version: 66.14
glider: 195
mission: 15
dive: 27
start: 2 1 118 21 39 4
data:
$ID,195
$MISSION,15
$DIVE,27
$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,45
$R_STBD_OVSHOOT,35
$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
$GPS1,010218,213322,4738.2930,-12253.2920,5,0.9,17,16.4,0.0,90.6,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.8
$GPS2,010218,213756,4738.3125,-12253.2539,9,0.9,20,16.4,0.3,66.4,9,4.6
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.220484,-0.133350
$KALMAN_X,905.791382,-82.689232,683.109314,-1466.615967,117.775665
$KALMAN_Y,283.959656,-73.671974,473.036560,-651.466736,66.572243
$MHEAD_RNG_PITCHd_Wd,222.4,3490,-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,-146.6,178,1844,556,477,0.0,0.0,0,37,0.00,0.00,-26.88,0.000,16386,0.000,0.000,178,1844,1218,1281,1155,0,0,0,0,0,0,26.60,28.83,26.60,8.27,47.00
$GC,40,-0.88,-146.6,178,1844,1281,1157,2.1,-2.5,4,108,9.02,2.28,-52.40,0.000,18948,0.197,0.054,2565,444,2846,2930,2762,0,0,0,0,0,0,25.16,23.89,25.55,8.34,47.44
$GC,115,-0.69,-146.6,2564,444,2931,2762,6.5,-9.7,15,124,0.17,2.20,0.00,0.000,3078,0.130,0.034,2625,1848,2846,2931,2762,0,0,0,0,0,0,25.56,26.08,25.75,8.49,47.32
$GC,186,-0.69,-146.6,2624,1848,2931,2763,14.8,-9.3,28,194,0.00,2.22,0.00,0.000,260,0.000,0.044,2617,3249,2846,2931,2762,0,0,0,0,0,0,26.66,25.99,26.67,8.49,47.08
$GC,254,-0.69,-146.6,2616,3249,2931,2762,20.1,-8.1,40,262,0.00,2.15,0.00,0.000,1030,0.000,0.031,2617,1841,2846,2931,2762,0,0,0,0,0,0,26.17,26.17,26.21,8.49,46.69
$GC,382,-0.69,-146.6,2616,1841,2931,2762,32.0,-9.3,53,392,0.00,2.20,0.00,0.000,516,0.000,0.044,2616,449,2847,2932,2762,0,0,0,0,0,0,26.72,25.98,26.73,8.49,47.32
$GC,485,-0.69,-146.6,2616,448,2931,2762,41.5,-9.5,63,495,0.00,2.15,0.00,0.000,1030,0.000,0.034,2608,1851,2846,2931,2762,0,0,0,0,0,0,26.25,26.15,26.28,8.49,47.28
$GC,615,-0.69,-146.6,2607,1851,2931,2762,53.6,-9.6,76,625,0.00,2.20,0.00,0.000,260,0.000,0.043,2598,3256,2846,2931,2762,0,0,0,0,0,0,26.75,26.03,26.76,8.49,48.14
$GC,750,-0.74,-146.6,2597,3256,2931,2762,66.3,-9.3,89,760,0.00,2.12,0.00,0.000,1030,0.000,0.031,2598,1841,2846,2931,2762,0,0,0,0,0,0,26.26,26.16,26.29,8.50,47.71
$GC,879,-0.74,-146.6,2597,1842,2931,2762,79.1,-9.7,102,889,0.00,2.17,0.00,0.000,516,0.000,0.044,2598,456,2846,2931,2762,0,0,0,0,0,0,26.77,25.95,26.78,8.50,48.03
$GC,917,-0.74,-146.6,2597,456,2931,2762,82.8,-10.1,105,925,0.00,2.17,0.00,0.000,1030,0.000,0.034,2588,1849,2846,2931,2762,0,0,0,0,0,0,26.19,26.15,26.22,8.50,48.11
$GC,1045,-0.74,-146.6,2588,1849,2931,2762,96.2,-10.1,118,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1850,2846,2931,2762,0,0,0,0,0,0,26.77,26.78,26.78,8.50,48.07
$GC,1165,-0.74,-146.6,2588,1849,2931,2762,108.2,-9.6,130,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1849,2846,2931,2762,0,0,0,0,0,0,26.77,26.79,26.79,8.51,48.50
$GC,1346,-0.79,-146.6,2588,1849,2931,2762,125.3,-9.2,148,1355,0.00,2.17,0.00,0.000,260,0.000,0.043,2580,3247,2846,2931,2762,0,0,0,0,0,0,26.78,26.01,26.79,8.51,48.07
$GC,1390,-0.84,-146.6,2580,3247,2931,2762,129.5,-9.7,152,1398,0.00,2.15,0.00,0.000,1030,0.000,0.031,2580,1839,2846,2931,2762,0,0,0,0,0,0,26.20,26.16,26.23,8.52,48.30
$GC,1579,-0.84,-146.6,2580,1838,2931,2762,148.0,-9.8,171,1588,0.00,2.17,0.00,0.000,516,0.000,0.044,2580,455,2846,2931,2762,0,0,0,0,0,0,26.78,25.93,26.79,8.52,48.89
$STATE,1600,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1600,begin apogee
$GC,1607,-0.21,0.0,2570,1849,2931,2762,150.4,-10.2,173,1732,0.60,0.00,115.62,0.692,10246,0.100,0.000,2779,1849,2246,2374,2118,0,0,0,0,0,0,25.56,25.01,24.12,8.53,48.46
$STATE,1733,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1735,0.88,146.6,2779,1849,2374,2118,153.5,0.0,186,1862,0.90,0.00,120.53,0.675,10758,0.052,0.000,3122,1850,1648,1774,1522,0,0,0,0,0,0,25.50,24.86,24.05,8.48,47.16
$GC,2042,0.71,146.6,3122,1849,1770,1517,107.8,18.6,217,2052,0.12,2.22,0.00,0.000,4612,0.149,0.042,3090,452,1643,1769,1517,0,0,0,0,0,0,25.84,25.88,25.90,8.43,48.03
$GC,2116,0.61,146.6,3090,452,1768,1515,95.2,16.8,224,2126,0.12,2.12,0.00,0.000,5126,0.124,0.033,3050,1837,1641,1768,1515,0,0,0,0,0,0,25.75,26.08,25.82,8.42,47.08
$GC,2246,0.61,146.6,3048,1838,1767,1514,78.6,12.6,237,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1838,1641,1768,1514,0,0,0,0,0,0,26.63,26.65,26.64,8.42,48.22
$GC,2366,0.61,146.6,3049,1838,1767,1514,63.5,12.3,249,2375,0.00,2.20,0.00,0.000,516,0.000,0.044,3058,451,1641,1768,1514,0,0,0,0,0,0,26.68,26.01,26.69,8.42,47.44
$GC,2420,0.61,146.6,3057,451,1767,1514,56.6,13.1,254,2428,0.00,2.17,0.00,0.000,1030,0.000,0.032,3058,1845,1640,1767,1513,0,0,0,0,0,0,26.23,26.19,26.25,8.42,47.59
$GC,2549,0.61,146.6,3057,1845,1767,1513,40.0,12.4,267,2558,0.00,2.20,0.00,0.000,260,0.000,0.042,3058,3257,1640,1767,1513,0,0,0,0,0,0,26.72,26.08,26.74,8.41,47.63
$GC,2595,0.55,146.6,3057,3257,1767,1513,34.7,12.4,271,2603,0.10,2.17,0.00,0.000,5126,0.127,0.032,3032,1840,1640,1767,1513,0,0,0,0,0,0,25.89,26.19,25.96,8.41,47.44
$GC,2722,0.55,146.6,3032,1839,1767,1513,21.2,10.2,284,2726,0.00,2.22,0.00,0.000,516,0.000,0.044,3041,439,1640,1767,1513,0,0,0,0,0,0,26.74,26.03,26.76,8.41,47.91
$GC,2810,0.55,146.6,3040,438,1767,1512,12.2,9.9,300,2817,0.00,2.17,0.00,0.000,1030,0.000,0.032,3041,1843,1639,1767,1512,0,0,0,0,0,0,26.24,26.21,26.28,8.40,47.71
$GC,2880,0.63,221.8,3041,1844,1767,1512,7.8,6.5,313,2927,0.00,2.22,37.65,0.519,8452,0.000,0.041,3041,3254,1340,1461,1220,0,0,0,0,0,0,26.76,25.55,24.72,8.40,48.03
$STATE,3074,end climb,SURFACE_DEPTH_REACHED
$STATE,3074,begin surface coast
$FINISH,2.9,1.019407
$STATE,3086,end surface coast,CONTROL_FINISHED_OK
$STATE,3086,begin surface
$SM_CCo,3104,93.50,0.057,0,0,532,420.20
$SM_GC,1.85,7.65,2.22,93.50,0.045,0.031,0.057,195,1825,532,-8.20,1.05,420.20,0,0,0,0,0,0,26.10,26.10,25.88
$IRIDIUM_FIX,4738.33,-12256.21,010218,203445
$TT8_MAMPS,0.026964,0.297353
$HUMID,46.25
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,81.4,83.1
$24V_AH,23.89,59.548
$10V_AH,9.86,39.837
$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,18.700,52.525,273.800,93.500,0.000,0.000,0.000,193.125,1.000,0.000,21.974,843.754,1021.031,457.831,1084.792,90.701,33.438,1090.308,0.000,662.552,0.000,8.892,0.000
$DEVICE_MAMPS,196.605,53.550,692.325,56.610,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.572,755.580,459.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312088
$DATA_FILE_SIZE,24470,351
$CAP_FILE_SIZE,57551,0
$CFSIZE,2097872896,2092138496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010218,223331,4738.083,-12253.853,9,0.9,27,16.4,0.2,98.2,9,4.9