,27.0,-10.8,42,308,0.00,2.12,0.00,0.000,1030,0.000,0.031,2620,1840,3844,3774,3915,0,0,0,0,0,0,26.27,26.18,26.31,8.57,46.77
$GC,429,-0.68,-391.0,2620,1839,3774,3915,42.3,-11.8,55,438,0.00,2.20,0.00,0.000,260,0.000,0.045,2620,3250,3845,3774,3916,0,0,0,0,0,0,26.73,26.06,26.74,8.57,47.59
$GC,503,-0.68,-391.0,2619,3251,3774,3915,49.6,-10.1,62,512,0.00,2.15,0.00,0.000,1030,0.000,0.031,2620,1846,3845,3774,3916,0,0,0,0,0,0,26.25,26.21,26.28,8.58,47.95
$GC,632,-0.68,-391.0,2619,1846,3774,3916,63.4,-9.5,75,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1846,3845,3775,3915,0,0,0,0,0,0,26.74,26.76,26.76,8.59,48.11
$GC,752,-0.68,-391.0,2619,1846,3774,3915,73.3,-7.9,87,762,0.00,2.20,0.00,0.000,260,0.000,0.044,2620,3254,3845,3774,3916,0,0,0,0,0,0,26.76,26.07,26.77,8.59,47.75
$GC,800,-0.68,-391.0,2619,3254,3774,3916,76.6,-7.1,91,808,0.00,2.17,0.00,0.000,1030,0.000,0.031,2620,1835,3845,3775,3915,0,0,0,0,0,0,26.26,26.22,26.29,8.59,48.14
$STATE,896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,896,begin apogee
$GC,901,-0.21,0.0,2620,1834,3774,3916,84.3,-6.6,101,1210,0.43,0.00,298.70,0.637,10246,0.080,0.000,2782,1832,2246,2374,2119,0,0,0,0,0,0,25.98,24.64,24.15,8.59,48.22
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1212,0.79,391.0,2782,1832,2374,2119,102.9,0.0,132,1539,0.82,2.28,315.52,0.612,11012,0.050,0.044,3109,452,653,760,547,0,0,0,0,0,0,25.41,24.68,24.19,8.47,45.70
$GC,1604,0.61,391.0,3108,452,758,542,44.2,19.4,171,1615,0.17,2.17,0.00,0.000,5126,0.106,0.033,3050,1844,650,758,542,0,0,0,0,0,0,25.57,25.80,25.65,8.33,45.27
$GC,1735,0.50,391.0,3050,1846,758,540,25.2,13.2,184,1745,0.10,2.20,0.00,0.000,4356,0.132,0.041,3010,3257,649,758,540,0,0,0,0,0,0,26.05,26.00,26.07,8.33,46.45
$GC,1769,0.42,391.0,3009,3257,757,540,21.0,12.2,187,1779,0.00,2.15,0.00,0.000,1030,0.000,0.033,3012,1844,649,758,540,0,0,0,0,0,0,26.13,26.09,26.16,8.32,46.37
$GC,1901,0.65,623.0,3011,1844,758,539,9.6,5.9,211,1929,0.10,2.22,19.83,0.498,10756,0.079,0.044,3121,447,496,556,437,0,0,0,0,0,0,26.36,25.13,24.68,8.32,47.36
$STATE,1960,end climb,SURFACE_DEPTH_REACHED
$STATE,1960,begin surface coast
$FINISH,1.2,1.018020
$STATE,1987,end surface coast,CONTROL_FINISHED_OK
$STATE,1987,begin surface
$SM_CCo,2066,0.00,0.000,0,0,490,430.99
$SM_GC,2.43,7.82,2.22,0.00,0.046,0.031,0.000,196,1858,490,-8.18,-0.90,430.99,0,0,0,0,0,0,26.17,26.11,26.22
$IRIDIUM_FIX,4735.54,-12254.47,020218,144914
$TT8_MAMPS,0.026964,0.241178
$HUMID,46.57
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,7.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.5
$ALTIM_BOTTOM_PING,75.0,23.9
$24V_AH,23.99,61.163
$10V_AH,9.91,40.767
$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,18.475,30.700,634.050,0.000,0.000,0.000,0.000,137.400,0.750,0.000,16.922,440.520,460.608,605.980,729.484,68.146,33.445,1147.803,0.000,490.384,0.000,7.121,0.000
$DEVICE_MAMPS,186.660,55.080,637.245,0.000,0.000,0.000,0.000,69.615,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,145.732,486.350,293.646,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312164
$DATA_FILE_SIZE,14190,226
$CAP_FILE_SIZE,37910,0
$CFSIZE,2097872896,2090074112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,154508,4737.689,-12255.118,4,0.8,15,16.4,0.3,66.1,10,4.8