version: 66.14
glider: 195
mission: 15
dive: 228
start: 2 8 118 2 53 57
data:
$ID,195
$MISSION,15
$DIVE,228
$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,45
$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
$GPS1,080218,024549,4738.5410,-12252.9639,39,1.0,43,16.4,0.0,0.0,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-73.7
$GPS2,080218,025247,4738.5664,-12252.9561,5,0.9,18,16.4,0.0,0.0,9,4.6
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.064455,-0.160765
$KALMAN_X,17547.066406,454.796570,229.762039,-17961.529297,-281.582336
$KALMAN_Y,3061.265381,359.173004,142.019684,-3654.684082,-168.663467
$MHEAD_RNG_PITCHd_Wd,185.4,415,-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,9,-1.20,-63.7,189,1855,549,474,0.0,0.0,0,18,0.00,0.00,-7.80,0.000,16386,0.000,0.000,188,1855,714,766,663,0,0,0,0,0,0,26.63,28.83,26.65,8.29,47.36
$GC,21,-1.20,-63.7,189,1855,766,663,2.1,0.0,1,101,8.52,2.17,-63.72,0.000,18692,0.194,0.050,2408,3251,2506,2586,2427,0,0,0,0,0,0,24.90,25.63,25.09,8.31,46.85
$GC,206,-1.02,-86.5,2407,3251,2586,2429,18.8,-7.6,33,215,0.22,2.15,-1.48,0.000,19462,0.152,0.030,2474,1827,2604,2673,2535,0,0,0,0,0,0,25.41,26.17,25.53,8.47,46.61
$GC,279,-0.92,-86.5,2474,1827,2674,2535,24.3,-9.3,41,281,0.12,0.00,0.00,0.000,2054,0.163,0.000,2512,1826,2604,2674,2535,0,0,0,0,0,0,26.03,26.17,26.12,8.48,46.69
$GC,399,-0.92,-86.5,2511,1826,2674,2536,35.6,-9.9,53,408,0.00,2.10,0.00,0.000,516,0.000,0.042,2512,463,2605,2674,2536,0,0,0,0,0,0,26.74,25.98,26.74,8.48,47.08
$GC,502,-0.92,-86.5,2511,463,2674,2535,47.1,-11.4,63,506,0.00,2.10,0.00,0.000,1030,0.000,0.032,2504,1843,2604,2674,2535,0,0,0,0,0,0,26.26,26.17,26.29,8.48,46.85
$GC,634,-0.92,-86.5,2503,1844,2674,2535,63.1,-12.0,76,644,0.00,2.17,0.00,0.000,260,0.000,0.041,2493,3246,2605,2674,2536,0,0,0,0,0,0,26.75,26.05,26.77,8.49,47.36
$GC,689,-0.92,-86.5,2493,3246,2675,2535,69.3,-11.7,81,697,0.00,2.12,0.00,0.000,1030,0.000,0.030,2493,1848,2604,2674,2535,0,0,0,0,0,0,26.22,26.19,26.25,8.49,47.40
$GC,817,-0.92,-86.5,2492,1848,2675,2535,84.5,-11.4,94,827,0.00,2.15,0.00,0.000,516,0.000,0.041,2493,454,2605,2675,2535,0,0,0,0,0,0,26.76,26.00,26.77,8.49,48.11
$GC,860,-0.92,-86.5,2492,454,2674,2535,89.9,-12.7,98,870,0.10,2.12,0.00,0.000,3078,0.163,0.031,2511,1847,2605,2674,2536,0,0,0,0,0,0,25.84,26.17,25.96,8.49,47.36
$GC,991,-0.99,-86.5,2511,1847,2674,2536,104.2,-10.8,111,1001,0.00,2.15,0.00,0.000,260,0.000,0.041,2503,3238,2605,2674,2536,0,0,0,0,0,0,26.76,26.03,26.77,8.50,47.91
$GC,1047,-1.05,-86.5,2502,3238,2674,2536,110.5,-11.4,116,1056,0.00,2.08,0.00,0.000,1030,0.000,0.030,2503,1847,2604,2674,2535,0,0,0,0,0,0,26.21,26.17,26.25,8.49,48.18
$GC,1235,-1.10,-86.5,2502,1847,2674,2535,132.1,-11.7,135,1245,0.08,2.17,0.00,0.000,4612,0.102,0.041,2429,458,2604,2674,2535,0,0,0,0,0,0,26.53,25.98,26.54,8.51,47.87
$GC,1289,-1.03,-86.5,2428,458,2674,2536,139.5,-14.1,140,1300,0.17,2.08,0.00,0.000,3078,0.144,0.031,2472,1833,2604,2674,2535,0,0,0,0,0,0,25.60,26.17,25.64,8.51,47.79
$STATE,1407,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1408,begin apogee
$GC,1412,-0.21,0.0,2472,1832,2674,2535,153.8,-11.4,152,1490,0.82,0.00,70.53,0.680,10246,0.122,0.000,2741,1833,2246,2349,2144,0,0,0,0,0,0,25.29,24.95,23.99,8.51,48.62
$STATE,1491,end apogee,CONTROL_FINISHED_OK
$STATE,1491,begin climb
$GC,1493,1.22,86.5,2741,1833,2349,2144,156.5,0.0,160,1579,1.23,2.25,73.93,0.674,10756,0.063,0.040,3199,451,1892,2034,1751,0,0,0,0,0,0,25.56,24.46,23.90,8.48,47.67
$GC,1614,1.09,86.5,3198,451,2033,1750,141.7,18.1,172,1624,0.10,2.12,0.00,0.000,5126,0.156,0.031,3170,1836,1891,2033,1750,0,0,0,0,0,0,25.40,25.77,25.48,8.45,47.00
$GC,1804,1.02,86.5,3170,1836,2030,1748,106.7,18.1,191,1812,0.10,0.00,0.00,0.000,4102,0.168,0.000,3141,1836,1889,2030,1748,0,0,0,0,0,0,26.03,26.13,26.09,8.45,48.11
$GC,1993,1.02,86.5,3141,1836,2030,1747,75.8,16.0,210,2002,0.00,2.20,0.00,0.000,516,0.000,0.041,3149,447,1888,2030,1747,0,0,0,0,0,0,26.69,26.00,26.70,8.45,48.26
$GC,2035,1.02,86.5,3149,446,2030,1747,68.6,16.5,214,2039,0.00,2.15,0.00,0.000,1030,0.000,0.031,3149,1865,1888,2030,1746,0,0,0,0,0,0,26.25,26.15,26.27,8.45,48.26
$GC,2168,1.02,86.5,3149,1865,2030,1746,47.9,14.9,227,2177,0.00,2.15,0.00,0.000,260,0.000,0.040,3149,3253,1888,2030,1746,0,0,0,0,0,0,26.72,26.07,26.73,8.45,48.03
$GC,2192,1.02,86.5,3149,3253,2029,1746,44.3,15.5,229,2201,0.00,2.10,0.00,0.000,1030,0.000,0.030,3160,1842,1888,2030,1746,0,0,0,0,0,0,26.23,26.19,26.26,8.45,47.59
$GC,2320,1.02,86.5,3159,1841,2030,1746,25.3,14.0,242,2330,0.00,2.20,0.00,0.000,516,0.000,0.042,3171,445,1887,2029,1746,0,0,0,0,0,0,26.74,26.03,26.74,8.44,47.55
$GC,2355,0.97,86.5,3170,445,2028,1746,20.5,14.5,245,2367,0.12,2.15,0.00,0.000,5126,0.142,0.031,3133,1839,1887,2029,1746,0,0,0,0,0,0,25.75,26.21,25.82,8.44,47.59
$GC,2491,1.03,153.4,3132,1839,2029,1746,7.3,2.9,270,2531,0.00,2.20,33.17,0.504,8452,0.000,0.037,3133,3254,1619,1746,1493,0,0,0,0,0,0,26.74,24.91,24.46,8.42,47.51
$GC,2560,1.08,196.9,3132,3254,1745,1493,5.3,5.4,281,2588,0.00,2.17,21.55,0.476,9222,0.000,0.030,3140,1830,1442,1554,1330,0,0,0,0,0,0,26.08,26.03,24.44,8.41,47.32
$STATE,2624,end climb,SURFACE_DEPTH_REACHED
$STATE,2624,begin surface coast
$FINISH,3.2,1.019319
$STATE,2751,end surface coast,CONTROL_FINISHED_OK
$STATE,2751,begin surface
$SM_CCo,2754,117.65,0.485,0,0,499,428.54
$SM_GC,1.78,7.80,0.00,0.00,0.034,0.000,0.000,190,1830,482,-8.06,-0.37,432.95,0,0,0,0,0,0,25.89,26.22,25.94
$IRIDIUM_FIX,4738.72,-12249.11,080218,024704
$TT8_MAMPS,0.028462,0.266644
$HUMID,46.69
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.7
$ALTIM_BOTTOM_PING,101.1,62.1
$24V_AH,23.90,69.759
$10V_AH,9.78,47.899
$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,19.400,47.275,199.175,117.650,0.000,0.000,0.000,273.175,0.750,0.000,20.123,787.569,1046.749,413.394,1074.948,98.227,33.438,1088.018,0.000,596.453,0.000,7.218,0.000
$DEVICE_MAMPS,193.545,50.490,680.085,485.010,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.820,682.371,415.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312608
$DATA_FILE_SIZE,21106,317
$CAP_FILE_SIZE,56735,0
$CFSIZE,2097872896,2072313856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080218,034501,4738.290,-12253.149,8,0.9,46,16.3,0.0,0.0,9,4.4