version: 66.14
glider: 195
mission: 15
dive: 141
start: 2 4 118 14 37 49
data:
$ID,195
$MISSION,15
$DIVE,141
$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,52
$R_STBD_OVSHOOT,37
$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
$GPS1,040218,143125,4739.0869,-12252.2666,5,1.0,45,16.4,0.0,272.3,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.4
$GPS2,040218,143638,4739.0581,-12252.2861,7,0.9,42,16.4,0.2,0.0,8,3.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.040428,0.168421
$KALMAN_X,2046.565186,-431.494324,-459.367157,-52.237495,-67.604218
$KALMAN_Y,-1008.346313,-218.511612,-346.461456,2389.497559,-423.945007
$MHEAD_RNG_PITCHd_Wd,330.1,293,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,186,1838,550,475,0.0,0.0,0,36,0.00,0.00,-26.20,0.000,16386,0.000,0.000,186,1838,1181,1252,1110,0,0,0,0,0,0,26.64,28.83,26.65,8.28,47.12
$GC,39,-1.20,-63.7,186,1838,1252,1111,2.0,-2.7,4,106,8.75,2.20,-49.03,0.000,18948,0.200,0.053,2456,445,2506,2589,2424,0,0,0,0,0,0,24.98,25.62,25.18,8.35,46.53
$GC,192,-1.04,-63.7,2455,445,2590,2425,21.3,-13.5,29,200,0.20,2.17,0.00,0.000,3078,0.151,0.031,2507,1852,2507,2590,2425,0,0,0,0,0,0,25.50,26.18,25.60,8.47,46.53
$GC,320,-1.08,-109.8,2507,1853,2590,2425,29.9,-5.1,42,330,0.00,2.22,-2.40,0.000,16900,0.000,0.054,2507,453,2699,2769,2630,0,0,0,0,0,0,26.72,25.59,26.67,8.46,47.24
$GC,485,-1.08,-109.8,2507,453,2770,2631,49.8,-12.9,58,494,0.00,2.12,0.00,0.000,1030,0.000,0.032,2499,1845,2700,2770,2631,0,0,0,0,0,0,26.27,26.18,26.30,8.48,47.00
$GC,615,-1.08,-109.8,2498,1845,2770,2631,66.8,-13.6,71,625,0.00,2.17,0.00,0.000,260,0.000,0.041,2488,3253,2700,2770,2631,0,0,0,0,0,0,26.75,26.06,26.76,8.49,47.48
$GC,669,-1.08,-109.8,2487,3254,2770,2631,74.5,-14.5,76,681,0.00,2.15,0.00,0.000,1030,0.000,0.031,2488,1840,2700,2770,2631,0,0,0,0,0,0,26.22,26.19,26.26,8.49,47.63
$GC,799,-1.08,-109.8,2487,1840,2770,2631,93.3,-14.1,89,809,0.00,2.20,0.00,0.000,516,0.000,0.042,2488,447,2700,2770,2631,0,0,0,0,0,0,26.75,26.01,26.77,8.50,47.36
$GC,891,-1.08,-109.8,2487,446,2770,2631,106.8,-15.3,97,899,0.00,2.17,0.00,0.000,1030,0.000,0.033,2478,1847,2700,2770,2631,0,0,0,0,0,0,26.21,26.17,26.25,8.50,47.48
$GC,1078,-1.08,-109.8,2477,1847,2770,2631,134.0,-14.7,116,1087,0.00,2.20,0.00,0.000,516,0.000,0.042,2477,448,2700,2770,2631,0,0,0,0,0,0,26.77,26.01,26.77,8.51,48.50
$GC,1110,-1.08,-109.8,2477,447,2770,2631,138.9,-14.8,119,1120,0.10,2.12,0.00,0.000,3078,0.164,0.032,2496,1844,2700,2770,2631,0,0,0,0,0,0,25.84,26.17,25.96,8.51,48.22
$STATE,1129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1129,begin apogee
$GC,1133,-0.21,0.0,2496,1844,2770,2631,141.8,-14.5,121,1231,0.80,0.00,88.30,0.679,10246,0.097,0.000,2776,1844,2246,2357,2135,0,0,0,0,0,0,25.60,24.65,24.13,8.50,47.71
$STATE,1232,end apogee,CONTROL_FINISHED_OK
$STATE,1232,begin climb
$GC,1234,1.24,109.8,2776,1844,2357,2134,142.0,0.0,131,1334,1.30,2.30,91.88,0.668,10756,0.079,0.042,3242,451,1797,1934,1661,0,0,0,0,0,0,25.44,24.94,23.99,8.48,46.61
$GC,1406,1.14,109.8,3242,451,1930,1657,125.2,17.0,148,1415,0.00,2.15,0.00,0.000,1030,0.000,0.031,3243,1838,1793,1930,1656,0,0,0,0,0,0,25.86,25.84,25.90,8.44,46.73
$GC,1595,1.02,109.8,3242,1838,1929,1654,89.9,19.1,167,1605,0.17,2.17,0.00,0.000,4612,0.157,0.040,3196,451,1791,1928,1654,0,0,0,0,0,0,25.72,25.86,25.79,8.44,47.04
$GC,1681,0.96,109.8,3196,451,1927,1652,75.6,16.7,175,1690,0.10,2.17,0.00,0.000,5126,0.150,0.031,3166,1850,1789,1927,1652,0,0,0,0,0,0,25.76,26.14,25.84,8.43,47.32
$GC,1809,0.96,109.8,3165,1851,1927,1651,56.6,14.8,188,1819,0.00,2.20,0.00,0.000,260,0.000,0.041,3166,3255,1789,1927,1651,0,0,0,0,0,0,26.68,26.06,26.69,8.43,47.12
$GC,1873,0.96,109.8,3165,3255,1927,1651,46.6,15.6,194,1882,0.00,2.12,0.00,0.000,1030,0.000,0.031,3175,1843,1789,1927,1651,0,0,0,0,0,0,26.27,26.18,26.31,8.43,47.71
$GC,2003,0.96,109.8,3174,1843,1926,1651,27.8,13.9,207,2012,0.00,2.17,0.00,0.000,516,0.000,0.043,3186,449,1788,1926,1651,0,0,0,0,0,0,26.72,26.04,26.73,8.43,47.24
$GC,2096,0.96,109.8,3185,450,1926,1650,14.3,13.8,220,2104,0.00,2.15,0.00,0.000,1030,0.000,0.032,3186,1839,1788,1926,1650,0,0,0,0,0,0,26.25,26.22,26.28,8.43,47.87
$GC,2167,1.00,156.6,3185,1839,1926,1650,9.1,5.1,233,2195,0.00,2.25,22.55,0.503,8452,0.000,0.039,3186,3260,1605,1732,1479,0,0,0,0,0,0,26.74,25.41,24.53,8.43,47.44
$GC,2259,1.18,263.0,3185,3261,1729,1479,7.1,-1.2,249,2319,0.03,2.17,52.70,0.514,11270,0.131,0.031,3235,1834,1172,1276,1068,0,0,0,0,0,0,26.03,26.12,24.50,8.40,47.24
$STATE,2381,end climb,SURFACE_DEPTH_REACHED
$STATE,2381,begin surface coast
$FINISH,0.6,1.018152
$STATE,2437,end surface coast,CONTROL_FINISHED_OK
$STATE,2437,begin surface
$SM_CCo,2454,73.05,0.055,0,0,532,420.20
$SM_GC,1.43,8.32,0.00,73.05,0.055,0.000,0.055,180,1834,532,-8.20,-0.28,420.20,0,0,0,0,0,0,26.10,26.51,25.86
$IRIDIUM_FIX,4739.20,-12253.53,040218,133948
$TT8_MAMPS,0.026964,0.23968
$HUMID,45.82
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,111.1,38.6
$24V_AH,23.99,65.206
$10V_AH,9.85,43.460
$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,19.775,43.625,255.425,73.050,0.000,0.000,0.000,210.200,3.000,0.000,43.328,681.274,713.469,392.953,988.924,93.657,33.432,1005.409,0.000,583.954,0.000,24.122,0.000
$DEVICE_MAMPS,199.665,54.315,679.320,55.080,0.000,0.000,0.000,68.850,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.144,604.975,367.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21037,281
$CAP_FILE_SIZE,51337,0
$CFSIZE,2097872896,2080931840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,152059,4739.219,-12252.418,4,0.8,21,16.4,0.0,0.0,9,4.9