version: 66.14
glider: 195
mission: 15
dive: 240
start: 2 8 118 14 19 29
data:
$ID,195
$MISSION,15
$DIVE,240
$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,52
$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,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
$GPS1,080218,141354,4738.3833,-12253.5068,6,0.9,18,16.4,0.6,68.5,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.4
$GPS2,080218,141818,4738.4165,-12253.3945,6,0.9,21,16.4,0.6,71.1,8,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.164302,-0.054815
$KALMAN_X,21295.117188,-204.981644,423.495911,-21789.902344,552.984131
$KALMAN_Y,4138.334473,-229.802719,394.795013,-4674.186035,121.103073
$MHEAD_RNG_PITCHd_Wd,235.2,228,-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,-63.7,184,1835,552,475,0.0,0.0,0,36,0.00,0.00,-26.15,0.000,16386,0.000,0.000,184,1835,1198,1277,1120,0,0,0,0,0,0,26.63,28.83,26.63,8.29,46.85
$GC,39,-1.20,-63.7,184,1835,1277,1121,2.4,-3.5,4,99,8.45,0.00,-44.47,0.000,18950,0.192,0.000,2419,1835,2507,2589,2425,0,0,0,0,0,0,25.01,25.69,25.20,8.36,47.20
$GC,163,-1.06,-82.7,2419,1835,2589,2426,10.6,-8.0,25,172,0.15,2.17,-1.62,0.000,18948,0.168,0.052,2467,452,2587,2660,2515,0,0,0,0,0,0,25.84,25.56,25.90,8.48,46.53
$GC,261,-0.94,-82.7,2467,452,2660,2516,19.5,-11.0,43,269,0.15,2.15,0.00,0.000,3078,0.148,0.031,2502,1846,2587,2660,2515,0,0,0,0,0,0,25.66,26.20,25.90,8.49,47.51
$GC,328,-0.94,-82.7,2502,1846,2660,2516,26.2,-9.9,50,338,0.00,2.15,0.00,0.000,260,0.000,0.040,2495,3243,2588,2660,2516,0,0,0,0,0,0,26.72,26.08,26.72,8.48,47.12
$GC,371,-0.94,-82.7,2494,3242,2660,2516,30.9,-10.9,54,380,0.00,2.10,0.00,0.000,1030,0.000,0.029,2494,1841,2588,2660,2516,0,0,0,0,0,0,26.29,26.20,26.32,8.48,46.92
$GC,501,-0.94,-82.7,2494,1841,2660,2516,45.5,-11.5,67,510,0.00,2.17,0.00,0.000,260,0.000,0.041,2484,3247,2588,2660,2516,0,0,0,0,0,0,26.74,26.10,26.74,8.48,46.69
$GC,605,-0.94,-82.7,2483,3247,2660,2516,58.8,-13.1,77,609,0.00,2.10,0.00,0.000,1030,0.000,0.030,2484,1842,2588,2660,2516,0,0,0,0,0,0,26.30,26.22,26.34,8.48,47.40
$GC,737,-0.94,-82.7,2483,1841,2660,2516,76.3,-13.6,90,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1842,2588,2660,2516,0,0,0,0,0,0,26.75,26.76,26.76,8.49,47.48
$GC,857,-0.94,-82.7,2483,1842,2660,2516,91.4,-12.8,102,866,0.00,2.17,0.00,0.000,260,0.000,0.041,2473,3244,2588,2660,2516,0,0,0,0,0,0,26.75,26.10,26.76,8.49,47.79
$GC,881,-0.94,-82.7,2473,3244,2660,2516,94.3,-13.2,104,890,0.10,2.12,0.00,0.000,3078,0.138,0.029,2504,1837,2588,2660,2516,0,0,0,0,0,0,25.85,26.22,25.91,8.49,47.71
$GC,1010,-0.94,-82.7,2503,1836,2660,2516,108.8,-11.3,117,1019,0.00,2.17,0.00,0.000,516,0.000,0.042,2504,454,2588,2660,2516,0,0,0,0,0,0,26.75,26.03,26.76,8.50,47.91
$GC,1066,-0.94,-82.7,2503,454,2660,2515,115.4,-12.0,122,1075,0.00,2.10,0.00,0.000,1030,0.000,0.031,2495,1845,2587,2660,2515,0,0,0,0,0,0,26.24,26.20,26.27,8.50,48.74
$GC,1256,-0.94,-82.7,2494,1845,2660,2516,137.1,-11.2,141,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1845,2588,2660,2516,0,0,0,0,0,0,26.75,26.77,26.76,8.51,48.14
$GC,1435,-0.94,-82.7,2494,1845,2660,2515,156.9,-10.9,159,1445,0.00,2.17,0.00,0.000,260,0.000,0.040,2484,3247,2587,2660,2515,0,0,0,0,0,0,26.76,26.08,26.77,8.51,48.22
$STATE,1466,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1466,begin apogee
$GC,1474,-0.21,0.0,2484,1835,2660,2516,160.6,-11.2,162,1548,0.77,0.00,67.43,0.682,10246,0.122,0.000,2737,1835,2246,2348,2145,0,0,0,0,0,0,25.41,24.58,24.00,8.51,48.74
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1551,1.22,82.7,2736,1835,2348,2145,163.9,0.0,170,1630,1.25,2.28,70.50,0.682,10756,0.064,0.041,3200,454,1907,2050,1765,0,0,0,0,0,0,25.59,24.91,23.92,8.48,47.28
$GC,1653,1.09,82.7,3199,454,2049,1764,153.4,14.5,180,1664,0.12,2.15,0.00,0.000,5126,0.160,0.030,3165,1838,1906,2048,1764,0,0,0,0,0,0,25.34,25.71,25.51,8.46,46.88
$GC,1844,1.01,82.7,3165,1838,2046,1762,120.0,17.6,199,1848,0.00,2.20,0.00,0.000,260,0.000,0.039,3165,3256,1904,2047,1762,0,0,0,0,0,0,26.56,25.99,26.58,8.46,48.14
$GC,1890,0.93,82.7,3165,3258,2045,1762,112.1,18.5,203,1898,0.17,2.15,0.00,0.000,5126,0.143,0.031,3112,1853,1904,2046,1762,0,0,0,0,0,0,25.53,26.13,25.74,8.45,47.75
$GC,2078,0.93,82.7,3111,1853,2045,1759,84.4,14.3,222,2081,0.00,2.20,0.00,0.000,516,0.000,0.042,3120,449,1902,2045,1759,0,0,0,0,0,0,26.70,26.03,26.70,8.45,47.99
$GC,2181,0.93,82.7,3119,449,2044,1758,69.6,14.4,232,2190,0.00,2.10,0.00,0.000,1030,0.000,0.031,3120,1838,1901,2044,1758,0,0,0,0,0,0,26.25,26.21,26.29,8.45,47.95
$GC,2310,0.93,82.7,3119,1838,2044,1759,51.1,14.0,245,2320,0.00,2.20,0.00,0.000,260,0.000,0.040,3120,3254,1901,2044,1758,0,0,0,0,0,0,26.73,26.10,26.74,8.45,47.67
$GC,2353,0.93,82.7,3119,3253,2044,1758,45.2,13.6,249,2363,0.00,2.12,0.00,0.000,1030,0.000,0.030,3130,1838,1901,2044,1758,0,0,0,0,0,0,26.30,26.22,26.34,8.45,47.51
$GC,2484,0.93,82.7,3130,1838,2044,1758,27.7,13.0,262,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1838,1901,2044,1758,0,0,0,0,0,0,26.74,26.75,26.75,8.44,47.95
$GC,2606,0.93,82.7,3129,1838,2044,1758,12.3,12.8,279,2613,0.00,2.22,0.00,0.000,516,0.000,0.043,3141,450,1901,2044,1758,0,0,0,0,0,0,26.75,26.05,26.76,8.44,47.83
$GC,2692,1.14,202.2,3140,450,2044,1758,5.0,-2.6,295,2759,0.03,2.15,59.75,0.504,11270,0.132,0.030,3207,1854,1420,1532,1309,0,0,0,0,0,0,26.14,26.24,24.38,8.43,48.46
$GC,2823,1.28,287.0,3206,1853,1529,1305,4.6,1.0,317,2877,0.00,2.20,42.70,0.491,8452,0.000,0.037,3207,3243,1074,1182,967,0,0,0,0,0,0,26.45,25.20,24.38,8.38,46.69
$GC,2890,1.34,352.6,3206,3243,1182,966,3.6,3.1,327,2913,0.00,2.15,17.20,0.461,9218,0.000,0.029,3217,1851,932,1044,821,0,0,0,0,0,0,25.91,25.89,25.94,8.35,47.16
$STATE,2914,end climb,SURFACE_DEPTH_REACHED
$STATE,2914,begin surface coast
$FINISH,0.8,1.018453
$STATE,2985,end surface coast,CONTROL_FINISHED_OK
$STATE,2985,begin surface
$SM_CCo,3001,49.00,0.057,0,0,533,420.20
$SM_GC,2.05,8.02,0.00,49.00,0.038,0.000,0.057,190,1851,533,-8.05,0.23,420.20,0,0,0,0,0,0,26.09,26.45,25.83
$IRIDIUM_FIX,4735.06,-12250.06,080218,131823
$TT8_MAMPS,0.026964,0.24717
$HUMID,46.18
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,17.8
$ALTIM_BOTTOM_PING,130.3,39.3
$24V_AH,23.92,70.458
$10V_AH,9.82,48.479
$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,19.225,51.900,257.575,49.000,0.000,0.000,0.000,178.050,2.250,0.000,22.993,839.938,973.241,368.743,1057.678,103.337,33.439,991.911,0.000,654.360,0.000,16.785,0.000
$DEVICE_MAMPS,192.015,52.020,681.615,57.375,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.437,740.515,450.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312588
$DATA_FILE_SIZE,24512,344
$CAP_FILE_SIZE,59087,0
$CFSIZE,2097872896,2071134208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080218,151131,4738.339,-12253.667,5,0.8,30,16.4,0.5,73.0,10,4.6