version: 66.14
glider: 195
mission: 15
dive: 207
start: 2 7 118 5 13 15
data:
$ID,195
$MISSION,15
$DIVE,207
$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,47
$R_STBD_OVSHOOT,36
$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
$GPS1,070218,050742,4738.3652,-12253.1895,4,1.0,14,16.4,0.2,21.0,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-71.7
$GPS2,070218,051204,4738.3745,-12253.1426,9,1.0,16,16.4,0.0,0.0,8,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.169064,0.037648
$KALMAN_X,13770.933594,509.480499,-412.927948,-13834.141602,310.887268
$KALMAN_Y,2558.378174,273.933350,-362.389191,-2923.140869,6.208405
$MHEAD_RNG_PITCHd_Wd,266.2,124,-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,-63.7,183,1840,508,444,0.0,0.0,0,36,0.00,0.00,-26.12,0.000,16386,0.000,0.000,182,1840,1158,1218,1099,0,0,0,0,0,0,26.61,28.83,26.62,8.28,47.04
$GC,39,-1.20,-63.7,183,1840,1218,1100,2.4,-3.3,4,100,8.55,2.25,-46.65,0.000,18948,0.196,0.052,2416,448,2508,2589,2427,0,0,0,0,0,0,24.96,23.92,25.16,8.35,47.79
$GC,453,-1.01,-63.7,2415,448,2589,2428,46.6,-11.9,59,463,0.22,2.12,0.00,0.000,3078,0.151,0.031,2475,1853,2509,2590,2429,0,0,0,0,0,0,25.48,26.20,25.58,8.48,47.32
$GC,583,-1.01,-63.7,2474,1853,2590,2428,59.1,-10.0,72,592,0.00,2.12,0.00,0.000,260,0.000,0.041,2466,3246,2509,2590,2428,0,0,0,0,0,0,26.74,26.08,26.76,8.48,47.32
$GC,716,-1.01,-63.7,2465,3246,2590,2429,74.5,-11.3,85,726,0.00,2.12,0.00,0.000,1030,0.000,0.029,2466,1827,2509,2591,2428,0,0,0,0,0,0,26.29,26.20,26.32,8.49,47.67
$GC,847,-1.01,-63.7,2465,1827,2589,2428,89.2,-11.3,98,856,0.00,2.15,0.00,0.000,516,0.000,0.041,2466,451,2509,2590,2429,0,0,0,0,0,0,26.76,26.03,26.77,8.49,48.18
$GC,880,-0.96,-63.7,2465,451,2590,2428,93.2,-12.0,101,890,0.12,2.12,0.00,0.000,3078,0.148,0.031,2493,1847,2509,2590,2428,0,0,0,0,0,0,25.72,26.20,25.79,8.49,48.18
$GC,1010,-0.96,-63.7,2492,1847,2590,2428,106.5,-9.5,114,1020,0.00,2.17,0.00,0.000,516,0.000,0.041,2493,456,2509,2590,2428,0,0,0,0,0,0,26.75,26.02,26.76,8.49,48.30
$GC,1098,-0.96,-63.7,2492,455,2590,2428,116.1,-10.9,122,1107,0.00,2.12,0.00,0.000,1030,0.000,0.031,2485,1834,2509,2590,2428,0,0,0,0,0,0,26.22,26.20,26.26,8.49,47.71
$GC,1290,-0.96,-63.7,2484,1835,2590,2428,135.4,-10.2,141,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1835,2509,2590,2428,0,0,0,0,0,0,26.73,26.74,26.73,8.51,48.50
$GC,1476,-0.96,-63.7,2484,1835,2590,2428,153.5,-9.3,160,1486,0.00,2.20,0.00,0.000,260,0.000,0.040,2474,3251,2509,2590,2429,0,0,0,0,0,0,26.77,26.05,26.77,8.50,48.93
$GC,1591,-0.96,-63.7,2473,3252,2590,2428,164.9,-10.1,171,1601,0.00,2.10,0.00,0.000,1030,0.000,0.029,2474,1835,2509,2590,2428,0,0,0,0,0,0,26.22,26.20,26.24,8.51,48.14
$STATE,1609,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1609,begin apogee
$GC,1613,-0.21,0.0,2473,1835,2590,2428,165.8,-7.5,173,1671,0.77,0.00,49.83,0.685,10246,0.102,0.000,2739,1835,2246,2348,2145,0,0,0,0,0,0,25.54,24.63,24.05,8.51,48.93
$STATE,1672,end apogee,CONTROL_FINISHED_OK
$STATE,1672,begin climb
$GC,1674,1.20,63.7,2739,1835,2349,2145,165.7,0.0,179,1733,1.27,0.00,54.85,0.679,10246,0.086,0.000,3179,1835,1986,2125,1848,0,0,0,0,0,0,25.53,24.83,23.91,8.49,47.91
$GC,1911,1.10,63.7,3178,1835,2124,1848,138.4,16.9,203,1920,0.00,2.20,0.00,0.000,260,0.000,0.039,3179,3253,1985,2124,1847,0,0,0,0,0,0,26.53,25.94,26.53,8.46,47.36
$GC,1956,0.99,63.7,3179,3253,2124,1847,131.1,16.7,207,1964,0.17,2.15,0.00,0.000,5126,0.142,0.030,3137,1847,1985,2124,1847,0,0,0,0,0,0,25.52,26.07,25.62,8.46,47.59
$GC,2144,0.99,63.7,3136,1847,2124,1846,103.6,13.6,226,2153,0.00,2.17,0.00,0.000,516,0.000,0.042,3146,455,1984,2123,1845,0,0,0,0,0,0,26.68,26.00,26.70,8.46,47.87
$GC,2238,0.93,63.7,3145,455,2122,1845,90.3,14.1,235,2249,0.10,2.10,0.00,0.000,5126,0.149,0.031,3116,1839,1983,2122,1845,0,0,0,0,0,0,25.79,26.19,25.86,8.46,48.22
$GC,2368,0.93,63.7,3115,1839,2122,1845,73.7,12.2,248,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1839,1984,2123,1845,0,0,0,0,0,0,26.73,26.74,26.74,8.45,47.79
$GC,2488,0.93,63.7,3116,1839,2122,1845,59.1,12.4,260,2497,0.00,2.20,0.00,0.000,260,0.000,0.040,3116,3256,1983,2122,1845,0,0,0,0,0,0,26.74,26.07,26.75,8.46,47.91
$GC,2531,0.93,63.7,3116,3256,2122,1844,54.2,11.5,264,2540,0.00,2.12,0.00,0.000,1030,0.000,0.029,3124,1841,1983,2122,1845,0,0,0,0,0,0,26.29,26.20,26.32,8.46,48.07
$GC,2661,0.93,63.7,3123,1841,2122,1844,39.0,10.9,277,2670,0.00,2.17,0.00,0.000,260,0.000,0.040,3124,3250,1984,2123,1845,0,0,0,0,0,0,26.75,26.08,26.76,8.46,47.87
$GC,2716,0.93,63.7,3123,3250,2122,1845,33.0,11.2,282,2724,0.00,2.15,0.00,0.000,1030,0.000,0.030,3134,1835,1984,2123,1845,0,0,0,0,0,0,26.23,26.20,26.27,8.46,47.79
$GC,2844,0.93,63.7,3134,1834,2122,1845,20.1,9.6,295,2855,0.00,2.20,0.00,0.000,260,0.000,0.039,3134,3253,1983,2122,1845,0,0,0,0,0,0,26.75,26.08,26.77,8.45,47.59
$GC,2999,1.01,143.3,3134,3253,2123,1844,10.3,1.6,324,3047,0.00,2.12,40.90,0.522,9222,0.000,0.029,3144,1850,1660,1791,1529,0,0,0,0,0,0,26.26,26.22,24.39,8.45,47.63
$GC,3112,1.06,194.5,3143,1850,1789,1528,5.7,4.6,343,3146,0.00,2.25,25.35,0.482,8708,0.000,0.042,3155,454,1451,1566,1337,0,0,0,0,0,0,26.51,25.27,24.43,8.42,46.65
$STATE,3207,end climb,SURFACE_DEPTH_REACHED
$STATE,3207,begin surface coast
$FINISH,2.6,1.019997
$STATE,3329,end surface coast,CONTROL_FINISHED_OK
$STATE,3329,begin surface
$SM_CCo,3348,107.00,0.054,0,0,531,420.20
$SM_GC,2.10,8.12,2.20,107.00,0.055,0.030,0.054,183,1862,531,-8.08,-0.93,420.20,0,0,0,0,0,0,26.17,26.12,25.84
$IRIDIUM_FIX,4738.72,-12249.11,070218,041250
$TT8_MAMPS,0.026964,0.265895
$HUMID,45.70
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.1
$ALTIM_BOTTOM_PING,140.2,35.0
$24V_AH,23.91,68.750
$10V_AH,9.78,46.777
$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,19.350,47.550,170.925,107.000,0.000,0.000,0.000,183.625,3.000,0.000,17.925,952.923,1113.006,386.878,1191.195,103.223,33.436,1030.583,0.000,745.962,0.000,23.818,0.000
$DEVICE_MAMPS,195.840,52.020,684.675,53.550,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.671,826.649,503.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312580
$DATA_FILE_SIZE,27964,384
$CAP_FILE_SIZE,59819,0
$CFSIZE,2097872896,2074378240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070218,061224,4738.407,-12253.462,37,1.2,52,16.4,0.2,0.0,8,5.0