version: 66.14
glider: 195
mission: 15
dive: 148
start: 2 4 118 20 40 16
data:
$ID,195
$MISSION,15
$DIVE,148
$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,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,75
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,3700
$C_ROLL_CLIMB,3700
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,21
$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
$GPS1,040218,203343,4738.9048,-12252.5244,5,0.9,45,16.4,0.0,0.0,9,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.2
$GPS2,040218,203902,4738.8984,-12252.4824,6,0.8,12,16.4,0.0,0.0,10,4.6
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.105927,0.144048
$KALMAN_X,3495.878418,-943.075500,456.028290,-2151.249023,523.323853
$KALMAN_Y,-2294.886230,186.232941,854.958618,1778.688477,-500.142456
$MHEAD_RNG_PITCHd_Wd,307.3,142,-26.4,-10.000,-29.22,1030
$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,9,-1.17,-67.7,169,3675,549,472,0.0,0.0,0,31,0.00,0.00,-20.48,0.000,16386,0.000,0.000,169,3675,1049,1104,994,0,0,0,0,0,0,26.61,28.83,26.62,8.28,46.69
$GC,34,-1.17,-67.7,169,3675,1105,995,2.0,-1.6,3,100,9.38,0.00,-53.00,0.000,18438,0.220,0.000,2470,3677,2526,2601,2451,0,0,0,0,0,0,25.00,24.32,25.41,8.33,47.16
$GC,164,-1.02,-67.7,2469,3677,2602,2452,16.2,-13.4,25,172,0.12,0.00,0.00,0.000,2054,0.179,0.000,2513,3677,2527,2602,2452,0,0,0,0,0,0,25.85,25.96,25.89,8.46,46.81
$GC,236,-0.92,-67.7,2512,3677,2602,2452,22.9,-8.3,35,238,0.12,0.00,0.00,0.000,2054,0.168,0.000,2549,3677,2527,2602,2452,0,0,0,0,0,0,26.00,26.13,26.08,8.47,46.29
$GC,356,-0.92,-73.3,2548,3677,2603,2452,31.9,-6.3,47,358,0.00,0.00,-0.30,0.000,16390,0.000,0.000,2549,3677,2550,2624,2476,0,0,0,0,0,0,26.72,24.08,26.23,8.47,47.48
$GC,477,-0.92,-73.3,2548,3677,2624,2476,40.5,-8.0,59,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,3677,2550,2624,2476,0,0,0,0,0,0,26.74,26.75,26.74,8.47,47.87
$GC,597,-0.98,-73.3,2548,3677,2624,2476,50.8,-9.9,71,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,3676,2550,2624,2476,0,0,0,0,0,0,26.75,26.76,26.76,8.47,47.08
$GC,717,-1.04,-73.3,2548,3677,2624,2476,62.0,-9.0,83,719,0.08,0.00,0.00,0.000,4102,0.110,0.000,2500,3677,2550,2624,2476,0,0,0,0,0,0,26.51,26.53,26.51,8.47,48.03
$GC,837,-1.04,-73.3,2500,3676,2624,2476,74.9,-11.3,95,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,3677,2550,2624,2476,0,0,0,0,0,0,26.76,26.77,26.77,8.47,47.83
$GC,957,-1.04,-73.3,2500,3677,2624,2476,89.0,-11.6,107,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,3677,2550,2624,2476,0,0,0,0,0,0,26.76,26.77,26.77,8.48,48.14
$GC,1077,-1.04,-73.3,2500,3677,2624,2476,103.1,-10.5,119,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,3677,2550,2624,2476,0,0,0,0,0,0,26.77,26.77,26.77,8.49,48.58
$GC,1257,-1.04,-73.3,2500,3677,2625,2476,121.9,-10.4,137,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,3677,2550,2624,2476,0,0,0,0,0,0,26.77,26.78,26.77,8.49,48.58
$STATE,1436,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1436,begin apogee
$GC,1441,-0.21,0.0,2501,3677,2624,2476,141.4,-10.9,155,1508,0.85,0.00,60.10,0.674,10246,0.126,0.000,2773,3677,2246,2350,2142,0,0,0,0,0,0,25.27,25.08,24.13,8.50,48.54
$STATE,1509,end apogee,CONTROL_FINISHED_OK
$STATE,1509,begin climb
$GC,1511,1.17,73.3,2773,3677,2350,2142,143.4,0.0,162,1578,1.20,0.00,62.12,0.669,10246,0.059,0.000,3217,3677,1946,2077,1816,0,0,0,0,0,0,25.65,24.88,24.00,8.48,48.07
$GC,1758,0.96,73.3,3217,3676,2074,1813,102.1,21.1,187,1760,0.20,0.00,0.00,0.000,4102,0.167,0.000,3162,3676,1943,2074,1813,0,0,0,0,0,0,25.55,25.82,25.72,8.45,47.40
$GC,1938,0.85,73.3,3161,3677,2074,1810,69.2,17.7,205,1940,0.12,0.00,0.00,0.000,4102,0.169,0.000,3126,3677,1942,2074,1810,0,0,0,0,0,0,25.96,26.10,26.05,8.44,48.03
$GC,2059,0.79,73.3,3125,3676,2075,1809,49.2,16.0,217,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,3676,1941,2074,1809,0,0,0,0,0,0,26.70,26.70,26.70,8.45,47.79
$GC,2179,0.74,73.3,3125,3677,2074,1809,31.6,15.6,229,2181,0.12,0.00,0.00,0.000,4102,0.160,0.000,3087,3676,1941,2074,1809,0,0,0,0,0,0,26.06,26.19,26.13,8.44,47.67
$GC,2301,0.74,73.3,3087,3677,2074,1808,17.1,9.4,243,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,3677,1941,2074,1808,0,0,0,0,0,0,26.74,26.75,26.74,8.44,47.79
$GC,2371,0.78,119.1,3087,3676,2074,1808,11.5,5.4,256,2398,0.00,0.00,22.92,0.506,8198,0.000,0.000,3087,3677,1759,1883,1635,0,0,0,0,0,0,26.74,25.32,24.53,8.44,48.30
$GC,2462,0.91,175.7,3087,3677,1882,1633,7.6,4.4,272,2496,0.08,0.00,27.77,0.496,10246,0.099,0.000,3164,3677,1528,1632,1424,0,0,0,0,0,0,26.38,25.00,24.56,8.41,47.36
$GC,2559,1.01,270.6,3164,3676,1631,1424,6.6,0.6,289,2612,0.00,0.00,47.35,0.497,8198,0.000,0.000,3164,3676,1141,1256,1026,0,0,0,0,0,0,26.49,25.20,24.49,8.39,46.41
$STATE,2643,end climb,SURFACE_DEPTH_REACHED
$STATE,2643,begin surface coast
$FINISH,0.7,1.014702
$STATE,2687,end surface coast,CONTROL_FINISHED_OK
$STATE,2687,begin surface
$SM_CCo,2702,71.10,0.056,0,0,532,420.20
$SM_GC,1.65,8.00,0.00,71.10,0.046,0.000,0.056,194,3677,532,-8.19,-0.68,420.20,0,0,0,0,0,0,25.95,26.43,25.82
$IRIDIUM_FIX,4738.72,-12249.11,040218,193246
$TT8_MAMPS,0.026964,0.237433
$HUMID,45.98
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.3
$ALTIM_BOTTOM_PING,101.0,49.8
$24V_AH,24.00,65.551
$10V_AH,9.85,43.784
$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,20.275,5.425,220.275,71.100,0.000,0.000,0.000,244.700,0.750,0.000,13.989,749.571,1011.431,323.086,940.476,91.273,33.414,888.095,0.000,504.951,0.000,7.195,0.000
$DEVICE_MAMPS,220.320,35.955,673.965,55.845,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.969,669.546,407.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21111,311
$CAP_FILE_SIZE,46856,0
$CFSIZE,2097872896,2080243712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,212716,4738.933,-12252.357,5,0.9,14,16.4,0.0,0.0,10,4.5