version: 66.14
glider: 195
mission: 15
dive: 30
start: 2 2 118 0 41 33
data:
$ID,195
$MISSION,15
$DIVE,30
$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,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,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,40
$R_STBD_OVSHOOT,31
$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
$GPS1,020218,003602,4737.7402,-12254.8867,45,0.8,49,16.4,0.3,156.9,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.9
$GPS2,020218,004023,4737.7686,-12254.8252,5,0.8,17,16.4,0.4,56.7,10,4.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.234221,-0.218998
$KALMAN_X,1815.680908,19.295052,-1.216797,-3760.130615,27.022644
$KALMAN_Y,1217.385986,-19.198948,36.989475,-2217.487061,137.380157
$MHEAD_RNG_PITCHd_Wd,210.5,1301,-13.1,-10.000,-17.32,3645
$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,-0.79,-244.4,194,1850,550,477,0.0,0.0,0,37,0.00,0.00,-26.52,0.000,16386,0.000,0.000,194,1850,1207,1266,1149,0,0,0,0,0,0,26.60,28.83,26.60,8.29,46.33
$GC,40,-0.79,-244.4,194,1851,1266,1150,2.3,-4.1,4,120,9.07,2.22,-62.28,0.000,18692,0.198,0.056,2578,3256,3245,3318,3172,0,0,0,0,0,0,25.16,25.55,25.55,8.35,46.69
$GC,133,-0.59,-244.4,2577,3256,3319,3173,9.2,-13.6,18,142,0.22,2.17,0.00,0.000,3078,0.119,0.031,2651,1831,3246,3319,3173,0,0,0,0,0,0,25.63,26.13,25.72,8.53,46.85
$GC,204,-0.59,-244.4,2650,1831,3319,3173,18.0,-9.6,31,212,0.00,2.20,0.00,0.000,516,0.000,0.044,2651,457,3246,3319,3173,0,0,0,0,0,0,26.67,25.96,26.67,8.53,46.57
$GC,260,-0.59,-244.4,2651,457,3319,3173,23.3,-9.3,38,270,0.00,2.15,0.00,0.000,1030,0.000,0.034,2646,1854,3246,3319,3173,0,0,0,0,0,0,26.22,26.13,26.26,8.53,46.61
$GC,391,-0.59,-244.4,2645,1854,3319,3173,35.0,-9.1,51,400,0.00,2.15,0.00,0.000,260,0.000,0.044,2643,3241,3246,3319,3173,0,0,0,0,0,0,26.72,26.03,26.73,8.53,46.69
$GC,433,-0.65,-244.4,2642,3241,3320,3173,38.8,-8.7,55,443,0.00,2.10,0.00,0.000,1030,0.000,0.031,2642,1847,3246,3319,3173,0,0,0,0,0,0,26.25,26.17,26.27,8.53,47.71
$GC,564,-0.70,-244.4,2642,1847,3319,3173,49.8,-8.3,68,573,0.00,2.20,0.00,0.000,516,0.000,0.044,2642,451,3246,3319,3173,0,0,0,0,0,0,26.75,25.99,26.76,8.53,47.44
$GC,617,-0.76,-244.4,2641,451,3319,3173,54.4,-8.8,73,627,0.03,2.12,0.00,0.000,5126,0.130,0.034,2585,1842,3246,3319,3173,0,0,0,0,0,0,26.07,26.16,26.10,8.53,48.07
$GC,747,-0.76,-244.4,2584,1842,3319,3173,68.8,-11.0,86,757,0.00,2.22,0.00,0.000,260,0.000,0.044,2575,3259,3246,3319,3173,0,0,0,0,0,0,26.77,26.03,26.77,8.54,48.22
$GC,790,-0.76,-244.4,2575,3259,3319,3173,73.8,-11.7,90,799,0.00,2.12,0.00,0.000,1030,0.000,0.031,2575,1844,3246,3319,3173,0,0,0,0,0,0,26.27,26.18,26.31,8.54,47.91
$GC,920,-0.76,-244.4,2575,1843,3319,3173,89.4,-11.6,103,929,0.00,2.20,0.00,0.000,260,0.000,0.044,2567,3256,3246,3319,3173,0,0,0,0,0,0,26.77,26.02,26.77,8.54,47.79
$GC,944,-0.76,-244.4,2566,3256,3319,3173,92.1,-11.8,105,953,0.10,2.15,0.00,0.000,3078,0.105,0.031,2602,1844,3246,3319,3173,0,0,0,0,0,0,25.94,26.18,25.98,8.53,47.99
$GC,1073,-0.76,-244.4,2602,1844,3320,3173,104.5,-9.5,118,1082,0.00,2.20,0.00,0.000,516,0.000,0.043,2602,449,3246,3319,3173,0,0,0,0,0,0,26.77,25.98,26.78,8.55,47.91
$GC,1105,-0.76,-244.4,2602,449,3319,3173,108.1,-10.5,121,1115,0.00,2.15,0.00,0.000,1030,0.000,0.034,2596,1847,3246,3319,3173,0,0,0,0,0,0,26.25,26.15,26.28,8.55,48.07
$GC,1296,-0.76,-244.4,2596,1847,3319,3173,127.3,-10.1,140,1300,0.00,2.20,0.00,0.000,260,0.000,0.044,2586,3248,3246,3319,3173,0,0,0,0,0,0,26.77,26.01,26.78,8.55,47.71
$GC,1368,-0.76,-244.4,2586,3248,3319,3173,133.8,-8.7,147,1378,0.00,2.12,0.00,0.000,1030,0.000,0.030,2586,1838,3245,3318,3173,0,0,0,0,0,0,26.27,26.17,26.30,8.55,48.70
$STATE,1527,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1527,begin apogee
$GC,1532,-0.21,0.0,2586,1838,3319,3173,149.5,-10.5,163,1729,0.52,0.00,190.00,0.680,10246,0.090,0.000,2777,1837,2246,2378,2114,0,0,0,0,0,0,25.75,24.60,24.08,8.56,48.03
$STATE,1730,end apogee,CONTROL_FINISHED_OK
$STATE,1730,begin climb
$GC,1732,0.79,244.4,2777,1838,2378,2113,153.9,0.0,183,1941,0.85,2.33,199.85,0.657,10756,0.054,0.044,3106,451,1248,1364,1133,0,0,0,0,0,0,25.37,24.92,24.06,8.48,46.61
$GC,1987,0.61,244.4,3106,451,1362,1130,119.8,20.0,208,1995,0.17,2.22,0.00,0.000,5126,0.117,0.033,3050,1848,1246,1362,1130,0,0,0,0,0,0,25.39,25.67,25.48,8.40,45.94
$GC,2176,0.53,244.4,3049,1848,1362,1128,91.3,14.1,227,2180,0.00,2.20,0.00,0.000,516,0.000,0.044,3058,454,1245,1362,1128,0,0,0,0,0,0,26.51,25.95,26.52,8.40,46.65
$GC,2231,0.44,244.4,3057,454,1362,1128,83.7,14.1,232,2239,0.17,2.17,0.00,0.000,5126,0.104,0.033,2997,1844,1245,1362,1128,0,0,0,0,0,0,25.80,26.12,25.89,8.39,46.77
$GC,2359,0.44,244.4,2996,1844,1362,1127,69.5,10.1,245,2368,0.00,2.20,0.00,0.000,516,0.000,0.044,3002,455,1244,1362,1127,0,0,0,0,0,0,26.64,26.03,26.65,8.39,47.08
$GC,2393,0.44,244.4,3002,455,1362,1127,66.2,10.2,248,2401,0.00,2.17,0.00,0.000,1030,0.000,0.032,3002,1852,1244,1362,1127,0,0,0,0,0,0,26.23,26.20,26.25,8.39,47.79
$GC,2522,0.44,244.4,3002,1853,1362,1127,53.6,8.8,261,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,1244,1362,1127,0,0,0,0,0,0,26.70,26.71,26.70,8.38,47.24
$GC,2642,0.44,244.4,3002,1854,1362,1127,43.4,8.6,273,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1854,1244,1362,1127,0,0,0,0,0,0,26.72,26.73,26.73,8.38,47.28
$GC,2762,0.44,244.4,3002,1854,1362,1127,32.4,9.2,285,2771,0.00,2.22,0.00,0.000,516,0.000,0.044,3010,454,1244,1362,1127,0,0,0,0,0,0,26.74,26.06,26.74,8.38,47.24
$GC,2815,0.44,244.4,3010,452,1362,1127,27.3,9.8,290,2824,0.00,2.15,0.00,0.000,1030,0.000,0.032,3010,1852,1244,1362,1127,0,0,0,0,0,0,26.32,26.23,26.35,8.38,48.11
$GC,2947,0.44,244.4,3010,1852,1362,1127,14.7,9.4,308,2954,0.00,2.25,0.00,0.000,516,0.000,0.045,3015,455,1244,1362,1127,0,0,0,0,0,0,26.75,26.04,26.77,8.38,47.75
$GC,2997,0.57,371.0,3014,455,1362,1127,10.6,6.4,317,3069,0.00,2.15,64.12,0.525,9222,0.000,0.031,3015,1849,731,841,621,0,0,0,0,0,0,26.27,26.24,24.64,8.37,47.16
$GC,3134,0.97,623.7,3014,1849,840,616,4.8,2.9,340,3170,0.32,2.03,29.95,0.487,10499,0.045,0.039,3171,3122,495,545,445,0,0,0,0,0,0,26.06,25.44,24.66,8.32,46.41
$STATE,3171,end climb,SURFACE_DEPTH_REACHED
$STATE,3171,begin surface coast
$FINISH,0.5,1.008596
$STATE,3219,end surface coast,CONTROL_FINISHED_OK
$STATE,3219,begin surface
$SM_CCo,3297,0.00,0.000,0,0,485,432.22
$SM_GC,2.12,7.80,2.03,0.00,0.033,0.032,0.000,186,1833,485,-8.17,1.27,432.22,0,0,0,0,0,0,26.05,25.95,26.09
$IRIDIUM_FIX,4738.33,-12256.21,010218,233447
$TT8_MAMPS,0.026964,0.24717
$HUMID,46.69
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.8
$ALTIM_BOTTOM_PING,81.1,82.6
$24V_AH,24.06,59.766
$10V_AH,9.91,40.001
$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,19.275,60.825,483.925,0.000,0.000,0.000,0.000,180.600,1.000,0.000,20.091,800.045,1073.751,519.455,1087.691,102.142,33.430,1211.833,0.000,702.346,0.000,8.889,0.000
$DEVICE_MAMPS,198.135,55.845,680.085,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.213,762.049,462.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312124
$DATA_FILE_SIZE,24598,354
$CAP_FILE_SIZE,60033,0
$CFSIZE,2097872896,2091843584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,013758,4737.543,-12255.346,9,0.8,49,16.4,0.5,52.2,10,13.7