version: 66.14
glider: 195
mission: 15
dive: 49
start: 2 2 118 15 50 37
data:
$ID,195
$MISSION,15
$DIVE,49
$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,41
$R_STBD_OVSHOOT,42
$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
$GPS1,020218,154508,4737.6895,-12255.1182,4,0.8,15,16.4,0.3,66.1,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.3
$GPS2,020218,154925,4737.7148,-12255.0635,6,0.8,17,16.4,0.3,52.0,10,4.7
$SPEED_LIMITS,0.173,0.388
$TGT_NAME,HEADING
$TGT_LATLONG,4745.351,-12306.422
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.293346,0.253720
$KALMAN_X,7467.738770,-3743.749023,-3164.580322,-2776.660645,2212.092041
$KALMAN_Y,5273.362305,-4144.270508,-2404.831055,197.327728,-32.834717
$MHEAD_RNG_PITCHd_Wd,294.5,20000,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.79,-391.0,195,1859,540,431,0.0,0.0,0,37,0.00,0.00,-26.25,0.000,16386,0.000,0.000,195,1859,1172,1241,1103,0,0,0,0,0,0,26.61,28.83,26.62,8.29,47.51
$GC,40,-0.79,-391.0,195,1859,1241,1104,2.3,-3.0,4,133,9.00,2.30,-77.50,0.000,18948,0.196,0.054,2586,442,3843,3774,3913,0,0,0,0,0,0,25.25,24.05,25.43,8.35,47.08
$GC,201,-0.79,-391.0,2586,441,3774,3916,20.1,-11.9,31,210,0.00,2.17,0.00,0.000,1030,0.000,0.035,2582,1829,3844,3773,3916,0,0,0,0,0,0,26.21,26.17,26.24,8.58,46.22
$GC,329,-0.70,-391.0,2581,1830,3773,3916,38.4,-14.9,44,339,0.10,2.20,0.00,0.000,2308,0.137,0.043,2612,3251,3844,3773,3915,0,0,0,0,0,0,26.23,26.10,26.25,8.58,46.96
$GC,414,-0.70,-391.0,2611,3251,3774,3915,47.8,-9.5,52,423,0.00,2.12,0.00,0.000,1030,0.000,0.031,2612,1840,3845,3774,3916,0,0,0,0,0,0,26.27,26.23,26.30,8.58,48.03
$GC,543,-0.70,-391.0,2611,1839,3774,3915,61.4,-10.7,65,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1839,3844,3773,3915,0,0,0,0,0,0,26.74,26.74,26.74,8.59,47.28
$GC,663,-0.70,-391.0,2611,1839,3773,3915,73.3,-9.7,77,672,0.00,2.20,0.00,0.000,260,0.000,0.044,2609,3246,3845,3774,3916,0,0,0,0,0,0,26.74,26.10,26.75,8.59,48.11
$GC,710,-0.70,-391.0,2608,3246,3774,3915,77.4,-8.9,81,719,0.00,2.15,0.00,0.000,1030,0.000,0.031,2609,1835,3844,3773,3915,0,0,0,0,0,0,26.28,26.24,26.31,8.60,47.79
$GC,839,-0.70,-391.0,2608,1835,3774,3915,89.4,-9.6,94,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1835,3844,3773,3915,0,0,0,0,0,0,26.75,26.76,26.76,8.60,47.79
$GC,959,-0.70,-391.0,2609,1835,3774,3915,101.0,-9.7,106,968,0.00,2.20,0.00,0.000,260,0.000,0.044,2609,3246,3844,3773,3915,0,0,0,0,0,0,26.76,26.10,26.77,8.60,48.11
$GC,993,-0.70,-391.0,2608,3246,3773,3915,103.9,-9.1,109,1001,0.00,2.15,0.00,0.000,1030,0.000,0.031,2609,1840,3844,3773,3915,0,0,0,0,0,0,26.28,26.24,26.31,8.60,47.87
$GC,1182,-0.70,-391.0,2608,1840,3773,3916,121.5,-9.5,128,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1840,3844,3773,3915,0,0,0,0,0,0,26.76,26.77,26.77,8.61,48.54
$GC,1362,-0.70,-391.0,2608,1840,3774,3915,138.3,-8.9,146,1371,0.00,2.17,0.00,0.000,260,0.000,0.044,2608,3247,3844,3773,3915,0,0,0,0,0,0,26.77,26.09,26.77,8.61,48.38
$GC,1417,-0.77,-391.0,2608,3248,3773,3915,142.6,-8.1,151,1424,0.00,2.15,0.00,0.000,1030,0.000,0.031,2610,1837,3844,3773,3915,0,0,0,0,0,0,26.27,26.23,26.29,8.61,48.38
$STATE,1483,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1483,begin apogee
$GC,1488,-0.21,0.0,2608,1837,3773,3915,148.8,-9.0,158,1796,0.45,0.00,300.80,0.672,10246,0.079,0.000,2779,1837,2246,2373,2120,0,0,0,0,0,0,26.00,24.90,24.06,8.61,48.46
$STATE,1797,end apogee,CONTROL_FINISHED_OK
$STATE,1798,begin climb
$GC,1799,0.79,391.0,2781,1837,2373,2120,165.1,0.0,189,2128,0.82,2.30,317.95,0.643,10756,0.046,0.044,3110,455,650,758,543,0,0,0,0,0,0,25.37,24.96,24.10,8.48,46.10
$GC,2231,0.59,391.0,3109,455,757,537,96.0,20.5,232,2240,0.20,2.17,0.00,0.000,5126,0.107,0.033,3042,1834,647,757,537,0,0,0,0,0,0,25.63,25.91,25.72,8.35,45.66
$GC,2360,0.47,391.0,3041,1834,757,537,76.2,13.5,245,2362,0.12,0.00,0.00,0.000,4102,0.124,0.000,2997,1836,647,757,537,0,0,0,0,0,0,26.04,26.17,26.12,8.34,46.22
$GC,2480,0.47,391.0,2996,1836,757,536,63.5,9.6,257,2489,0.00,2.20,0.00,0.000,516,0.000,0.045,3001,443,646,757,536,0,0,0,0,0,0,26.60,26.06,26.62,8.34,46.61
$GC,2533,0.47,391.0,3000,443,757,536,58.5,9.7,262,2542,0.00,2.15,0.00,0.000,1030,0.000,0.031,3001,1851,646,757,535,0,0,0,0,0,0,26.29,26.21,26.32,8.34,47.24
$GC,2663,0.47,391.0,3000,1852,757,535,46.5,9.2,275,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1852,646,757,535,0,0,0,0,0,0,26.68,26.69,26.69,8.34,46.81
$GC,2783,0.47,391.0,3000,1851,757,535,35.8,8.9,287,2792,0.00,2.22,0.00,0.000,516,0.000,0.044,3001,446,646,757,535,0,0,0,0,0,0,26.71,26.12,26.72,8.33,46.92
$GC,2848,0.47,391.0,3000,446,757,535,30.0,9.2,293,2856,0.00,2.15,0.00,0.000,1030,0.000,0.031,3001,1845,646,757,535,0,0,0,0,0,0,26.30,26.27,26.33,8.33,46.81
$GC,2977,0.59,516.2,3000,1846,757,535,19.0,7.8,307,3006,0.08,2.22,21.23,0.544,10756,0.100,0.044,3088,450,495,557,433,0,0,0,0,0,0,26.51,25.13,24.63,8.32,47.83
$GC,3034,0.46,516.2,3087,449,554,428,12.0,14.4,316,3043,0.25,2.17,0.00,0.000,5126,0.093,0.032,2999,1840,491,554,428,0,0,0,0,0,0,25.84,26.13,25.92,8.31,47.83
$GC,3106,0.89,833.1,2998,1841,552,426,6.5,4.4,329,3115,0.30,2.20,0.00,0.000,2308,0.049,0.039,3138,3257,489,552,426,0,0,0,0,0,0,26.25,26.08,26.27,8.30,47.28
$GC,3143,0.77,833.1,3139,3257,552,426,3.5,9.6,335,3152,0.12,2.17,0.00,0.000,5126,0.103,0.033,3096,1845,489,552,426,0,0,0,0,0,0,25.93,26.17,26.00,8.30,46.92
$STATE,3157,end climb,SURFACE_DEPTH_REACHED
$STATE,3158,begin surface coast
$FINISH,0.5,1.018767
$STATE,3189,end surface coast,CONTROL_FINISHED_OK
$STATE,3189,begin surface
$SM_CCo,3265,0.00,0.000,0,0,487,431.73
$SM_GC,1.47,7.47,0.00,0.00,0.028,0.000,0.000,184,1845,487,-8.19,0.06,431.73,0,0,0,0,0,0,26.27,26.66,26.32
$IRIDIUM_FIX,4736.40,-12251.79,020218,150611
$TT8_MAMPS,0.026964,0.265895
$HUMID,46.96
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,80.8,82.1
$24V_AH,24.05,61.284
$10V_AH,9.85,40.821
$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,18.925,43.800,639.975,0.000,0.000,0.000,0.000,183.700,1.250,0.000,18.988,737.672,1033.151,604.898,1088.161,89.385,33.434,1322.946,0.000,710.214,0.000,11.802,0.000
$DEVICE_MAMPS,195.840,53.550,672.435,0.000,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.372,738.242,447.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312152
$DATA_FILE_SIZE,24573,343
$CAP_FILE_SIZE,55472,0
$CFSIZE,2097872896,2089975808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,164605,4738.210,-12255.284,4,1.0,24,16.4,0.0,39.3,10,4.7