version: 66.14
glider: 195
mission: 15
dive: 137
start: 2 4 118 10 56 44
data:
$ID,195
$MISSION,15
$DIVE,137
$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,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,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,48
$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,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
$GPS1,040218,105015,4738.6938,-12252.5322,1,0.8,21,16.3,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.0
$GPS2,040218,105533,4738.6860,-12252.5469,10,0.9,24,16.3,0.0,0.0,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.119037,0.161151
$KALMAN_X,1589.777832,362.106140,320.573517,-1487.892212,-213.528183
$KALMAN_Y,71.878845,113.022896,201.171585,-249.591522,-173.199829
$MHEAD_RNG_PITCHd_Wd,20.2,470,-23.5,-10.000,-26.53,1291
$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,-1.06,-85.1,191,1855,548,471,0.0,0.0,0,36,0.00,0.00,-26.15,0.000,16386,0.000,0.000,190,1855,1179,1251,1108,0,0,0,0,0,0,26.61,28.83,26.63,8.28,46.53
$GC,39,-1.06,-85.1,191,1855,1250,1109,2.1,-3.1,4,106,8.85,2.17,-49.60,0.000,18692,0.197,0.054,2489,3241,2594,2670,2519,0,0,0,0,0,0,24.96,25.60,25.18,8.34,47.40
$GC,503,-0.97,-85.1,2488,3241,2670,2520,55.0,-11.7,61,513,0.12,2.12,0.00,0.000,3078,0.138,0.031,2527,1829,2595,2670,2520,0,0,0,0,0,0,25.72,26.17,25.82,8.48,47.28
$GC,633,-0.97,-85.1,2526,1829,2670,2520,69.0,-10.8,74,643,0.00,2.20,0.00,0.000,260,0.000,0.041,2518,3246,2594,2669,2520,0,0,0,0,0,0,26.75,26.04,26.76,8.48,48.11
$GC,677,-0.97,-85.1,2518,3246,2670,2520,73.8,-11.1,78,686,0.00,2.12,0.00,0.000,1030,0.000,0.031,2518,1849,2595,2670,2520,0,0,0,0,0,0,26.22,26.18,26.25,8.49,47.51
$GC,807,-0.97,-85.1,2518,1849,2670,2520,87.5,-10.8,91,817,0.00,2.20,0.00,0.000,516,0.000,0.043,2518,448,2595,2670,2520,0,0,0,0,0,0,26.76,25.99,26.77,8.49,47.24
$GC,843,-0.97,-85.1,2518,447,2670,2520,91.5,-11.5,94,852,0.00,2.10,0.00,0.000,1030,0.000,0.032,2508,1832,2595,2670,2520,0,0,0,0,0,0,26.22,26.18,26.25,8.49,48.11
$GC,971,-0.97,-85.1,2507,1832,2671,2520,106.5,-11.4,107,981,0.00,2.20,0.00,0.000,260,0.000,0.041,2498,3246,2595,2670,2520,0,0,0,0,0,0,26.75,26.03,26.76,8.49,47.59
$GC,994,-0.97,-85.1,2497,3246,2670,2520,109.3,-11.9,109,1008,0.12,2.12,0.00,0.000,3078,0.148,0.031,2534,1831,2595,2670,2520,0,0,0,0,0,0,25.81,26.17,25.94,8.49,48.07
$GC,1186,-0.97,-85.1,2534,1832,2670,2526,129.8,-10.0,128,1195,0.00,2.17,0.00,0.000,516,0.000,0.043,2534,454,2595,2670,2520,0,0,0,0,0,0,26.76,25.98,26.77,8.50,48.03
$GC,1260,-0.97,-85.1,2534,454,2670,2520,137.5,-10.8,135,1269,0.00,2.15,0.00,0.000,1030,0.000,0.032,2526,1845,2595,2670,2520,0,0,0,0,0,0,26.23,26.18,26.23,8.50,47.75
$STATE,1307,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1308,begin apogee
$GC,1312,-0.21,0.0,2525,1845,2670,2520,142.8,-10.6,140,1390,0.73,0.00,68.80,0.676,10246,0.116,0.000,2767,1845,2246,2352,2141,0,0,0,0,0,0,25.41,24.68,24.14,8.50,47.55
$STATE,1391,end apogee,CONTROL_FINISHED_OK
$STATE,1391,begin climb
$GC,1393,1.06,85.1,2766,1845,2352,2140,145.2,0.0,148,1472,1.10,2.28,71.28,0.672,10756,0.057,0.041,3188,457,1898,2040,1757,0,0,0,0,0,0,25.63,24.97,24.01,8.48,46.77
$GC,1493,0.88,85.1,3188,456,2039,1756,135.2,14.1,158,1501,0.15,2.20,0.00,0.000,5126,0.148,0.031,3146,1841,1897,2039,1755,0,0,0,0,0,0,25.24,25.66,25.34,8.45,46.18
$GC,1682,0.77,85.1,3144,1840,2037,1750,104.4,15.7,177,1693,0.12,2.17,0.00,0.000,4612,0.162,0.041,3112,457,1893,2036,1750,0,0,0,0,0,0,25.84,25.90,25.89,8.45,47.32
$GC,1739,0.69,85.1,3111,457,2036,1749,95.9,14.8,182,1747,0.10,2.15,0.00,0.000,5126,0.138,0.032,3080,1838,1893,2036,1750,0,0,0,0,0,0,25.75,26.09,25.82,8.45,48.03
$GC,1867,0.69,85.1,3080,1839,2036,1749,79.3,12.1,195,1876,0.00,2.17,0.00,0.000,516,0.000,0.043,3089,454,1892,2036,1749,0,0,0,0,0,0,26.66,25.98,26.67,8.44,47.83
$GC,1891,0.69,85.1,3088,454,2036,1749,76.4,12.4,197,1899,0.00,2.15,0.00,0.000,1030,0.000,0.031,3088,1838,1891,2035,1748,0,0,0,0,0,0,26.20,26.15,26.22,8.45,47.59
$GC,2020,0.69,85.1,3088,1838,2036,1749,60.3,11.9,210,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1838,1892,2036,1749,0,0,0,0,0,0,26.70,26.71,26.71,8.44,47.16
$GC,2140,0.69,85.1,3088,1838,2036,1749,45.4,12.4,222,2149,0.00,2.20,0.00,0.000,516,0.000,0.043,3099,448,1892,2036,1748,0,0,0,0,0,0,26.73,26.02,26.74,8.44,48.30
$GC,2182,0.69,85.1,3098,448,2035,1748,40.4,12.1,226,2192,0.00,2.15,0.00,0.000,1030,0.000,0.031,3099,1854,1892,2036,1748,0,0,0,0,0,0,26.28,26.20,26.32,8.44,47.12
$GC,2313,0.69,85.1,3099,1854,2036,1748,24.2,12.4,239,2322,0.00,2.15,0.00,0.000,260,0.000,0.041,3098,3251,1891,2035,1748,0,0,0,0,0,0,26.74,26.08,26.75,8.43,47.51
$GC,2352,0.69,85.1,3098,3251,2036,1748,18.8,13.6,243,2360,0.10,2.12,0.00,0.000,5126,0.131,0.031,3077,1852,1891,2035,1748,0,0,0,0,0,0,25.84,26.19,25.92,8.44,47.99
$GC,2423,0.72,111.2,3077,1851,2035,1748,11.9,7.9,256,2445,0.00,2.22,12.62,0.487,8708,0.000,0.043,3085,457,1791,1934,1649,0,0,0,0,0,0,26.74,25.34,24.41,8.43,47.08
$GC,2850,0.85,241.4,3085,457,1933,1644,8.7,-0.3,339,2924,0.05,2.15,65.00,0.523,11270,0.076,0.031,3144,1852,1261,1371,1151,0,0,0,0,0,0,26.10,26.21,24.46,8.41,47.32
$GC,2989,0.96,290.4,3144,1851,1368,1147,3.3,6.1,362,2997,0.00,0.00,6.38,0.388,8450,0.000,0.000,3144,1851,1205,1313,1098,0,0,0,0,0,0,26.41,28.83,26.42,8.36,46.85
$STATE,2998,end climb,SURFACE_DEPTH_REACHED
$STATE,2998,begin surface coast
$FINISH,1.5,1.018433
$STATE,3054,end surface coast,CONTROL_FINISHED_OK
$STATE,3054,begin surface
$SM_CCo,3070,77.43,0.054,0,0,533,420.20
$SM_GC,1.38,8.02,0.00,77.43,0.051,0.000,0.054,188,1851,533,-8.19,0.23,420.20,0,0,0,0,0,0,26.05,26.50,25.84
$IRIDIUM_FIX,4736.40,-12251.79,040218,095257
$TT8_MAMPS,0.026964,0.240429
$HUMID,46.06
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,110.3,42.4
$24V_AH,24.01,64.994
$10V_AH,9.86,43.268
$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,19.475,47.700,224.075,77.425,0.000,0.000,0.000,231.675,2.750,0.000,25.774,908.553,891.559,383.410,1204.459,106.770,33.418,1083.366,0.000,724.179,0.000,21.306,0.000
$DEVICE_MAMPS,197.370,53.550,676.260,54.315,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.140,805.258,490.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,24590,374
$CAP_FILE_SIZE,59365,0
$CFSIZE,2097872896,2081325056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040218,115031,4738.731,-12252.466,6,1.1,38,16.3,0.0,0.0,8,4.6