version: 66.14
glider: 195
mission: 15
dive: 219
start: 2 7 118 17 53 25
data:
$ID,195
$MISSION,15
$DIVE,219
$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,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,2812
$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,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,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
$GPS1,070218,174709,4738.4761,-12253.4844,8,1.0,22,16.4,0.3,50.6,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-70.3
$GPS2,070218,175214,4738.4873,-12253.4297,5,0.8,25,16.4,0.3,66.8,10,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.016907,-0.172378
$KALMAN_X,17168.953125,-429.530212,-401.289398,-16663.693359,293.986389
$KALMAN_Y,2905.184326,-299.103760,-283.249420,-2564.173096,78.688156
$MHEAD_RNG_PITCHd_Wd,169.2,297,-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,-63.7,188,1827,511,439,0.0,0.0,0,31,0.00,0.00,-20.80,0.000,16386,0.000,0.000,188,1827,1017,1096,939,0,0,0,0,0,0,26.62,28.83,26.63,8.29,47.00
$GC,34,-1.20,-63.7,188,1827,1097,940,2.2,-2.1,3,101,8.48,2.28,-52.35,0.000,18692,0.194,0.050,2407,3255,2507,2588,2427,0,0,0,0,0,0,24.94,23.93,25.14,8.34,47.55
$GC,612,-1.06,-63.7,2406,3255,2588,2429,65.0,-13.7,74,622,0.17,2.12,0.00,0.000,3078,0.159,0.030,2463,1834,2508,2588,2429,0,0,0,0,0,0,25.58,26.20,25.67,8.47,47.55
$GC,740,-1.06,-63.7,2463,1834,2588,2429,80.6,-12.1,87,750,0.00,2.22,0.00,0.000,260,0.000,0.040,2454,3259,2508,2588,2429,0,0,0,0,0,0,26.76,26.07,26.77,8.48,47.51
$GC,804,-1.06,-63.7,2453,3260,2588,2429,88.2,-11.5,93,813,0.00,2.10,0.00,0.000,1030,0.000,0.030,2454,1846,2508,2588,2429,0,0,0,0,0,0,26.29,26.20,26.32,8.48,47.79
$GC,935,-1.06,-63.7,2453,1846,2588,2429,103.4,-11.7,106,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1846,2508,2588,2429,0,0,0,0,0,0,26.76,26.77,26.77,8.49,48.26
$GC,1126,-1.06,-63.7,2453,1846,2588,2429,125.2,-11.0,125,1129,0.00,2.17,0.00,0.000,260,0.000,0.040,2443,3250,2508,2588,2429,0,0,0,0,0,0,26.73,26.06,26.74,8.49,48.07
$GC,1224,-1.06,-63.7,2443,3251,2588,2429,136.1,-11.5,134,1233,0.00,2.08,0.00,0.000,1030,0.000,0.029,2443,1840,2508,2588,2429,0,0,0,0,0,0,26.22,26.17,26.26,8.50,48.07
$GC,1411,-1.06,-63.7,2442,1840,2588,2429,157.6,-11.2,153,1421,0.00,2.17,0.00,0.000,516,0.000,0.041,2443,454,2508,2588,2429,0,0,0,0,0,0,26.76,26.00,26.77,8.50,48.38
$STATE,1434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1434,begin apogee
$GC,1441,-0.21,0.0,2432,1860,2588,2429,160.2,-11.3,155,1496,0.98,0.00,51.30,0.682,10246,0.132,0.000,2738,1859,2246,2349,2144,0,0,0,0,0,0,25.22,25.06,24.08,8.50,48.30
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1498,begin climb
$GC,1500,1.20,63.7,2738,1859,2349,2144,163.0,0.0,161,1565,1.23,2.22,54.17,0.679,10500,0.061,0.038,3186,3246,1986,2125,1848,0,0,0,0,0,0,25.67,24.94,23.91,8.48,47.79
$GC,1620,1.06,63.7,3185,3246,2124,1848,149.8,15.7,173,1630,0.12,2.12,0.00,0.000,5126,0.155,0.029,3160,1843,1986,2125,1848,0,0,0,0,0,0,25.41,25.84,25.51,8.46,47.51
$GC,1812,0.98,63.7,3160,1843,2124,1846,121.6,14.8,192,1822,0.10,2.17,0.00,0.000,4612,0.172,0.041,3136,456,1984,2123,1845,0,0,0,0,0,0,25.99,25.93,26.02,8.46,47.71
$GC,1917,0.98,63.7,3136,455,2122,1845,106.2,14.0,202,1926,0.00,2.10,0.00,0.000,1030,0.000,0.031,3137,1834,1983,2122,1845,0,0,0,0,0,0,26.19,26.17,26.22,8.46,47.83
$GC,2106,0.98,63.7,3136,1833,2122,1845,79.8,14.3,221,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1834,1983,2122,1845,0,0,0,0,0,0,26.72,26.73,26.72,8.45,48.18
$GC,2226,0.98,63.7,3136,1834,2122,1845,64.1,13.2,233,2236,0.00,2.15,0.00,0.000,260,0.000,0.039,3136,3246,1983,2122,1844,0,0,0,0,0,0,26.74,26.08,26.74,8.45,48.11
$GC,2242,0.98,63.7,3136,3246,2123,1845,62.9,13.7,234,2250,0.00,2.15,0.00,0.000,1030,0.000,0.030,3147,1833,1983,2122,1844,0,0,0,0,0,0,26.24,26.20,26.26,8.46,48.74
$GC,2369,0.98,63.7,3146,1833,2122,1844,44.8,13.5,247,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1833,1983,2122,1844,0,0,0,0,0,0,26.74,26.76,26.75,8.45,47.83
$GC,2489,0.98,63.7,3146,1833,2122,1844,30.1,12.7,259,2499,0.00,2.15,0.00,0.000,516,0.000,0.042,3156,457,1983,2122,1844,0,0,0,0,0,0,26.75,26.03,26.76,8.44,48.03
$GC,2635,0.98,63.7,3157,456,2122,1844,14.3,8.2,278,2642,0.00,2.15,0.00,0.000,1030,0.000,0.031,3157,1851,1983,2122,1844,0,0,0,0,0,0,26.25,26.22,26.27,8.44,47.91
$GC,2705,1.04,126.2,3157,1851,2122,1844,11.2,3.4,291,2746,0.00,2.20,32.22,0.517,8452,0.000,0.039,3157,3247,1730,1869,1591,0,0,0,0,0,0,26.76,25.30,24.41,8.44,48.03
$GC,2920,1.14,221.3,3157,3248,1867,1591,6.8,-0.1,331,2973,0.00,2.15,47.85,0.500,9222,0.000,0.030,3168,1832,1342,1452,1233,0,0,0,0,0,0,26.17,26.13,24.41,8.41,47.32
$STATE,2999,end climb,SURFACE_DEPTH_REACHED
$STATE,2999,begin surface coast
$FINISH,1.9,1.018570
$STATE,3036,end surface coast,CONTROL_FINISHED_OK
$STATE,3036,begin surface
$SM_CCo,3053,94.95,0.055,0,0,532,420.20
$SM_GC,2.48,8.12,0.00,94.95,0.051,0.000,0.055,183,1832,532,-8.07,-0.31,420.20,0,0,0,0,0,0,26.08,26.46,25.79
$IRIDIUM_FIX,4737.86,-12251.79,070218,164432
$TT8_MAMPS,0.026215,0.265895
$HUMID,45.98
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.1
$ALTIM_BOTTOM_PING,136.1,34.0
$24V_AH,23.91,69.317
$10V_AH,9.78,47.437
$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,19.200,38.925,185.550,94.950,0.000,0.000,0.000,212.675,2.500,0.000,27.119,870.603,1001.269,348.657,1161.691,98.210,33.454,995.383,0.000,701.034,0.000,18.372,0.000
$DEVICE_MAMPS,193.545,50.490,681.615,55.080,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.054,755.573,460.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312552
$DATA_FILE_SIZE,24565,351
$CAP_FILE_SIZE,54510,0
$CFSIZE,2097872896,2073198592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070218,184702,4738.302,-12253.413,8,0.8,28,16.4,0.3,0.0,10,4.7