version: 66.14
glider: 195
mission: 15
dive: 36
start: 2 2 118 6 26 10
data:
$ID,195
$MISSION,15
$DIVE,36
$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,1
$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,42
$R_STBD_OVSHOOT,46
$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,15
$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
$GPS1,020218,062020,4738.6118,-12252.4482,2,1.0,21,16.3,0.6,67.9,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.4
$GPS2,020218,062500,4738.6455,-12252.3428,9,1.0,23,16.3,0.6,63.1,9,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.300501,-0.111887
$KALMAN_X,2427.602783,460.097351,-79.451416,-1635.272217,163.639771
$KALMAN_Y,1361.718872,530.407715,-61.646622,-1188.114258,-140.365723
$MHEAD_RNG_PITCHd_Wd,233.3,4782,-13.1,-10.000,-17.32,3645
$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,-0.79,-244.4,189,1849,522,433,0.0,0.0,0,37,0.00,0.00,-26.35,0.000,16386,0.000,0.000,189,1849,1165,1235,1095,0,0,0,0,0,0,26.60,28.83,26.62,8.29,47.20
$GC,40,-0.79,-244.4,189,1849,1235,1098,2.3,-3.4,4,119,9.05,0.00,-61.83,0.000,18694,0.198,0.000,2588,1849,3244,3318,3171,0,0,0,0,0,0,25.18,25.64,25.58,8.35,47.00
$GC,183,-0.72,-244.4,2587,1849,3318,3171,16.9,-12.7,28,191,0.10,2.22,0.00,0.000,2564,0.145,0.042,2626,446,3244,3318,3171,0,0,0,0,0,0,26.18,26.01,26.20,8.53,46.53
$GC,261,-0.72,-244.4,2625,447,3318,3171,25.8,-10.8,37,271,0.00,2.12,0.00,0.000,1030,0.000,0.034,2620,1838,3244,3318,3171,0,0,0,0,0,0,26.21,26.17,26.25,8.53,46.33
$GC,390,-0.72,-244.4,2619,1838,3318,3171,38.8,-10.1,50,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1838,3244,3318,3171,0,0,0,0,0,0,26.72,26.74,26.74,8.53,47.71
$GC,510,-0.72,-244.4,2620,1838,3319,3171,50.9,-9.9,62,514,0.00,2.22,0.00,0.000,260,0.000,0.043,2610,3257,3244,3318,3171,0,0,0,0,0,0,26.74,26.08,26.75,8.54,47.12
$GC,573,-0.72,-244.4,2609,3258,3319,3171,57.0,-9.8,68,583,0.00,2.15,0.00,0.000,1030,0.000,0.031,2610,1830,3244,3318,3171,0,0,0,0,0,0,26.31,26.22,26.34,8.53,47.28
$GC,703,-0.72,-244.4,2609,1830,3318,3171,70.1,-10.1,81,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1830,3244,3318,3171,0,0,0,0,0,0,26.76,26.77,26.77,8.54,48.34
$GC,823,-0.72,-244.4,2609,1830,3318,3171,81.6,-9.1,93,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1830,3244,3318,3171,0,0,0,0,0,0,26.76,26.77,26.77,8.54,48.14
$GC,943,-0.72,-244.4,2609,1830,3318,3171,92.9,-9.2,105,953,0.00,2.25,0.00,0.000,260,0.000,0.044,2602,3259,3244,3318,3171,0,0,0,0,0,0,26.77,26.07,26.77,8.55,48.42
$GC,976,-0.72,-244.4,2601,3259,3318,3171,95.9,-8.8,108,985,0.00,2.15,0.00,0.000,1030,0.000,0.031,2601,1834,3244,3318,3171,0,0,0,0,0,0,26.31,26.21,26.34,8.55,47.75
$GC,1106,-0.72,-244.4,2601,1834,3318,3171,108.3,-10.0,121,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1834,3244,3318,3171,0,0,0,0,0,0,26.77,26.78,26.78,8.55,48.11
$GC,1286,-0.72,-244.4,2601,1833,3318,3171,126.1,-9.7,139,1296,0.00,2.22,0.00,0.000,260,0.000,0.043,2596,3249,3244,3318,3171,0,0,0,0,0,0,26.77,26.06,26.78,8.56,48.18
$GC,1322,-0.72,-244.4,2595,3249,3318,3171,129.5,-10.1,142,1330,0.00,2.15,0.00,0.000,1030,0.000,0.031,2595,1846,3244,3318,3171,0,0,0,0,0,0,26.24,26.20,26.27,8.56,48.38
$STATE,1348,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1348,begin apogee
$GC,1352,-0.21,0.0,2596,1846,3318,3171,133.4,-12.2,145,1550,0.50,0.00,189.35,0.664,10246,0.087,0.000,2779,1846,2246,2380,2112,0,0,0,0,0,0,25.84,24.67,24.16,8.56,47.99
$STATE,1551,end apogee,CONTROL_FINISHED_OK
$STATE,1551,begin climb
$GC,1553,0.79,244.4,2779,1846,2380,2111,141.5,0.0,165,1762,0.82,2.25,198.75,0.646,11012,0.053,0.037,3094,3252,1248,1366,1131,0,0,0,0,0,0,25.44,24.62,24.12,8.48,46.41
$GC,1787,0.61,244.4,3093,3252,1365,1130,111.2,19.4,188,1797,0.15,2.17,0.00,0.000,5126,0.132,0.032,3050,1843,1247,1365,1130,0,0,0,0,0,0,25.34,25.59,25.43,8.40,45.47
$GC,1978,0.51,244.4,3049,1842,1365,1128,83.5,13.8,207,1988,0.10,2.20,0.00,0.000,4612,0.142,0.042,3020,454,1246,1365,1128,0,0,0,0,0,0,26.03,25.97,26.07,8.39,47.55
$GC,2095,0.51,244.4,3019,454,1364,1126,69.9,10.9,218,2102,0.00,2.17,0.00,0.000,1030,0.000,0.034,3020,1846,1245,1364,1126,0,0,0,0,0,0,26.20,26.16,26.22,8.39,47.48
$GC,2223,0.51,244.4,3019,1847,1365,1126,55.0,11.0,231,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1847,1245,1365,1126,0,0,0,0,0,0,26.66,26.67,26.67,8.39,46.92
$GC,2343,0.51,244.4,3019,1847,1364,1126,41.4,11.3,243,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1847,1245,1365,1126,0,0,0,0,0,0,26.70,26.72,26.71,8.38,47.36
$GC,2462,0.51,244.4,3019,1847,1365,1126,28.0,11.1,255,2472,0.00,2.22,0.00,0.000,516,0.000,0.044,3028,446,1245,1364,1126,0,0,0,0,0,0,26.72,26.08,26.73,8.38,47.24
$GC,2507,0.51,244.4,3027,446,1365,1126,23.2,11.6,259,2515,0.00,2.17,0.00,0.000,1030,0.000,0.032,3028,1853,1245,1365,1125,0,0,0,0,0,0,26.29,26.23,26.32,8.38,48.03
$GC,2637,0.51,244.4,3027,1853,1364,1125,9.6,9.7,282,2644,0.00,2.25,0.00,0.000,516,0.000,0.045,3030,454,1244,1364,1125,0,0,0,0,0,0,26.74,26.08,26.75,8.37,47.40
$STATE,2971,end climb,NO_VERTICAL_VELOCITY
$STATE,2971,begin surface
$SM_CCo,2974,91.10,0.492,0,0,498,428.54
$SM_GC,1.89,7.40,2.25,0.00,0.029,0.034,0.000,192,1846,487,-8.18,-0.93,431.73,0,0,0,0,0,0,25.96,25.82,26.00
$IRIDIUM_FIX,4739.20,-12253.53,020218,052359
$TT8_MAMPS,0.026215,0.266644
$HUMID,46.73
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,75.1,73.0
$24V_AH,24.12,60.286
$10V_AH,9.85,40.306
$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,18.125,35.200,388.100,91.100,0.000,0.000,0.000,194.825,0.750,0.000,25.162,808.534,992.622,502.579,1084.924,91.599,33.437,1149.887,0.000,662.566,0.000,7.257,0.000
$DEVICE_MAMPS,198.135,45.135,664.020,491.895,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.050,749.191,455.622,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312084
$DATA_FILE_SIZE,24509,348
$CAP_FILE_SIZE,52349,0
$CFSIZE,2097872896,2091253760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020218,072020,4738.695,-12252.629,1,1.0,37,16.3,0.5,59.8,8,3.2