version: 66.14
glider: 195
mission: 15
dive: 230
start: 2 8 118 4 59 24
data:
$ID,195
$MISSION,15
$DIVE,230
$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,46
$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,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
$GPS1,080218,045340,4738.5220,-12253.1045,8,0.9,18,16.4,0.0,139.5,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.9
$GPS2,080218,045813,4738.5386,-12253.0850,6,0.9,24,16.4,0.0,93.6,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.084913,-0.150963
$KALMAN_X,18110.867188,277.664093,-263.132904,-18019.068359,-55.973740
$KALMAN_Y,3368.678223,277.532227,-162.332932,-3627.362549,-35.644333
$MHEAD_RNG_PITCHd_Wd,193.0,267,-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,-63.7,189,1855,505,436,0.0,0.0,0,37,0.00,0.00,-26.25,0.000,16386,0.000,0.000,189,1855,1143,1231,1056,0,0,0,0,0,0,26.63,28.83,26.64,8.29,47.32
$GC,40,-1.20,-63.7,189,1855,1231,1057,2.0,-1.8,4,106,8.27,0.00,-50.85,0.000,18950,0.186,0.000,2412,1855,2507,2586,2428,0,0,0,0,0,0,25.00,25.69,25.18,8.35,47.24
$GC,171,-1.02,-63.7,2411,1855,2587,2429,15.8,-16.0,26,179,0.20,2.17,0.00,0.000,2308,0.164,0.039,2466,3253,2508,2587,2429,0,0,0,0,0,0,25.66,25.82,25.75,8.48,46.57
$GC,329,-0.95,-95.9,2466,3253,2587,2429,29.1,-6.6,44,340,0.12,2.12,-1.70,0.000,19462,0.158,0.030,2502,1823,2642,2710,2575,0,0,0,0,0,0,25.77,26.19,25.92,8.47,47.08
$GC,459,-0.95,-95.9,2502,1823,2710,2576,42.6,-11.9,57,468,0.00,2.15,0.00,0.000,516,0.000,0.042,2502,457,2643,2710,2576,0,0,0,0,0,0,26.74,26.01,26.74,8.48,47.87
$GC,534,-0.95,-95.9,2502,457,2710,2576,52.4,-13.6,64,542,0.00,2.15,0.00,0.000,1030,0.000,0.032,2494,1843,2643,2710,2576,0,0,0,0,0,0,26.24,26.17,26.25,8.48,47.63
$GC,662,-0.95,-95.9,2493,1843,2710,2576,69.9,-13.3,77,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1843,2643,2710,2576,0,0,0,0,0,0,26.75,26.76,26.76,8.50,47.75
$GC,783,-0.95,-95.9,2493,1843,2709,2575,85.5,-13.3,89,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1843,2642,2709,2576,0,0,0,0,0,0,26.76,26.77,26.77,8.49,47.75
$GC,904,-0.95,-95.9,2493,1843,2709,2576,100.6,-12.3,101,908,0.00,2.20,0.00,0.000,260,0.000,0.041,2483,3256,2642,2709,2576,0,0,0,0,0,0,26.73,26.05,26.74,8.50,48.07
$GC,938,-0.95,-95.9,2483,3257,2710,2575,105.0,-12.5,104,947,0.00,2.10,0.00,0.000,1030,0.000,0.030,2483,1850,2643,2710,2576,0,0,0,0,0,0,26.22,26.18,26.25,8.50,48.74
$GC,1127,-0.95,-95.9,2482,1850,2709,2575,129.4,-13.4,123,1137,0.00,2.20,0.00,0.000,516,0.000,0.042,2483,452,2642,2709,2575,0,0,0,0,0,0,26.76,25.99,26.77,8.50,47.87
$GC,1182,-0.95,-95.9,2482,452,2710,2575,137.0,-14.0,128,1191,0.10,2.15,0.00,0.000,3078,0.144,0.031,2503,1842,2642,2710,2575,0,0,0,0,0,0,25.78,26.17,25.84,8.51,48.22
$STATE,1370,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1370,begin apogee
$GC,1375,-0.21,0.0,2503,1842,2709,2575,158.9,-11.3,147,1461,0.70,0.00,77.22,0.681,10246,0.116,0.000,2737,1842,2246,2351,2142,0,0,0,0,0,0,25.39,24.52,23.99,8.51,48.38
$STATE,1462,end apogee,CONTROL_FINISHED_OK
$STATE,1462,begin climb
$GC,1464,1.23,95.9,2736,1843,2350,2142,162.1,0.0,156,1554,1.27,2.30,82.03,0.672,10756,0.063,0.041,3208,454,1854,1996,1713,0,0,0,0,0,0,25.55,24.87,23.89,8.48,47.83
$GC,1586,1.10,95.9,3208,454,1994,1712,148.2,17.3,168,1594,0.12,2.20,0.00,0.000,5126,0.150,0.031,3173,1844,1853,1994,1712,0,0,0,0,0,0,25.32,25.72,25.41,8.45,46.88
$GC,1776,1.02,95.9,3172,1844,1991,1709,112.2,19.1,187,1783,0.10,0.00,0.00,0.000,4102,0.170,0.000,3144,1844,1850,1992,1709,0,0,0,0,0,0,26.01,26.13,26.08,8.45,47.44
$GC,1964,1.02,95.9,3144,1844,1991,1707,80.1,16.5,206,1974,0.00,2.20,0.00,0.000,516,0.000,0.041,3152,451,1849,1991,1707,0,0,0,0,0,0,26.68,26.01,26.69,8.45,47.44
$GC,2029,1.02,95.9,3152,451,1991,1706,69.3,17.6,212,2037,0.00,2.15,0.00,0.000,1030,0.000,0.031,3152,1840,1848,1991,1706,0,0,0,0,0,0,26.22,26.18,26.25,8.45,47.32
$GC,2157,1.02,95.9,3152,1840,1991,1706,47.8,16.2,225,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1841,1848,1991,1706,0,0,0,0,0,0,26.72,26.74,26.73,8.44,47.83
$GC,2277,1.02,95.9,3152,1841,1991,1706,28.9,15.1,237,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1841,1848,1991,1706,0,0,0,0,0,0,26.74,26.74,26.75,8.44,47.51
$GC,2399,1.02,95.9,3151,1841,1991,1705,12.0,11.4,254,2407,0.00,2.22,0.00,0.000,260,0.000,0.040,3152,3260,1847,1990,1705,0,0,0,0,0,0,26.74,26.08,26.75,8.43,47.79
$GC,2434,1.02,95.9,3152,3259,1991,1705,8.8,8.7,260,2442,0.00,2.15,0.00,0.000,1030,0.000,0.030,3162,1843,1848,1991,1705,0,0,0,0,0,0,26.25,26.20,26.27,8.43,47.63
$GC,2504,1.11,180.7,3162,1842,1990,1705,5.9,1.1,273,2552,0.00,2.28,41.72,0.500,8708,0.000,0.042,3173,452,1508,1628,1388,0,0,0,0,0,0,26.74,25.28,24.46,8.42,47.71
$GC,2631,1.20,272.5,3172,452,1625,1386,4.2,0.3,295,2684,0.00,2.17,45.53,0.486,9222,0.000,0.030,3173,1861,1133,1235,1032,0,0,0,0,0,0,26.10,26.07,24.41,8.40,46.73
$STATE,2690,end climb,SURFACE_DEPTH_REACHED
$STATE,2690,begin surface coast
$FINISH,2.0,1.017215
$STATE,2762,end surface coast,CONTROL_FINISHED_OK
$STATE,2762,begin surface
$SM_CCo,2778,70.30,0.054,0,0,532,420.20
$SM_GC,2.33,8.07,0.00,70.30,0.048,0.000,0.054,189,1862,532,-8.07,0.51,420.20,0,0,0,0,0,0,26.07,26.47,25.82
$IRIDIUM_FIX,4736.40,-12251.79,080218,034624
$TT8_MAMPS,0.026964,0.267393
$HUMID,46.37
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,17.7
$ALTIM_BOTTOM_PING,120.3,47.5
$24V_AH,23.89,69.859
$10V_AH,9.76,48.009
$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,18.975,34.925,246.500,70.300,0.000,0.000,0.000,184.025,1.750,0.000,26.516,769.819,919.544,376.555,987.702,94.918,33.438,954.015,0.000,593.034,0.000,13.598,0.000
$DEVICE_MAMPS,185.895,42.075,680.850,54.315,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.096,684.564,416.551,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21047,318
$CAP_FILE_SIZE,51320,0
$CFSIZE,2097872896,2072117248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080218,054801,4738.257,-12253.336,8,1.0,27,16.4,0.0,120.3,9,4.3