version: 66.14
glider: 195
mission: 15
dive: 147
start: 2 4 118 19 38 9
data:
$ID,195
$MISSION,15
$DIVE,147
$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,80
$T_MISSION,90
$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,300
$C_ROLL_CLIMB,300
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,46
$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,100
$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
$GPS1,040218,193134,4738.8311,-12252.7393,4,0.8,15,16.4,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.7
$GPS2,040218,193656,4738.8315,-12252.7275,7,0.8,17,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.130,0.284
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.087917,0.095633
$KALMAN_X,2846.694580,-933.927917,357.980103,-1716.594360,564.061584
$KALMAN_Y,-1253.920166,-182.392502,546.810303,1292.336060,11.535370
$MHEAD_RNG_PITCHd_Wd,301.0,469,-26.8,-7.500,-30.00,841
$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,7,begin dive
$GC,9,-1.16,-41.6,181,304,550,474,0.0,0.0,0,38,0.00,0.00,-26.35,0.000,16386,0.000,0.000,181,304,1198,1261,1136,0,0,0,0,0,0,26.61,28.83,26.63,8.28,46.41
$GC,40,-1.16,-41.6,182,304,1261,1137,2.2,-2.7,4,100,9.00,0.00,-45.03,0.000,18438,0.208,0.000,2473,303,2418,2510,2327,0,0,0,0,0,0,24.94,24.32,25.37,8.36,46.65
$GC,165,-0.97,-41.6,2472,303,2510,2327,18.6,-18.6,25,172,0.17,0.00,0.00,0.000,2054,0.168,0.000,2527,303,2418,2510,2327,0,0,0,0,0,0,25.72,25.87,25.79,8.47,46.14
$GC,241,-0.89,-41.6,2526,303,2511,2327,26.1,-7.9,33,243,0.10,0.00,0.00,0.000,2054,0.174,0.000,2556,303,2419,2511,2327,0,0,0,0,0,0,26.11,26.22,26.17,8.46,46.29
$GC,361,-0.91,-58.5,2555,303,2511,2327,33.1,-5.4,45,364,0.00,0.00,-0.88,0.000,16390,0.000,0.000,2556,303,2491,2579,2404,0,0,0,0,0,0,26.72,24.26,26.55,8.46,46.73
$GC,482,-0.91,-58.5,2555,303,2580,2405,41.9,-8.2,57,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,303,2492,2579,2405,0,0,0,0,0,0,26.74,26.75,26.74,8.47,47.28
$GC,602,-0.91,-58.5,2555,303,2579,2405,51.3,-7.8,69,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,303,2492,2579,2405,0,0,0,0,0,0,26.74,26.77,26.75,8.48,47.00
$GC,722,-0.91,-58.5,2555,303,2579,2405,60.4,-7.3,81,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,303,2492,2580,2405,0,0,0,0,0,0,26.76,26.77,26.77,8.47,47.08
$GC,842,-0.91,-58.5,2555,303,2580,2405,69.7,-7.7,93,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,303,2492,2580,2405,0,0,0,0,0,0,26.76,26.77,26.77,8.48,48.14
$GC,962,-0.97,-58.5,2555,303,2580,2405,79.3,-8.1,105,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,303,2492,2580,2404,0,0,0,0,0,0,26.77,26.77,26.77,8.48,47.24
$GC,1082,-1.03,-58.5,2555,303,2579,2404,89.4,-8.7,117,1084,0.08,0.00,0.00,0.000,4102,0.099,0.000,2495,304,2492,2579,2405,0,0,0,0,0,0,26.54,26.56,26.55,8.48,48.11
$GC,1202,-1.03,-58.5,2494,303,2579,2405,102.0,-10.9,129,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,303,2492,2580,2405,0,0,0,0,0,0,26.76,26.77,26.77,8.48,47.95
$GC,1382,-1.03,-58.5,2494,303,2579,2405,120.4,-10.0,147,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,303,2492,2579,2405,0,0,0,0,0,0,26.77,26.77,26.77,8.49,48.26
$GC,1562,-1.03,-58.5,2494,303,2579,2405,138.4,-9.3,165,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,303,2492,2579,2405,0,0,0,0,0,0,26.77,26.78,26.77,8.49,48.50
$STATE,1590,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1590,begin apogee
$GC,1595,-0.21,0.0,2494,303,2579,2404,141.1,-9.2,168,1652,0.90,0.00,48.70,0.675,10246,0.133,0.000,2777,303,2246,2341,2152,0,0,0,0,0,0,25.20,24.72,24.17,8.49,48.22
$STATE,1653,end apogee,CONTROL_FINISHED_OK
$STATE,1654,begin climb
$GC,1655,1.17,58.5,2776,303,2342,2152,143.0,0.0,174,1712,1.20,0.00,49.62,0.672,10246,0.063,0.000,3216,304,2007,2132,1882,0,0,0,0,0,0,25.69,24.58,24.04,8.47,47.40
$GC,1892,0.99,58.5,3216,304,2130,1876,107.2,19.0,198,1894,0.17,0.00,0.00,0.000,4102,0.173,0.000,3168,304,2003,2131,1876,0,0,0,0,0,0,25.60,25.85,25.77,8.46,48.03
$GC,2073,0.88,58.5,3168,304,2131,1874,78.4,15.2,216,2075,0.12,0.00,0.00,0.000,4102,0.174,0.000,3133,304,2003,2131,1875,0,0,0,0,0,0,25.94,26.10,26.03,8.45,48.03
$GC,2193,0.88,58.5,3132,304,2131,1874,61.5,14.0,228,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,303,2002,2131,1874,0,0,0,0,0,0,26.70,26.71,26.71,8.46,48.14
$GC,2313,0.88,58.5,3132,304,2131,1874,45.4,13.3,240,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,304,2002,2131,1874,0,0,0,0,0,0,26.72,26.74,26.73,8.45,47.87
$GC,2433,0.88,58.5,3132,304,2131,1874,30.5,11.1,252,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,304,2002,2131,1874,0,0,0,0,0,0,26.74,26.75,26.75,8.45,47.99
$GC,2556,0.88,58.5,3132,304,2131,1874,16.7,7.2,267,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,304,2002,2130,1874,0,0,0,0,0,0,26.74,26.76,26.76,8.44,47.87
$GC,2625,0.91,87.2,3132,303,2130,1874,12.8,4.0,280,2646,0.00,0.00,14.15,0.504,8198,0.000,0.000,3133,303,1889,2025,1754,0,0,0,0,0,0,26.76,24.89,24.44,8.44,47.55
$GC,2709,0.96,139.5,3132,304,2025,1752,11.3,1.1,295,2742,0.00,0.00,26.70,0.521,8198,0.000,0.000,3133,304,1676,1813,1539,0,0,0,0,0,0,26.66,24.98,24.53,8.43,47.48
$GC,2805,0.99,163.0,3132,304,1810,1538,8.7,4.6,312,2820,0.05,0.00,11.38,0.465,10246,0.141,0.000,3182,303,1581,1704,1458,0,0,0,0,0,0,26.32,25.26,24.48,8.40,47.12
$GC,2883,1.03,205.5,3181,303,1701,1457,5.2,2.3,326,2910,0.00,0.00,20.90,0.486,8198,0.000,0.000,3182,303,1407,1515,1300,0,0,0,0,0,0,26.53,24.98,24.55,8.39,46.49
$GC,2973,1.07,247.8,3181,303,1513,1299,3.6,2.4,342,3000,0.00,0.00,20.95,0.474,8198,0.000,0.000,3182,303,1233,1334,1132,0,0,0,0,0,0,26.48,24.99,24.56,8.37,47.51
$STATE,3021,end climb,SURFACE_DEPTH_REACHED
$STATE,3021,begin surface coast
$FINISH,1.7,1.018473
$STATE,3158,end surface coast,CONTROL_FINISHED_OK
$STATE,3159,begin surface
$SM_CCo,3175,81.50,0.054,0,0,532,420.20
$SM_GC,2.40,8.25,0.00,81.50,0.060,0.000,0.054,196,303,532,-8.19,0.08,420.20,0,0,0,0,0,0,26.01,26.60,25.84
$IRIDIUM_FIX,4741.58,-12423.10,040218,183550
$TT8_MAMPS,0.026964,0.240429
$HUMID,45.70
$INTERNAL_PRESSURE,8.23402
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,105.2,45.0
$24V_AH,24.04,65.507
$10V_AH,9.85,43.738
$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,20.050,2.500,192.400,81.500,0.000,0.000,0.000,243.650,1.250,0.000,18.365,917.311,1168.034,320.276,1092.892,102.862,33.415,927.876,0.000,598.266,0.000,11.662,0.000
$DEVICE_MAMPS,208.080,39.780,674.730,54.315,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.098,811.666,494.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27901,377
$CAP_FILE_SIZE,53633,0
$CFSIZE,2097872896,2080342016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,203343,4738.905,-12252.524,5,0.9,45,16.4,0.0,0.0,9,5.5