version: 66.14
glider: 195
mission: 15
dive: 140
start: 2 4 118 13 45 8
data:
$ID,195
$MISSION,15
$DIVE,140
$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,47
$R_STBD_OVSHOOT,47
$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
$GPS1,040218,133837,4738.9961,-12252.3018,5,0.9,17,16.4,0.0,291.7,8,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.5
$GPS2,040218,134357,4738.9741,-12252.2949,7,0.9,15,16.3,0.0,0.0,8,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.050261,0.165752
$KALMAN_X,1849.414429,-225.856979,-300.403198,-231.239197,-213.592697
$KALMAN_Y,-880.070312,-90.666924,-164.948547,1796.118408,-516.855103
$MHEAD_RNG_PITCHd_Wd,0.6,151,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,193,1862,550,473,0.0,0.0,0,36,0.00,0.00,-26.15,0.000,16386,0.000,0.000,193,1862,1177,1249,1106,0,0,0,0,0,0,26.60,28.83,26.62,8.29,46.77
$GC,39,-1.20,-63.7,193,1862,1250,1107,2.0,-2.7,4,106,8.75,2.25,-49.97,0.000,18948,0.201,0.051,2457,441,2507,2590,2424,0,0,0,0,0,0,25.01,25.60,25.20,8.35,46.49
$GC,313,-1.05,-63.7,2456,441,2591,2425,31.6,-8.0,43,324,0.20,2.10,0.00,0.000,3078,0.150,0.032,2507,1842,2508,2591,2425,0,0,0,0,0,0,25.52,26.17,25.62,8.47,46.85
$GC,442,-1.07,-83.3,2507,1842,2591,2425,41.1,-7.9,56,452,0.00,2.17,-0.90,0.000,16644,0.000,0.054,2499,3246,2588,2667,2510,0,0,0,0,0,0,26.73,25.51,26.57,8.47,47.36
$GC,569,-1.07,-83.3,2498,3246,2667,2511,54.0,-10.9,68,577,0.00,2.15,0.00,0.000,1030,0.000,0.031,2499,1835,2589,2667,2511,0,0,0,0,0,0,26.23,26.19,26.26,8.48,47.12
$GC,697,-1.07,-83.3,2498,1835,2667,2511,69.1,-12.0,81,706,0.00,2.17,0.00,0.000,516,0.000,0.043,2499,453,2589,2667,2511,0,0,0,0,0,0,26.75,26.01,26.76,8.48,47.04
$GC,827,-1.07,-83.3,2498,453,2667,2511,86.0,-13.6,93,836,0.00,2.08,0.00,0.000,1030,0.000,0.032,2488,1838,2589,2667,2511,0,0,0,0,0,0,26.22,26.19,26.25,8.49,47.99
$GC,955,-1.07,-83.3,2487,1838,2667,2511,101.8,-12.0,106,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1838,2588,2666,2511,0,0,0,0,0,0,26.75,26.76,26.76,8.49,47.67
$GC,1135,-1.07,-83.3,2487,1838,2667,2510,123.4,-11.2,124,1144,0.00,2.20,0.00,0.000,516,0.000,0.042,2488,448,2589,2667,2511,0,0,0,0,0,0,26.76,26.00,26.77,8.49,47.95
$GC,1218,-1.07,-83.3,2487,447,2667,2511,133.4,-12.4,132,1227,0.00,2.15,0.00,0.000,1030,0.000,0.032,2477,1852,2589,2667,2511,0,0,0,0,0,0,26.27,26.17,26.30,8.50,47.87
$STATE,1267,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1267,begin apogee
$GC,1272,-0.21,0.0,2477,1853,2667,2511,139.2,-11.4,137,1348,0.93,0.00,67.47,0.677,10246,0.123,0.000,2775,1853,2247,2354,2140,0,0,0,0,0,0,25.32,24.70,24.15,8.50,47.75
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1351,1.22,83.3,2775,1853,2353,2140,141.6,0.0,145,1429,1.23,2.33,69.80,0.672,10756,0.054,0.041,3244,450,1905,2045,1765,0,0,0,0,0,0,25.64,24.98,24.02,8.48,47.32
$GC,1463,1.03,83.3,3244,450,2043,1763,127.4,19.0,156,1473,0.20,2.15,0.00,0.000,5126,0.158,0.031,3187,1835,1903,2043,1763,0,0,0,0,0,0,25.20,25.72,25.32,8.44,46.45
$GC,1655,0.92,83.3,3186,1835,2041,1759,92.1,19.3,175,1664,0.12,2.15,0.00,0.000,4612,0.169,0.040,3155,456,1899,2041,1758,0,0,0,0,0,0,25.84,25.94,25.88,8.45,47.51
$GC,1708,0.85,83.3,3155,456,2040,1758,82.5,17.4,180,1718,0.10,2.12,0.00,0.000,5126,0.154,0.031,3128,1843,1899,2040,1758,0,0,0,0,0,0,25.72,26.10,25.78,8.45,47.28
$GC,1838,0.85,83.3,3127,1844,2040,1758,64.3,13.5,193,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1843,1898,2040,1757,0,0,0,0,0,0,26.66,26.67,26.67,8.44,47.48
$GC,1958,0.85,83.3,3127,1843,2040,1757,47.3,14.1,205,1968,0.00,2.17,0.00,0.000,516,0.000,0.043,3135,455,1898,2040,1757,0,0,0,0,0,0,26.70,26.03,26.71,8.44,47.04
$GC,2061,0.85,83.3,3135,455,2040,1756,31.9,14.6,215,2065,0.00,2.12,0.00,0.000,1030,0.000,0.032,3135,1844,1898,2040,1757,0,0,0,0,0,0,26.28,26.20,26.32,8.44,47.44
$GC,2189,0.85,83.3,3134,1845,2040,1756,15.1,11.5,231,2197,0.00,2.22,0.00,0.000,260,0.000,0.041,3135,3253,1898,2040,1756,0,0,0,0,0,0,26.74,26.09,26.75,8.43,47.63
$GC,2346,0.97,208.6,3135,3253,2040,1756,11.3,-3.2,261,2418,0.00,2.15,63.12,0.534,9222,0.000,0.030,3146,1837,1393,1503,1284,0,0,0,0,0,0,26.26,26.23,24.46,8.43,47.51
$GC,2483,1.13,260.4,3145,1838,1500,1279,6.0,4.5,284,2518,0.10,2.25,25.40,0.490,10500,0.078,0.040,3228,3251,1182,1284,1081,0,0,0,0,0,0,26.18,25.33,24.51,8.37,46.29
$GC,2546,1.16,293.6,3228,3251,1283,1081,3.0,6.5,294,2555,0.00,2.17,4.43,0.335,9218,0.000,0.030,3238,1839,1144,1242,1047,0,0,0,0,0,0,25.96,25.91,25.99,8.35,46.14
$STATE,2556,end climb,SURFACE_DEPTH_REACHED
$STATE,2556,begin surface coast
$FINISH,0.6,1.017691
$STATE,2603,end surface coast,CONTROL_FINISHED_OK
$STATE,2603,begin surface
$SM_CCo,2620,70.28,0.055,0,0,532,420.20
$SM_GC,1.47,8.35,0.00,70.28,0.057,0.000,0.055,187,1839,532,-8.17,-0.11,420.20,0,0,0,0,0,0,26.06,26.46,25.84
$IRIDIUM_FIX,4739.20,-12253.53,040218,124436
$TT8_MAMPS,0.026964,0.23968
$HUMID,46.25
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,110.3,38.7
$24V_AH,24.02,65.155
$10V_AH,9.85,43.414
$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,19.975,39.125,230.225,70.275,0.000,0.000,0.000,244.425,3.250,0.000,16.254,743.142,790.407,358.453,1049.102,98.961,33.436,1008.961,0.000,614.127,0.000,28.115,0.000
$DEVICE_MAMPS,201.195,53.550,677.025,55.080,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.653,654.527,398.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,21045,304
$CAP_FILE_SIZE,52121,0
$CFSIZE,2097872896,2081030144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,143125,4739.087,-12252.267,5,1.0,45,16.4,0.0,272.3,7,3.0