version: 66.14
glider: 195
mission: 15
dive: 129
start: 2 4 118 3 35 7
data:
$ID,195
$MISSION,15
$DIVE,129
$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,44
$R_STBD_OVSHOOT,43
$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
$GPS1,040218,032937,4738.5854,-12253.0391,9,0.8,16,16.4,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-72.2
$GPS2,040218,033358,4738.5952,-12253.0078,5,0.7,19,16.4,0.0,0.0,11,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.266299,-0.178618
$KALMAN_X,195.352066,147.606766,-13.872617,-134.494537,105.720589
$KALMAN_Y,76.777954,1.121277,-103.615982,-21.988516,34.887077
$MHEAD_RNG_PITCHd_Wd,219.7,4035,-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,-244.4,187,1842,523,436,0.0,0.0,0,31,0.00,0.00,-20.20,0.000,16386,0.000,0.000,187,1842,1012,1073,952,0,0,0,0,0,0,26.60,28.83,26.60,8.28,46.33
$GC,33,-0.79,-244.4,187,1842,1074,953,2.1,-2.3,3,120,9.20,2.22,-69.88,0.000,18948,0.200,0.052,2592,448,3246,3317,3176,0,0,0,0,0,0,25.07,25.55,25.48,8.34,46.33
$GC,202,-0.68,-244.4,2592,447,3317,3177,21.1,-13.4,31,210,0.12,2.17,0.00,0.000,3078,0.120,0.034,2625,1845,3247,3318,3177,0,0,0,0,0,0,25.81,26.14,25.87,8.53,46.61
$GC,330,-0.68,-244.4,2625,1845,3318,3177,35.6,-10.1,44,340,0.00,2.20,0.00,0.000,260,0.000,0.044,2618,3249,3247,3318,3177,0,0,0,0,0,0,26.70,26.06,26.71,8.53,46.02
$GC,444,-0.68,-244.4,2618,3249,3318,3177,47.1,-10.1,55,454,0.00,2.12,0.00,0.000,1030,0.000,0.030,2618,1837,3247,3317,3178,0,0,0,0,0,0,26.29,26.20,26.32,8.54,47.36
$GC,574,-0.68,-244.4,2617,1837,3318,3177,60.4,-10.1,68,583,0.00,2.17,0.00,0.000,516,0.000,0.043,2618,448,3247,3318,3177,0,0,0,0,0,0,26.74,26.03,26.74,8.54,47.16
$GC,616,-0.68,-244.4,2618,448,3318,3177,65.0,-10.6,72,626,0.00,2.15,0.00,0.000,1030,0.000,0.034,2610,1853,3247,3318,3177,0,0,0,0,0,0,26.27,26.18,26.32,8.54,46.85
$GC,747,-0.68,-244.4,2609,1853,3318,3177,78.5,-10.3,85,756,0.00,2.17,0.00,0.000,260,0.000,0.043,2600,3253,3247,3318,3177,0,0,0,0,0,0,26.74,26.08,26.75,8.54,46.92
$GC,789,-0.68,-244.4,2599,3252,3318,3177,82.8,-10.1,89,800,0.10,2.12,0.00,0.000,3078,0.125,0.031,2634,1844,3247,3318,3177,0,0,0,0,0,0,26.01,26.20,26.11,8.54,46.81
$GC,921,-0.74,-244.4,2634,1843,3318,3177,93.8,-8.0,102,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1843,3247,3318,3177,0,0,0,0,0,0,26.75,26.76,26.76,8.54,47.55
$GC,1040,-0.80,-244.4,2634,1843,3318,3177,103.4,-8.1,114,1042,0.08,0.00,0.00,0.000,4102,0.096,0.000,2552,1843,3247,3318,3177,0,0,0,0,0,0,26.54,26.56,26.55,8.54,47.44
$GC,1221,-0.75,-244.4,2551,1843,3318,3176,125.6,-13.1,132,1231,0.15,2.17,0.00,0.000,2308,0.119,0.041,2598,3253,3247,3318,3177,0,0,0,0,0,0,26.15,26.06,26.18,8.55,47.91
$GC,1274,-0.75,-244.4,2597,3254,3318,3177,131.0,-9.5,137,1283,0.00,2.12,0.00,0.000,1030,0.000,0.031,2598,1843,3247,3318,3177,0,0,0,0,0,0,26.29,26.20,26.32,8.55,47.67
$STATE,1392,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1392,begin apogee
$GC,1397,-0.21,0.0,2597,1843,3318,3176,142.8,-10.3,149,1595,0.50,0.00,190.98,0.676,10246,0.088,0.000,2780,1843,2246,2379,2113,0,0,0,0,0,0,25.82,24.87,24.01,8.56,47.87
$STATE,1596,end apogee,CONTROL_FINISHED_OK
$STATE,1596,begin climb
$GC,1598,0.79,244.4,2780,1843,2379,2113,147.0,0.0,169,1807,0.82,2.33,199.05,0.653,11012,0.058,0.043,3101,451,1249,1360,1139,0,0,0,0,0,0,25.37,24.90,24.01,8.48,46.25
$GC,1852,0.64,244.4,3100,451,1360,1136,115.1,17.9,194,1861,0.12,2.20,0.00,0.000,5126,0.119,0.032,3061,1842,1247,1360,1135,0,0,0,0,0,0,25.44,25.69,25.52,8.39,45.43
$GC,2042,0.55,244.4,3060,1842,1359,1133,87.5,13.6,213,2052,0.10,2.22,0.00,0.000,4356,0.139,0.040,3023,3272,1246,1359,1133,0,0,0,0,0,0,26.06,26.01,26.08,8.39,46.69
$GC,2066,0.49,244.4,3022,3272,1359,1133,84.2,13.5,215,2075,0.00,2.15,0.00,0.000,1030,0.000,0.031,3027,1848,1246,1359,1133,0,0,0,0,0,0,26.13,26.09,26.17,8.39,46.61
$GC,2195,0.49,244.4,3027,1849,1359,1132,69.5,11.0,228,2205,0.00,2.22,0.00,0.000,516,0.000,0.044,3038,446,1245,1359,1132,0,0,0,0,0,0,26.63,26.03,26.64,8.39,46.69
$GC,2279,0.49,244.4,3037,446,1357,1132,59.7,11.8,236,2289,0.00,2.15,0.00,0.000,1030,0.000,0.032,3038,1847,1244,1357,1132,0,0,0,0,0,0,26.28,26.20,26.31,8.39,46.88
$GC,2409,0.49,244.4,3037,1847,1357,1131,44.9,11.4,249,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1847,1244,1357,1131,0,0,0,0,0,0,26.70,26.70,26.70,8.39,47.20
$GC,2529,0.49,244.4,3037,1847,1357,1131,31.2,11.6,261,2539,0.00,2.20,0.00,0.000,516,0.000,0.044,3047,452,1244,1357,1132,0,0,0,0,0,0,26.72,26.07,26.72,8.39,47.00
$GC,2563,0.49,244.4,3046,451,1357,1131,27.4,11.3,264,2572,0.10,2.15,0.00,0.000,5126,0.105,0.032,3011,1843,1244,1357,1131,0,0,0,0,0,0,25.99,26.23,26.06,8.38,46.57
$GC,2695,0.49,244.4,3010,1843,1357,1131,15.4,8.5,282,2702,0.00,2.22,0.00,0.000,260,0.000,0.042,3010,3256,1244,1357,1131,0,0,0,0,0,0,26.73,26.12,26.74,8.38,47.44
$GC,2719,0.49,244.4,3010,3256,1357,1131,13.1,8.5,286,2727,0.00,2.15,0.00,0.000,1030,0.000,0.032,3011,1851,1244,1357,1131,0,0,0,0,0,0,26.26,26.21,26.29,8.37,46.77
$GC,2790,0.73,408.3,3011,1851,1357,1131,8.3,5.4,299,2870,0.12,0.00,76.30,0.513,10754,0.066,0.000,3127,1851,621,700,542,0,0,0,0,0,0,26.49,28.83,26.51,8.38,47.20
$STATE,2871,end climb,SURFACE_DEPTH_REACHED
$STATE,2871,begin surface coast
$FINISH,0.5,1.001500
$STATE,2909,end surface coast,CONTROL_FINISHED_OK
$STATE,2909,begin surface
$SM_CCo,2924,9.80,0.057,0,0,532,420.20
$SM_GC,3.79,7.72,0.00,9.80,0.034,0.000,0.057,189,1851,532,-8.18,0.23,420.20,0,0,0,0,0,0,25.96,26.32,25.74
$IRIDIUM_FIX,4743.33,-12257.00,040218,023239
$TT8_MAMPS,0.026964,0.296604
$HUMID,45.70
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,75.5,76.8
$24V_AH,24.01,64.615
$10V_AH,9.83,42.868
$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,19.150,43.650,466.325,9.800,0.000,0.000,0.000,177.225,0.750,0.000,22.084,715.725,916.734,492.059,1004.382,94.125,32.445,1142.627,0.000,643.110,0.000,7.265,0.000
$DEVICE_MAMPS,200.430,52.020,676.260,57.375,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.875,684.531,415.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,21083,318
$CAP_FILE_SIZE,53976,0
$CFSIZE,2097872896,2082111488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,042523,4738.443,-12253.414,9,0.8,40,16.4,0.2,89.2,9,4.4