version: 66.14
glider: 195
mission: 15
dive: 25
start: 2 1 118 19 43 45
data:
$ID,195
$MISSION,15
$DIVE,25
$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,150
$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,1
$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,43
$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,15
$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
$GPS1,010218,193750,4738.6621,-12252.6504,5,0.9,25,16.3,0.6,73.7,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.0
$GPS2,010218,194237,4738.6895,-12252.5840,8,0.9,25,16.3,0.3,70.0,9,5.0
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.209426,-0.150121
$KALMAN_X,719.987183,-220.736267,347.866699,24.718245,425.827423
$KALMAN_Y,337.394653,-215.679230,158.568069,444.268127,323.928223
$MHEAD_RNG_PITCHd_Wd,218.1,4571,-17.6,-10.000,-21.21,2209
$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,-0.88,-146.6,187,1846,554,475,0.0,0.0,0,44,0.00,0.00,-33.42,0.000,16386,0.000,0.000,187,1846,1376,1421,1332,0,0,0,0,0,0,26.61,28.83,26.63,8.28,47.04
$GC,47,-0.88,-146.6,187,1846,1421,1333,2.3,-3.3,5,107,9.07,0.00,-43.88,0.000,18950,0.200,0.000,2561,1845,2845,2931,2760,0,0,0,0,0,0,25.15,25.62,25.53,8.36,47.08
$GC,171,-0.79,-146.6,2560,1845,2933,2761,15.4,-13.1,26,179,0.10,0.00,0.00,0.000,2054,0.156,0.000,2595,1845,2847,2933,2761,0,0,0,0,0,0,26.13,26.18,26.15,8.49,46.53
$GC,248,-0.79,-146.6,2594,1845,2933,2761,23.8,-11.5,37,257,0.00,2.20,0.00,0.000,516,0.000,0.043,2595,450,2847,2933,2761,0,0,0,0,0,0,26.70,25.97,26.71,8.49,46.81
$GC,292,-0.79,-146.6,2595,449,2933,2761,29.0,-12.2,41,300,0.00,2.17,0.00,0.000,1030,0.000,0.034,2588,1847,2847,2933,2761,0,0,0,0,0,0,26.17,26.13,26.20,8.49,46.49
$GC,421,-0.79,-146.6,2587,1847,2933,2761,43.5,-10.9,54,430,0.00,2.20,0.00,0.000,516,0.000,0.043,2587,451,2847,2933,2761,0,0,0,0,0,0,26.74,25.98,26.74,8.50,47.20
$GC,484,-0.79,-146.6,2586,451,2933,2761,50.9,-11.9,60,488,0.00,2.15,0.00,0.000,1030,0.000,0.034,2580,1837,2847,2933,2761,0,0,0,0,0,0,26.25,26.15,26.29,8.49,47.40
$GC,616,-0.79,-146.6,2579,1836,2933,2761,65.4,-10.3,73,625,0.00,2.22,0.00,0.000,260,0.000,0.043,2569,3256,2847,2933,2761,0,0,0,0,0,0,26.75,26.02,26.77,8.50,47.91
$GC,690,-0.79,-146.6,2569,3256,2933,2761,72.8,-10.2,80,699,0.00,2.17,0.00,0.000,1030,0.000,0.031,2569,1834,2847,2933,2761,0,0,0,0,0,0,26.21,26.16,26.24,8.50,48.34
$GC,819,-0.79,-146.6,2569,1833,2933,2761,87.5,-11.7,93,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1833,2847,2933,2761,0,0,0,0,0,0,26.77,26.78,26.77,8.50,47.79
$GC,939,-0.79,-146.6,2569,1833,2933,2761,100.1,-10.6,105,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1833,2847,2933,2761,0,0,0,0,0,0,26.77,26.78,26.78,8.51,48.50
$GC,1119,-0.79,-146.6,2569,1833,2933,2760,118.4,-9.8,123,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1833,2847,2933,2761,0,0,0,0,0,0,26.78,26.79,26.79,8.51,48.34
$GC,1299,-0.79,-146.6,2569,1833,2933,2761,138.2,-11.1,141,1309,0.00,2.20,0.00,0.000,260,0.000,0.043,2560,3248,2847,2933,2761,0,0,0,0,0,0,26.78,25.99,26.79,8.52,48.58
$STATE,1312,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1312,begin apogee
$GC,1319,-0.21,0.0,2560,1843,2933,2761,139.2,-11.0,142,1438,0.62,0.00,115.43,0.689,10246,0.101,0.000,2777,1843,2247,2375,2119,0,0,0,0,0,0,25.56,25.02,24.13,8.52,48.81
$STATE,1439,end apogee,CONTROL_FINISHED_OK
$STATE,1439,begin climb
$GC,1441,0.88,146.6,2777,1843,2374,2119,143.5,0.0,154,1569,0.93,2.33,120.35,0.672,10756,0.056,0.042,3133,449,1648,1775,1521,0,0,0,0,0,0,25.45,24.94,24.05,8.47,47.51
$GC,1592,0.70,146.6,3132,449,1773,1518,127.2,15.6,169,1603,0.17,2.20,0.00,0.000,5126,0.139,0.033,3078,1851,1644,1772,1517,0,0,0,0,0,0,25.24,25.55,25.34,8.43,46.18
$GC,1783,0.60,146.6,3077,1851,1771,1514,99.2,15.1,188,1792,0.10,0.00,0.00,0.000,4102,0.151,0.000,3045,1851,1642,1771,1514,0,0,0,0,0,0,26.01,26.12,26.08,8.42,47.36
$GC,1912,0.60,146.6,3044,1851,1771,1513,82.4,13.5,201,1922,0.00,2.22,0.00,0.000,516,0.000,0.043,3053,452,1641,1770,1513,0,0,0,0,0,0,26.61,25.99,26.62,8.42,47.71
$GC,1965,0.60,146.6,3052,452,1769,1512,75.4,13.0,206,1975,0.00,2.15,0.00,0.000,1030,0.000,0.032,3053,1848,1640,1769,1512,0,0,0,0,0,0,26.24,26.15,26.28,8.42,47.48
$GC,2095,0.60,146.6,3052,1848,1769,1512,58.6,13.4,219,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1848,1640,1769,1512,0,0,0,0,0,0,26.69,26.70,26.70,8.42,47.67
$GC,2215,0.60,146.6,3052,1848,1769,1512,44.1,12.0,231,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1847,1640,1769,1512,0,0,0,0,0,0,26.72,26.73,26.73,8.41,47.59
$GC,2335,0.60,146.6,3053,1848,1769,1512,29.9,11.9,243,2345,0.00,2.22,0.00,0.000,516,0.000,0.044,3062,447,1640,1769,1512,0,0,0,0,0,0,26.74,26.04,26.74,8.41,47.59
$GC,2368,0.60,146.6,3062,446,1768,1512,26.2,11.5,246,2377,0.00,2.15,0.00,0.000,1030,0.000,0.033,3062,1845,1640,1768,1512,0,0,0,0,0,0,26.29,26.20,26.34,8.41,47.83
$GC,2501,0.60,146.6,3062,1845,1768,1511,11.3,11.5,266,2508,0.00,2.22,0.00,0.000,516,0.000,0.044,3070,457,1639,1768,1511,0,0,0,0,0,0,26.75,26.04,26.76,8.40,47.48
$GC,2668,0.83,372.4,3070,456,1768,1511,4.0,-0.5,298,2761,0.08,2.15,86.70,0.519,11266,0.060,0.032,3141,1851,932,1050,815,0,0,0,0,0,0,26.14,26.22,26.18,8.39,47.48
$STATE,2762,end climb,SURFACE_DEPTH_REACHED
$STATE,2762,begin surface coast
$FINISH,0.5,1.004478
$STATE,2844,end surface coast,CONTROL_FINISHED_OK
$STATE,2844,begin surface
$SM_CCo,2860,46.92,0.057,0,0,533,420.20
$SM_GC,2.02,7.75,0.00,46.92,0.034,0.000,0.057,185,1851,533,-8.18,0.23,420.20,0,0,0,0,0,0,26.04,26.40,25.81
$IRIDIUM_FIX,4738.72,-12207.44,010218,184040
$TT8_MAMPS,0.026215,0.238931
$HUMID,46.10
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.8
$ALTIM_BOTTOM_PING,76.1,77.3
$24V_AH,24.05,59.430
$10V_AH,9.91,39.727
$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,18.825,35.150,322.475,46.925,0.000,0.000,0.000,198.500,0.750,0.000,26.656,767.778,931.610,413.059,1016.263,90.259,33.448,1023.076,0.000,604.426,0.000,7.266,0.000
$DEVICE_MAMPS,200.430,43.605,688.500,57.375,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.384,706.072,429.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312084
$DATA_FILE_SIZE,21062,328
$CAP_FILE_SIZE,50894,0
$CFSIZE,2097872896,2092335104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010218,203333,4738.537,-12252.917,14,0.8,40,16.4,0.3,73.2,10,4.6