version: 66.14
glider: 195
mission: 15
dive: 130
start: 2 4 118 4 32 1
data:
$ID,195
$MISSION,15
$DIVE,130
$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,45
$R_STBD_OVSHOOT,37
$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
$GPS1,040218,042523,4738.4434,-12253.4141,9,0.8,40,16.4,0.2,89.2,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-73.2
$GPS2,040218,043051,4738.4541,-12253.3545,6,0.8,15,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.241579,0.158486
$KALMAN_X,669.856201,281.534607,-128.911163,-1058.430542,365.835205
$KALMAN_Y,441.604919,81.959190,-193.940140,-636.294495,279.547363
$MHEAD_RNG_PITCHd_Wd,40.3,1491,-15.2,-10.000,-19.09,2861
$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,-0.82,-190.8,188,1850,564,479,0.0,0.0,0,31,0.00,0.00,-20.08,0.000,16386,0.000,0.000,188,1850,1042,1100,985,0,0,0,0,0,0,26.59,28.83,26.60,8.29,46.33
$GC,34,-0.82,-190.8,188,1850,1100,986,2.1,-2.9,3,120,9.15,2.25,-65.97,0.000,18692,0.201,0.055,2568,3255,3026,3112,2940,0,0,0,0,0,0,25.10,23.93,25.49,8.34,46.14
$GC,312,-0.74,-190.8,2567,3255,3113,2940,36.5,-12.7,41,321,0.12,2.15,0.00,0.000,3078,0.116,0.031,2609,1843,3026,3113,2940,0,0,0,0,0,0,25.86,26.20,25.93,8.52,45.94
$GC,440,-0.74,-190.8,2608,1843,3113,2940,50.7,-10.5,54,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1843,3027,3114,2940,0,0,0,0,0,0,26.72,26.73,26.73,8.51,46.41
$GC,560,-0.74,-190.8,2608,1843,3113,2940,63.3,-10.2,66,570,0.00,2.17,0.00,0.000,260,0.000,0.043,2601,3244,3027,3114,2940,0,0,0,0,0,0,26.74,26.08,26.74,8.52,47.08
$GC,593,-0.74,-190.8,2600,3244,3113,2940,66.6,-9.9,69,602,0.00,2.12,0.00,0.000,1030,0.000,0.030,2601,1833,3026,3113,2940,0,0,0,0,0,0,26.30,26.22,26.34,8.52,46.73
$GC,723,-0.74,-190.8,2600,1833,3113,2940,79.8,-10.4,82,733,0.00,2.15,0.00,0.000,516,0.000,0.043,2601,450,3027,3113,2941,0,0,0,0,0,0,26.74,26.05,26.75,8.53,47.32
$GC,766,-0.74,-190.8,2600,450,3113,2940,84.6,-11.2,86,776,0.00,2.15,0.00,0.000,1030,0.000,0.033,2592,1853,3027,3114,2940,0,0,0,0,0,0,26.29,26.20,26.32,8.53,46.92
$GC,896,-0.74,-190.8,2592,1853,3113,2940,99.0,-10.9,99,906,0.00,2.17,0.00,0.000,260,0.000,0.043,2582,3251,3027,3114,2940,0,0,0,0,0,0,26.75,26.08,26.76,8.53,47.83
$GC,929,-0.74,-190.8,2581,3251,3113,2940,102.6,-10.8,102,939,0.00,2.12,0.00,0.000,1030,0.000,0.030,2582,1838,3026,3113,2940,0,0,0,0,0,0,26.31,26.22,26.34,8.53,47.63
$GC,1119,-0.74,-190.8,2581,1838,3114,2940,123.0,-10.6,121,1129,0.00,2.20,0.00,0.000,516,0.000,0.043,2582,447,3026,3113,2940,0,0,0,0,0,0,26.75,26.03,26.77,8.53,47.71
$GC,1153,-0.74,-190.8,2581,447,3113,2940,126.6,-10.9,124,1162,0.10,2.15,0.00,0.000,3078,0.120,0.033,2606,1835,3026,3113,2940,0,0,0,0,0,0,25.91,26.20,25.97,8.54,47.63
$STATE,1320,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1320,begin apogee
$GC,1325,-0.21,0.0,2606,1835,3113,2940,142.7,-9.2,141,1482,0.47,0.00,150.15,0.676,10246,0.092,0.000,2781,1835,2246,2380,2112,0,0,0,0,0,0,25.82,24.57,24.05,8.54,47.83
$STATE,1483,end apogee,CONTROL_FINISHED_OK
$STATE,1483,begin climb
$GC,1485,0.82,190.8,2781,1835,2380,2112,145.9,0.0,157,1654,0.85,2.30,154.82,0.659,10756,0.056,0.043,3113,455,1467,1577,1357,0,0,0,0,0,0,25.44,24.91,23.99,8.48,46.53
$GC,1689,0.66,190.8,3112,455,1576,1355,121.1,17.5,177,1698,0.15,2.20,0.00,0.000,5126,0.125,0.032,3065,1841,1464,1575,1354,0,0,0,0,0,0,25.39,25.68,25.47,8.42,45.27
$GC,1879,0.58,190.8,3065,1840,1576,1350,93.2,14.3,196,1889,0.00,2.17,0.00,0.000,516,0.000,0.044,3073,451,1463,1576,1350,0,0,0,0,0,0,26.52,25.95,26.53,8.41,46.25
$GC,1922,0.48,190.8,3073,451,1573,1350,86.8,14.8,200,1932,0.20,2.12,0.00,0.000,5126,0.112,0.031,3006,1843,1461,1572,1350,0,0,0,0,0,0,25.75,26.11,25.83,8.41,46.53
$GC,2052,0.48,190.8,3006,1844,1573,1350,73.2,9.4,213,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1843,1461,1573,1350,0,0,0,0,0,0,26.64,26.65,26.65,8.42,46.96
$GC,2172,0.48,190.8,3006,1843,1573,1349,62.1,9.2,225,2182,0.00,2.20,0.00,0.000,516,0.000,0.044,3014,453,1461,1572,1350,0,0,0,0,0,0,26.69,26.05,26.70,8.41,47.16
$GC,2215,0.48,190.8,3014,453,1572,1349,57.9,9.9,229,2224,0.00,2.15,0.00,0.000,1030,0.000,0.032,3014,1853,1460,1572,1349,0,0,0,0,0,0,26.30,26.21,26.34,8.41,47.04
$GC,2345,0.48,190.8,3013,1853,1572,1349,44.5,10.0,242,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1853,1460,1572,1349,0,0,0,0,0,0,26.72,26.72,26.72,8.40,46.92
$GC,2465,0.48,190.8,3014,1853,1573,1349,32.4,9.8,254,2474,0.00,2.20,0.00,0.000,260,0.000,0.041,3014,3258,1460,1572,1349,0,0,0,0,0,0,26.73,26.12,26.74,8.40,47.12
$GC,2487,0.48,190.8,3013,3258,1572,1349,29.9,10.2,256,2497,0.00,2.15,0.00,0.000,1030,0.000,0.031,3016,1835,1461,1573,1349,0,0,0,0,0,0,26.31,26.22,26.35,8.40,47.08
$GC,2619,0.48,190.8,3015,1835,1572,1349,17.3,9.9,271,2626,0.00,2.22,0.00,0.000,516,0.000,0.045,3026,448,1461,1573,1349,0,0,0,0,0,0,26.74,26.07,26.75,8.39,47.48
$GC,2725,0.66,314.8,3025,448,1572,1348,8.9,5.6,291,2797,0.05,2.15,61.67,0.520,11270,0.076,0.031,3100,1843,960,1072,848,0,0,0,0,0,0,26.14,26.25,24.51,8.40,47.12
$STATE,2839,end climb,SURFACE_DEPTH_REACHED
$STATE,2839,begin surface coast
$FINISH,1.0,1.017805
$STATE,2901,end surface coast,CONTROL_FINISHED_OK
$STATE,2901,begin surface
$SM_CCo,2917,48.60,0.057,0,0,534,420.20
$SM_GC,2.08,7.75,0.00,48.60,0.042,0.000,0.057,185,1843,534,-8.20,0.03,420.20,0,0,0,0,0,0,26.10,26.50,25.88
$IRIDIUM_FIX,4739.20,-12253.53,040218,033049
$TT8_MAMPS,0.026964,0.23968
$HUMID,46.53
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,75.7,76.9
$24V_AH,23.93,64.688
$10V_AH,9.87,42.919
$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,18.850,43.525,366.650,48.600,0.000,0.000,0.000,251.075,0.750,0.000,16.452,738.020,955.404,459.294,1067.902,101.635,33.423,1163.476,0.000,636.612,0.000,7.264,0.000
$DEVICE_MAMPS,201.195,55.080,676.260,56.610,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.888,693.194,421.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312160
$DATA_FILE_SIZE,21109,322
$CAP_FILE_SIZE,53437,0
$CFSIZE,2097872896,2082013184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,052230,4738.718,-12252.615,9,1.0,22,16.3,0.2,0.0,9,4.9