version: 66.14
glider: 195
mission: 15
dive: 128
start: 2 4 118 2 37 2
data:
$ID,195
$MISSION,15
$DIVE,128
$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,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,1843
$C_ROLL_CLIMB,1843
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,41
$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,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
$GPS1,040218,023201,4738.7476,-12252.5811,5,0.9,15,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.6
$GPS2,040218,023553,4738.7671,-12252.5576,8,0.8,16,16.3,0.2,343.2,10,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.274518,-0.165709
$KALMAN_X,3.666939,-34.752937,-18.759384,819.267395,-32.478466
$KALMAN_Y,-56.412941,-114.697769,-91.292809,545.466614,-110.247986
$MHEAD_RNG_PITCHd_Wd,222.6,4678,-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,8,-0.79,-244.4,198,1841,528,436,0.0,0.0,0,37,0.00,0.00,-27.00,0.000,16386,0.000,0.000,198,1841,1164,1229,1099,0,0,0,0,0,0,26.70,28.83,26.70,8.28,47.08
$GC,40,-0.79,-244.4,198,1841,1229,1100,2.3,-3.9,4,119,9.23,0.00,-62.85,0.000,18950,0.201,0.000,2590,1839,3244,3316,3173,0,0,0,0,0,0,24.95,25.67,25.36,8.35,46.57
$GC,184,-0.71,-244.4,2589,1839,3317,3174,16.8,-12.5,28,191,0.08,0.00,0.00,0.000,2054,0.162,0.000,2622,1839,3245,3316,3174,0,0,0,0,0,0,26.27,26.28,26.25,8.53,45.74
$GC,254,-0.71,-244.4,2622,1839,3317,3174,24.4,-10.0,37,264,0.00,2.20,0.00,0.000,516,0.000,0.042,2622,448,3245,3316,3174,0,0,0,0,0,0,26.72,26.01,26.73,8.53,46.10
$GC,287,-0.71,-244.4,2622,448,3317,3174,27.9,-10.8,40,291,0.00,2.12,0.00,0.000,1030,0.000,0.034,2619,1842,3245,3317,3174,0,0,0,0,0,0,26.24,26.14,26.27,8.53,46.77
$GC,419,-0.71,-244.4,2618,1842,3317,3174,41.8,-10.9,53,428,0.00,2.22,0.00,0.000,260,0.000,0.044,2609,3255,3245,3317,3174,0,0,0,0,0,0,26.73,26.03,26.74,8.53,46.53
$GC,523,-0.71,-244.4,2608,3255,3316,3174,53.1,-10.4,63,533,0.00,2.12,0.00,0.000,1030,0.000,0.031,2609,1847,3245,3316,3174,0,0,0,0,0,0,26.27,26.18,26.30,8.53,47.00
$GC,653,-0.71,-244.4,2608,1847,3316,3174,66.8,-10.5,76,662,0.00,2.20,0.00,0.000,516,0.000,0.043,2608,444,3245,3317,3174,0,0,0,0,0,0,26.75,26.01,26.76,8.53,46.85
$GC,696,-0.71,-244.4,2607,444,3315,3174,71.5,-10.9,80,705,0.00,2.15,0.00,0.000,1030,0.000,0.034,2599,1844,3245,3316,3174,0,0,0,0,0,0,26.25,26.16,26.29,8.53,47.83
$GC,826,-0.71,-244.4,2599,1844,3317,3174,85.6,-11.1,93,835,0.00,2.20,0.00,0.000,260,0.000,0.043,2590,3247,3245,3317,3174,0,0,0,0,0,0,26.75,26.03,26.76,8.54,47.87
$GC,870,-0.71,-244.4,2589,3247,3316,3174,90.6,-11.7,97,879,0.08,2.15,0.00,0.000,3078,0.116,0.031,2617,1835,3245,3316,3174,0,0,0,0,0,0,25.96,26.18,26.01,8.54,47.79
$GC,999,-0.71,-244.4,2616,1835,3316,3174,103.3,-9.5,110,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1835,3245,3317,3174,0,0,0,0,0,0,26.75,26.77,26.76,8.55,47.40
$GC,1179,-0.71,-244.4,2616,1835,3316,3174,120.0,-8.8,128,1188,0.00,2.22,0.00,0.000,260,0.000,0.044,2617,3249,3245,3316,3174,0,0,0,0,0,0,26.76,26.02,26.77,8.55,47.63
$GC,1222,-0.76,-244.4,2612,3249,3316,3174,123.6,-8.3,132,1231,0.00,2.10,0.00,0.000,1030,0.000,0.031,2612,1846,3245,3316,3174,0,0,0,0,0,0,26.22,26.19,26.25,8.55,47.75
$GC,1412,-0.76,-244.4,2612,1846,3317,3174,140.5,-9.3,151,1421,0.00,2.17,0.00,0.000,516,0.000,0.042,2612,453,3245,3316,3174,0,0,0,0,0,0,26.76,25.99,26.77,8.56,47.59
$STATE,1443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1443,begin apogee
$GC,1450,-0.21,0.0,2605,1844,3316,3174,143.9,-9.7,154,1645,0.47,0.00,191.30,0.679,10246,0.090,0.000,2779,1844,2247,2381,2113,0,0,0,0,0,0,25.79,24.84,23.97,8.55,47.99
$STATE,1646,end apogee,CONTROL_FINISHED_OK
$STATE,1646,begin climb
$GC,1648,0.79,244.4,2779,1843,2379,2112,148.5,0.0,174,1856,0.85,2.38,199.15,0.657,10756,0.059,0.043,3105,442,1249,1361,1138,0,0,0,0,0,0,25.34,24.84,23.96,8.48,45.74
$GC,1900,0.63,244.4,3104,442,1359,1135,116.0,18.4,199,1910,0.15,2.17,0.00,0.000,5126,0.118,0.032,3058,1835,1246,1359,1134,0,0,0,0,0,0,25.39,25.65,25.46,8.39,45.43
$GC,2091,0.55,244.4,3057,1834,1359,1132,88.1,13.6,218,2101,0.00,2.22,0.00,0.000,260,0.000,0.041,3058,3259,1245,1359,1132,0,0,0,0,0,0,26.51,25.98,26.52,8.39,46.53
$GC,2117,0.47,244.4,3057,3258,1359,1132,84.7,14.0,220,2125,0.17,2.17,0.00,0.000,5126,0.111,0.031,3004,1847,1245,1359,1132,0,0,0,0,0,0,25.76,26.08,25.85,8.39,46.73
$GC,2245,0.47,244.4,3003,1847,1359,1131,71.2,9.3,233,2254,0.00,2.22,0.00,0.000,516,0.000,0.044,3012,445,1245,1359,1131,0,0,0,0,0,0,26.63,26.01,26.63,8.39,46.61
$GC,2318,0.47,244.4,3012,445,1357,1130,63.9,9.5,240,2328,0.00,2.17,0.00,0.000,1030,0.000,0.032,3012,1857,1243,1357,1130,0,0,0,0,0,0,26.27,26.17,26.29,8.39,47.36
$GC,2448,0.47,244.4,3011,1857,1357,1130,51.1,9.6,253,2458,0.00,2.15,0.00,0.000,260,0.000,0.041,3013,3247,1243,1357,1130,0,0,0,0,0,0,26.69,26.10,26.70,8.38,47.04
$GC,2471,0.47,244.4,3012,3247,1357,1130,48.8,9.5,255,2475,0.00,2.15,0.00,0.000,1030,0.000,0.031,3015,1841,1243,1357,1130,0,0,0,0,0,0,26.30,26.20,26.33,8.39,46.77
$GC,2603,0.47,244.4,3015,1840,1357,1130,35.6,10.0,268,2613,0.00,2.20,0.00,0.000,516,0.000,0.044,3025,443,1243,1357,1130,0,0,0,0,0,0,26.72,26.06,26.72,8.38,47.67
$GC,2646,0.47,244.4,3024,444,1357,1130,31.3,10.0,272,2656,0.00,2.15,0.00,0.000,1030,0.000,0.032,3025,1845,1243,1357,1130,0,0,0,0,0,0,26.31,26.21,26.34,8.38,46.85
$GC,2779,0.47,244.4,3024,1845,1357,1130,18.1,9.6,286,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1845,1243,1357,1130,0,0,0,0,0,0,26.73,26.74,26.74,8.38,46.96
$GC,2849,0.55,322.7,3024,1845,1357,1130,12.1,7.8,299,2896,0.00,2.25,39.50,0.529,8708,0.000,0.043,3025,444,928,1045,812,0,0,0,0,0,0,26.74,25.02,24.56,8.37,47.40
$GC,2930,0.86,517.8,3025,444,1045,810,7.6,4.5,312,2990,0.17,2.17,52.67,0.509,11270,0.036,0.031,3175,1842,497,544,450,0,0,0,0,0,0,26.06,26.01,24.49,8.35,46.18
$STATE,2996,end climb,SURFACE_DEPTH_REACHED
$STATE,2996,begin surface coast
$FINISH,0.6,1.003341
$STATE,3024,end surface coast,CONTROL_FINISHED_OK
$STATE,3024,begin surface
$SM_CCo,3100,0.00,0.000,0,0,487,431.97
$SM_GC,2.05,7.88,0.00,0.00,0.034,0.000,0.000,188,1842,487,-8.18,-0.03,431.97,0,0,0,0,0,0,25.94,26.28,25.98
$IRIDIUM_FIX,4738.72,-12249.11,040218,022827
$TT8_MAMPS,0.026964,0.265895
$HUMID,46.02
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,75.8,77.1
$24V_AH,23.96,64.527
$10V_AH,9.88,42.819
$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,19.075,52.500,482.625,0.000,0.000,0.000,0.000,0.000,0.750,0.000,17.912,726.207,1015.799,498.173,873.349,73.210,31.525,1004.395,0.000,676.601,0.000,7.264,0.000
$DEVICE_MAMPS,201.195,43.605,678.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.397,703.938,426.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,24572,327
$CAP_FILE_SIZE,72955,0
$CFSIZE,2097872896,2082177024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040218,032937,4738.585,-12253.039,9,0.8,16,16.4,0.0,0.0,10,4.6