version: 66.14
glider: 195
mission: 15
dive: 139
start: 2 4 118 12 50 12
data:
$ID,195
$MISSION,15
$DIVE,139
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,040218,124326,4738.8774,-12252.3086,4,0.8,15,16.3,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.5
$GPS2,040218,124901,4738.8696,-12252.3154,7,0.9,36,16.3,0.0,0.0,8,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.077632,0.184441
$KALMAN_X,1647.988403,-2.397228,-70.635796,-508.383575,-346.478516
$KALMAN_Y,-772.998352,47.695152,59.686424,1135.082886,-590.029480
$MHEAD_RNG_PITCHd_Wd,6.5,101,-23.5,-10.000,-26.55,1288
$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,-84.9,199,1845,551,480,0.0,0.0,0,36,0.00,0.00,-26.17,0.000,16386,0.000,0.000,199,1845,1195,1264,1126,0,0,0,0,0,0,26.61,28.83,26.62,8.28,47.32
$GC,39,-1.06,-84.9,199,1845,1265,1127,2.3,-3.2,4,106,8.82,2.25,-46.95,0.000,18948,0.199,0.052,2496,445,2595,2672,2519,0,0,0,0,0,0,25.02,23.93,25.22,8.35,46.73
$GC,564,-0.95,-84.9,2495,445,2672,2519,62.3,-12.5,66,574,0.17,2.10,0.00,0.000,3078,0.140,0.032,2540,1845,2595,2672,2519,0,0,0,0,0,0,25.65,26.18,25.73,8.48,47.36
$GC,694,-0.95,-84.9,2540,1845,2672,2519,76.2,-10.1,79,703,0.00,2.17,0.00,0.000,260,0.000,0.042,2532,3247,2596,2672,2520,0,0,0,0,0,0,26.74,26.07,26.75,8.49,46.85
$GC,788,-0.95,-84.9,2531,3248,2672,2520,86.3,-10.6,88,792,0.00,2.12,0.00,0.000,1030,0.000,0.030,2532,1828,2595,2672,2519,0,0,0,0,0,0,26.29,26.20,26.33,8.49,47.59
$GC,923,-0.95,-84.9,2531,1828,2672,2519,100.1,-10.5,101,927,0.00,2.17,0.00,0.000,516,0.000,0.042,2532,457,2595,2672,2519,0,0,0,0,0,0,26.72,26.01,26.72,8.50,47.48
$GC,1000,-0.95,-84.9,2531,457,2673,2520,109.0,-11.8,108,1008,0.00,2.15,0.00,0.000,1030,0.000,0.032,2522,1845,2595,2672,2519,0,0,0,0,0,0,26.22,26.19,26.26,8.49,47.67
$GC,1188,-0.95,-84.9,2521,1845,2672,2519,130.1,-10.9,127,1198,0.00,2.17,0.00,0.000,516,0.000,0.041,2522,454,2595,2672,2519,0,0,0,0,0,0,26.76,26.01,26.77,8.50,48.07
$STATE,1240,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1240,begin apogee
$GC,1247,-0.21,0.0,2511,1853,2672,2520,135.8,-11.1,132,1322,0.80,0.00,68.88,0.675,10246,0.117,0.000,2774,1853,2247,2354,2140,0,0,0,0,0,0,25.43,25.09,24.16,8.50,47.79
$STATE,1323,end apogee,CONTROL_FINISHED_OK
$STATE,1323,begin climb
$GC,1325,1.06,84.9,2774,1852,2354,2139,138.5,0.0,140,1405,1.08,2.33,71.32,0.667,10756,0.054,0.041,3188,451,1898,2037,1759,0,0,0,0,0,0,25.64,24.98,24.02,8.47,47.20
$GC,1445,0.87,84.9,3187,450,2037,1757,124.6,17.3,152,1455,0.17,2.15,0.00,0.000,5126,0.147,0.031,3137,1841,1896,2036,1756,0,0,0,0,0,0,25.29,25.75,25.39,8.45,46.18
$GC,1636,0.78,84.9,3137,1841,2035,1752,93.9,16.1,171,1646,0.10,2.20,0.00,0.000,4612,0.167,0.041,3112,445,1892,2034,1750,0,0,0,0,0,0,25.97,25.93,26.01,8.45,47.83
$GC,1670,0.69,84.9,3111,444,2033,1750,88.3,15.9,174,1680,0.10,2.15,0.00,0.000,5126,0.138,0.032,3080,1848,1892,2034,1750,0,0,0,0,0,0,25.75,26.10,25.82,8.44,47.48
$GC,1799,0.69,84.9,3080,1848,2033,1750,71.2,12.6,187,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1848,1891,2033,1750,0,0,0,0,0,0,26.66,26.67,26.67,8.44,47.51
$GC,1920,0.69,84.9,3080,1848,2034,1750,57.9,10.8,199,1929,0.00,2.20,0.00,0.000,260,0.000,0.041,3080,3255,1891,2033,1750,0,0,0,0,0,0,26.70,26.06,26.71,8.45,47.67
$GC,1944,0.69,84.9,3080,3255,2033,1750,55.4,10.9,201,1952,0.00,2.15,0.00,0.000,1030,0.000,0.031,3088,1843,1891,2033,1750,0,0,0,0,0,0,26.22,26.18,26.25,8.44,47.67
$GC,2072,0.69,84.9,3088,1843,2033,1750,40.3,11.4,214,2082,0.00,2.17,0.00,0.000,516,0.000,0.043,3099,450,1891,2033,1750,0,0,0,0,0,0,26.72,26.03,26.74,8.44,47.67
$GC,2155,0.69,84.9,3098,450,2031,1749,30.1,13.1,222,2165,0.00,2.15,0.00,0.000,1030,0.000,0.031,3098,1853,1890,2032,1749,0,0,0,0,0,0,26.29,26.20,26.34,8.44,47.79
$GC,2288,0.69,84.9,3098,1853,2031,1749,14.2,11.0,240,2295,0.00,2.20,0.00,0.000,260,0.000,0.041,3099,3254,1890,2032,1749,0,0,0,0,0,0,26.74,26.09,26.75,8.43,47.28
$GC,2514,0.82,217.6,3098,3253,2031,1749,11.2,-0.5,284,2587,0.00,2.15,66.40,0.535,9222,0.000,0.031,3108,1842,1358,1468,1248,0,0,0,0,0,0,26.26,26.22,24.45,8.42,47.16
$GC,2652,0.98,277.5,3107,1842,1467,1243,4.9,5.2,307,2687,0.10,2.28,29.23,0.488,11012,0.080,0.043,3203,448,1112,1218,1007,0,0,0,0,0,0,26.16,25.32,24.51,8.37,46.73
$STATE,2693,end climb,SURFACE_DEPTH_REACHED
$STATE,2693,begin surface coast
$FINISH,0.8,1.017098
$STATE,2761,end surface coast,CONTROL_FINISHED_OK
$STATE,2761,begin surface
$SM_CCo,2779,66.72,0.054,0,0,533,420.20
$SM_GC,1.54,8.25,2.22,66.72,0.055,0.031,0.054,194,1861,533,-8.18,-0.93,420.20,0,0,0,0,0,0,26.00,25.98,25.84
$IRIDIUM_FIX,4739.20,-12253.53,040218,115151
$TT8_MAMPS,0.026964,0.23968
$HUMID,45.78
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.6
$ALTIM_BOTTOM_PING,111.4,34.4
$24V_AH,23.93,65.108
$10V_AH,9.85,43.366
$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,19.600,43.700,235.825,66.725,0.000,0.000,0.000,238.125,3.000,0.000,37.593,795.282,829.829,362.487,1122.557,101.043,33.439,1020.155,0.000,658.633,0.000,24.209,0.000
$DEVICE_MAMPS,198.900,52.020,675.495,54.315,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.182,701.867,427.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24591,326
$CAP_FILE_SIZE,53017,0
$CFSIZE,2097872896,2081128448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,133837,4738.996,-12252.302,5,0.9,17,16.4,0.0,291.7,8,3.6