version: 66.14
glider: 195
mission: 15
dive: 145
start: 2 4 118 17 52 53
data:
$ID,195
$MISSION,15
$DIVE,145
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,040218,174621,4738.6411,-12252.4844,4,1.1,26,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.1
$GPS2,040218,175142,4738.6533,-12252.4580,7,0.8,32,16.3,0.0,0.0,11,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.159245,-0.068126
$KALMAN_X,2445.434326,-876.941406,-62.709507,-616.395386,348.897644
$KALMAN_Y,-120.934418,-689.304565,-282.299805,1161.263672,576.826050
$MHEAD_RNG_PITCHd_Wd,230.5,488,-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,-63.7,193,1834,513,447,0.0,0.0,0,36,0.00,0.00,-26.20,0.000,16386,0.000,0.000,193,1834,1140,1199,1082,0,0,0,0,0,0,26.60,28.83,26.62,8.28,46.96
$GC,39,-1.20,-63.7,192,1834,1199,1084,2.1,-2.9,4,106,8.62,2.20,-49.50,0.000,19204,0.197,0.054,2455,448,2507,2590,2425,0,0,0,0,0,0,25.01,25.60,25.21,8.34,47.12
$GC,195,-1.01,-63.7,2454,448,2591,2425,20.3,-12.5,31,200,0.25,2.17,0.00,0.000,3078,0.151,0.032,2519,1870,2508,2591,2425,0,0,0,0,0,0,25.50,26.15,25.72,8.47,46.02
$GC,329,-1.05,-108.9,2519,1870,2591,2425,28.9,-5.2,44,340,0.00,2.15,-2.38,0.000,16644,0.000,0.054,2511,3243,2693,2763,2624,0,0,0,0,0,0,26.71,25.60,26.66,8.47,47.16
$GC,466,-1.05,-108.9,2511,3244,2764,2625,42.4,-12.1,57,474,0.00,2.15,0.00,0.000,1030,0.000,0.031,2511,1835,2694,2764,2625,0,0,0,0,0,0,26.24,26.20,26.27,8.49,47.04
$GC,594,-1.05,-108.9,2510,1835,2764,2625,58.9,-12.6,70,603,0.00,2.17,0.00,0.000,516,0.000,0.044,2511,447,2695,2765,2625,0,0,0,0,0,0,26.74,26.02,26.75,8.49,46.92
$GC,648,-1.05,-108.9,2510,447,2764,2625,65.9,-13.2,75,657,0.00,2.15,0.00,0.000,1030,0.000,0.033,2501,1834,2694,2764,2625,0,0,0,0,0,0,26.24,26.21,26.27,8.49,47.40
$GC,777,-1.05,-108.9,2500,1834,2764,2625,83.8,-13.9,88,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1834,2694,2764,2624,0,0,0,0,0,0,26.75,26.76,26.76,8.49,47.71
$GC,899,-1.05,-108.9,2500,1834,2765,2625,101.5,-15.0,100,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1834,2694,2764,2625,0,0,0,0,0,0,26.71,26.73,26.72,8.50,47.48
$GC,1087,-1.11,-108.9,2500,1834,2765,2625,127.9,-13.2,119,1091,0.00,2.20,0.00,0.000,260,0.000,0.042,2490,3253,2694,2764,2625,0,0,0,0,0,0,26.76,26.06,26.77,8.51,47.99
$GC,1160,-1.16,-108.9,2489,3253,2764,2625,137.4,-13.2,126,1169,0.00,2.12,0.00,0.000,1030,0.000,0.031,2490,1831,2694,2764,2625,0,0,0,0,0,0,26.23,26.19,26.26,8.51,47.91
$STATE,1178,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1178,begin apogee
$GC,1183,-0.21,0.0,2489,1831,2764,2625,140.2,-13.4,128,1270,0.88,0.00,84.12,0.675,10246,0.116,0.000,2777,1830,2247,2361,2134,0,0,0,0,0,0,25.45,25.03,24.12,8.50,47.75
$STATE,1271,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1273,1.24,108.9,2777,1830,2361,2134,143.0,0.0,137,1373,1.23,2.28,91.12,0.668,10756,0.050,0.042,3248,449,1802,1937,1667,0,0,0,0,0,0,25.58,24.94,24.00,8.48,47.51
$GC,1424,1.05,108.9,3248,449,1935,1665,120.6,23.7,152,1432,0.20,2.20,0.00,0.000,5126,0.158,0.032,3191,1842,1799,1935,1664,0,0,0,0,0,0,25.25,25.77,25.35,8.44,46.02
$GC,1614,0.95,108.9,3191,1842,1934,1660,80.6,20.7,171,1621,0.10,0.00,0.00,0.000,4102,0.172,0.000,3162,1843,1797,1934,1660,0,0,0,0,0,0,25.99,26.11,26.06,8.44,47.59
$GC,1742,0.90,108.9,3161,1843,1934,1659,55.4,19.4,184,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1843,1797,1934,1660,0,0,0,0,0,0,26.64,26.65,26.65,8.43,47.40
$GC,1862,0.90,108.9,3161,1843,1934,1659,35.1,16.6,196,1872,0.00,2.17,0.00,0.000,516,0.000,0.042,3170,455,1796,1933,1659,0,0,0,0,0,0,26.69,26.04,26.70,8.43,47.67
$GC,1907,0.84,108.9,3170,455,1933,1659,27.0,18.9,200,1915,0.15,2.15,0.00,0.000,5126,0.144,0.032,3125,1836,1795,1933,1658,0,0,0,0,0,0,25.70,26.19,25.78,8.43,47.55
$GC,2037,0.84,108.9,3124,1836,1933,1658,10.0,9.5,221,2044,0.00,2.22,0.00,0.000,260,0.000,0.041,3125,3254,1795,1933,1657,0,0,0,0,0,0,26.72,26.11,26.73,8.42,47.36
$GC,2053,0.86,129.9,3125,3254,1933,1657,8.9,7.8,223,2068,0.00,2.15,10.02,0.449,9222,0.000,0.031,3133,1847,1715,1851,1580,0,0,0,0,0,0,26.25,26.22,24.45,8.42,47.36
$GC,2132,1.08,241.8,3132,1847,1850,1578,6.3,-1.8,237,2199,0.10,2.22,55.97,0.507,10500,0.077,0.039,3222,3249,1258,1368,1148,0,0,0,0,0,0,26.44,25.32,24.50,8.41,47.00
$GC,2222,1.12,283.5,3222,3249,1368,1148,4.7,5.6,251,2250,0.00,2.17,20.60,0.470,9222,0.000,0.031,3233,1837,1088,1196,981,0,0,0,0,0,0,25.94,25.90,24.46,8.37,46.41
$STATE,2261,end climb,SURFACE_DEPTH_REACHED
$STATE,2261,begin surface coast
$FINISH,0.8,1.015362
$STATE,2333,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2349,64.18,0.055,0,0,532,420.20
$SM_GC,1.61,8.27,0.00,64.18,0.053,0.000,0.055,186,1837,532,-8.18,-0.17,420.20,0,0,0,0,0,0,26.06,26.46,25.84
$IRIDIUM_FIX,4738.72,-12249.11,040218,165415
$TT8_MAMPS,0.026964,0.266644
$HUMID,46.02
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.6
$ALTIM_BOTTOM_PING,121.3,28.7
$24V_AH,24.00,65.424
$10V_AH,9.81,43.632
$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,19.800,34.900,261.850,64.175,0.000,0.000,0.000,228.400,3.750,0.000,33.799,660.348,704.329,378.025,926.756,96.071,33.415,964.025,0.000,519.110,0.000,30.214,0.000
$DEVICE_MAMPS,197.370,53.550,675.495,55.080,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,181.545,583.439,354.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,17640,271
$CAP_FILE_SIZE,49550,0
$CFSIZE,2097872896,2080538624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,183429,4738.647,-12252.633,4,1.0,40,16.3,0.0,0.0,10,4.6