version: 66.14
glider: 195
mission: 15
dive: 205
start: 2 7 118 3 15 0
data:
$ID,195
$MISSION,15
$DIVE,205
$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,90
$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,2812
$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,50
$R_STBD_OVSHOOT,49
$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,100
$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
$GPS1,070218,030926,4738.5928,-12253.0566,4,0.8,15,16.4,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-69.8
$GPS2,070218,031349,4738.6030,-12253.0098,4,0.8,17,16.4,0.0,128.8,10,4.5
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.155695,0.075888
$KALMAN_X,12563.152344,781.067932,57.935471,-13202.602539,-172.531662
$KALMAN_Y,1986.404297,492.726868,87.173958,-2591.301758,-371.985931
$MHEAD_RNG_PITCHd_Wd,279.6,418,-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,7,begin dive
$GC,9,-1.20,-63.7,195,1848,551,472,0.0,0.0,0,31,0.00,0.00,-20.02,0.000,16386,0.000,0.000,194,1848,1036,1098,974,0,0,0,0,0,0,26.63,28.83,26.63,8.29,46.77
$GC,34,-1.20,-63.7,195,1848,1099,974,2.1,-2.1,3,100,8.55,2.17,-50.33,0.000,19204,0.197,0.050,2408,3247,2507,2588,2427,0,0,0,0,0,0,24.94,25.60,25.14,8.35,46.96
$GC,108,-0.96,-63.7,2408,3247,2588,2427,7.4,-15.5,14,117,0.28,2.15,0.00,0.000,3078,0.149,0.030,2502,1832,2507,2588,2427,0,0,0,0,0,0,25.31,26.13,25.55,8.48,46.77
$GC,180,-0.90,-63.7,2501,1832,2588,2428,17.8,-13.6,27,187,0.00,2.17,0.00,0.000,516,0.000,0.041,2501,463,2508,2588,2428,0,0,0,0,0,0,26.68,26.00,26.69,8.48,46.41
$GC,357,-0.90,-63.7,2501,463,2588,2428,37.7,-9.4,46,367,0.00,2.10,0.00,0.000,1030,0.000,0.031,2493,1844,2508,2589,2428,0,0,0,0,0,0,26.27,26.18,26.30,8.48,46.81
$GC,487,-0.90,-63.7,2493,1844,2588,2428,49.2,-8.8,59,497,0.00,2.17,0.00,0.000,260,0.000,0.040,2483,3244,2508,2589,2428,0,0,0,0,0,0,26.74,26.06,26.75,8.48,47.32
$GC,573,-0.90,-63.7,2482,3244,2588,2428,56.8,-9.2,67,581,0.10,2.10,0.00,0.000,3078,0.144,0.029,2513,1849,2508,2588,2428,0,0,0,0,0,0,25.82,26.20,25.87,8.48,47.40
$GC,701,-0.90,-63.7,2512,1849,2588,2428,68.5,-8.6,80,711,0.00,2.17,0.00,0.000,260,0.000,0.041,2504,3243,2508,2588,2428,0,0,0,0,0,0,26.76,26.06,26.77,8.48,47.24
$GC,735,-0.90,-63.7,2504,3243,2589,2427,71.5,-8.8,83,744,0.00,2.12,0.00,0.000,1030,0.000,0.029,2504,1844,2508,2588,2428,0,0,0,0,0,0,26.24,26.20,26.27,8.48,46.96
$GC,864,-0.90,-63.7,2503,1844,2588,2428,83.1,-8.6,96,874,0.00,2.17,0.00,0.000,516,0.000,0.041,2504,453,2508,2588,2428,0,0,0,0,0,0,26.76,26.01,26.77,8.48,47.04
$GC,949,-0.90,-63.7,2503,453,2588,2428,90.7,-9.0,104,958,0.00,2.10,0.00,0.000,1030,0.000,0.031,2494,1845,2508,2589,2428,0,0,0,0,0,0,26.22,26.20,26.26,8.48,47.32
$GC,1078,-0.90,-63.7,2493,1845,2588,2428,102.5,-8.6,117,1087,0.00,2.17,0.00,0.000,516,0.000,0.041,2493,452,2508,2588,2428,0,0,0,0,0,0,26.76,26.01,26.77,8.48,48.14
$GC,1164,-0.90,-63.7,2493,452,2588,2428,110.9,-9.7,125,1174,0.10,2.10,0.00,0.000,3078,0.151,0.031,2513,1840,2508,2588,2428,0,0,0,0,0,0,25.77,26.19,25.83,8.49,47.91
$GC,1353,-0.90,-63.7,2512,1840,2588,2428,127.4,-8.7,144,1363,0.00,2.20,0.00,0.000,516,0.000,0.041,2513,447,2508,2588,2428,0,0,0,0,0,0,26.76,25.99,26.77,8.49,47.71
$GC,1456,-0.90,-63.7,2512,447,2588,2428,136.7,-8.8,154,1466,0.00,2.15,0.00,0.000,1030,0.000,0.031,2504,1855,2508,2588,2428,0,0,0,0,0,0,26.27,26.17,26.29,8.49,48.14
$STATE,1595,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1595,begin apogee
$GC,1600,-0.21,0.0,2504,1855,2588,2428,148.1,-8.2,168,1657,0.73,0.00,51.90,0.672,10246,0.122,0.000,2739,1855,2247,2348,2146,0,0,0,0,0,0,25.32,25.04,24.07,8.49,48.14
$STATE,1658,end apogee,CONTROL_FINISHED_OK
$STATE,1658,begin climb
$GC,1660,1.20,63.7,2738,1856,2347,2146,150.2,0.0,174,1719,1.23,0.00,54.28,0.672,10758,0.062,0.000,3187,1855,1986,2124,1849,0,0,0,0,0,0,25.67,24.84,23.94,8.48,47.67
$GC,1897,1.09,63.7,3186,1855,2122,1844,117.8,15.8,198,1907,0.00,2.20,0.00,0.000,516,0.000,0.042,3198,455,1982,2121,1843,0,0,0,0,0,0,26.53,25.89,26.53,8.45,48.30
$GC,1972,0.96,63.7,3197,455,2120,1843,104.8,18.6,205,1981,0.22,2.15,0.00,0.000,5126,0.144,0.031,3130,1841,1982,2121,1843,0,0,0,0,0,0,25.46,26.10,25.56,8.45,47.67
$GC,2161,0.96,63.7,3130,1841,2121,1842,78.5,13.0,224,2165,0.00,2.20,0.00,0.000,516,0.000,0.042,3138,445,1981,2121,1842,0,0,0,0,0,0,26.70,25.99,26.70,8.46,48.46
$GC,2233,0.96,63.7,3137,444,2120,1842,69.1,13.0,231,2243,0.00,2.15,0.00,0.000,1030,0.000,0.031,3137,1847,1981,2120,1842,0,0,0,0,0,0,26.26,26.17,26.29,8.45,48.07
$GC,2364,0.96,63.7,3137,1847,2120,1841,51.9,12.8,244,2373,0.00,2.17,0.00,0.000,260,0.000,0.040,3138,3256,1981,2120,1842,0,0,0,0,0,0,26.74,26.06,26.74,8.46,48.14
$GC,2477,0.96,63.7,3137,3256,2120,1841,36.3,13.7,255,2487,0.00,2.12,0.00,0.000,1030,0.000,0.029,3148,1839,1981,2120,1842,0,0,0,0,0,0,26.29,26.20,26.32,8.45,47.95
$GC,2608,0.96,63.7,3147,1839,2120,1841,20.7,11.1,268,2618,0.00,2.17,0.00,0.000,260,0.000,0.040,3148,3248,1980,2120,1841,0,0,0,0,0,0,26.75,26.08,26.76,8.44,47.67
$GC,2687,0.96,63.7,3147,3248,2120,1841,12.8,8.5,282,2695,0.10,2.12,0.00,0.000,5126,0.146,0.030,3128,1845,1980,2120,1841,0,0,0,0,0,0,25.79,26.20,25.85,8.44,48.14
$GC,2758,1.05,151.6,3127,1845,2120,1841,10.7,0.7,295,2811,0.00,2.22,44.78,0.525,8708,0.000,0.041,3136,446,1627,1754,1500,0,0,0,0,0,0,26.76,24.87,24.39,8.44,47.51
$STATE,3073,end climb,NO_VERTICAL_VELOCITY
$STATE,3073,begin surface
$SM_CCo,3076,139.93,0.491,0,0,498,428.54
$SM_GC,2.33,7.75,2.22,0.00,0.031,0.030,0.000,184,1851,480,-8.06,-1.27,433.45,0,0,0,0,0,0,25.91,25.80,25.95
$IRIDIUM_FIX,4740.06,-12250.84,070218,021145
$TT8_MAMPS,0.026964,0.23968
$HUMID,46.53
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,125.6,32.3
$24V_AH,23.94,68.656
$10V_AH,9.82,46.671
$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,19.050,51.825,150.950,139.925,0.000,0.000,0.000,181.025,2.250,0.000,19.243,888.775,1101.909,397.101,1129.063,98.079,33.442,1022.674,0.000,705.840,0.000,18.022,0.000
$DEVICE_MAMPS,196.605,49.725,672.435,491.130,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,240.784,764.267,465.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312584
$DATA_FILE_SIZE,24603,355
$CAP_FILE_SIZE,58630,0
$CFSIZE,2097872896,2074574848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070218,041134,4738.651,-12253.269,21,0.8,28,16.4,0.2,0.0,10,5.0