version: 66.14
glider: 195
mission: 15
dive: 351
start: 2 13 118 6 27 36
data:
$ID,195
$MISSION,15
$DIVE,351
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,44
$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
$GPS1,130218,062320,4738.3228,-12253.3955,4,0.9,16,16.4,0.0,0.0,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.9
$GPS2,130218,062655,4738.3091,-12253.3809,5,0.9,18,16.4,0.0,0.0,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.289812,-0.137217
$KALMAN_X,24982.394531,32.228821,-582.533447,-24351.066406,911.770996
$KALMAN_Y,5615.479492,-3.337315,-424.696045,-5543.971191,423.217987
$MHEAD_RNG_PITCHd_Wd,24.0,298,-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,-63.7,172,1848,534,440,0.0,0.0,0,46,0.00,0.00,-34.80,0.000,16386,0.000,0.000,172,1848,1351,1405,1298,0,0,0,0,0,0,26.63,28.83,26.64,8.30,47.63
$GC,49,-1.28,-145.2,172,1848,1405,1300,2.2,-1.4,5,119,8.40,2.25,-50.67,0.000,18948,0.194,0.049,2391,444,2842,2921,2763,0,0,0,0,0,0,25.11,24.01,25.30,8.38,47.48
$GC,257,-1.14,-145.2,2391,444,2921,2763,44.3,-24.7,32,262,0.20,2.15,0.00,0.000,3078,0.155,0.031,2442,1853,2842,2921,2763,0,0,0,0,0,0,25.65,26.20,25.84,8.52,47.48
$GC,390,-1.14,-145.2,2441,1853,2921,2763,73.2,-21.6,45,394,0.00,2.15,0.00,0.000,260,0.000,0.039,2432,3245,2842,2921,2763,0,0,0,0,0,0,26.71,26.13,26.72,8.52,47.87
$GC,454,-1.14,-145.2,2432,3246,2921,2763,86.2,-20.7,51,462,0.00,2.12,0.00,0.000,1030,0.000,0.028,2433,1841,2842,2921,2763,0,0,0,0,0,0,26.27,26.25,26.31,8.53,48.34
$GC,583,-1.14,-145.2,2431,1840,2921,2763,111.7,-19.3,64,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1840,2842,2921,2763,0,0,0,0,0,0,26.68,26.70,26.69,8.53,48.03
$GC,764,-1.14,-145.2,2431,1840,2921,2763,146.0,-18.6,82,774,0.00,2.12,0.00,0.000,516,0.000,0.040,2432,453,2841,2920,2763,0,0,0,0,0,0,26.68,26.09,26.70,8.54,49.21
$GC,808,-1.14,-145.2,2432,453,2921,2763,154.9,-19.5,86,818,0.00,2.12,0.00,0.000,1030,0.000,0.030,2422,1850,2842,2921,2763,0,0,0,0,0,0,26.32,26.23,26.34,8.54,48.54
$GC,1000,-1.42,-241.3,2421,1850,2921,2763,163.7,0.2,105,1010,0.12,2.12,0.00,0.000,4356,0.066,0.038,2314,3237,2842,2921,2763,0,0,0,0,0,0,26.48,26.11,26.48,8.54,48.34
$STATE,1021,end dive,NO_VERTICAL_VELOCITY
$STATE,1021,begin apogee
$GC,1028,-0.21,0.0,2313,1830,2921,2763,163.8,0.0,107,1153,1.25,0.00,116.80,0.669,10246,0.094,0.000,2739,1830,2248,2377,2120,0,0,0,0,0,0,25.71,24.40,23.85,8.54,48.26
$STATE,1154,end apogee,CONTROL_FINISHED_OK
$STATE,1154,begin climb
$GC,1156,1.38,241.3,2739,1830,2377,2120,163.8,0.0,120,1368,1.40,2.22,201.02,0.653,10756,0.065,0.040,3253,464,1262,1365,1159,0,0,0,0,0,0,25.45,24.87,23.92,8.49,46.96
$GC,1430,1.26,241.3,3253,464,1365,1158,106.8,32.4,147,1439,0.10,2.15,0.00,0.000,5126,0.153,0.030,3224,1841,1261,1365,1158,0,0,0,0,0,0,25.51,25.86,25.60,8.40,46.06
$GC,1619,1.20,241.3,3223,1840,1365,1157,51.8,27.9,166,1630,0.00,2.17,0.00,0.000,516,0.000,0.040,3232,454,1260,1365,1156,0,0,0,0,0,0,26.58,26.03,26.59,8.40,47.91
$GC,1645,1.14,241.3,3232,454,1364,1156,44.6,27.7,168,1654,0.15,2.12,0.00,0.000,5126,0.138,0.030,3186,1836,1260,1364,1156,0,0,0,0,0,0,25.73,26.16,25.82,8.40,48.18
$GC,1777,1.14,241.3,3185,1837,1364,1155,13.3,20.8,183,1784,0.00,2.20,0.00,0.000,516,0.000,0.041,3195,455,1259,1364,1155,0,0,0,0,0,0,26.66,26.08,26.67,8.40,47.40
$GC,1792,1.14,241.3,3194,455,1364,1155,10.5,17.4,185,1800,0.00,2.12,0.00,0.000,1030,0.000,0.029,3195,1838,1259,1364,1155,0,0,0,0,0,0,26.27,26.24,26.29,8.39,47.44
$STATE,1846,end climb,SURFACE_DEPTH_REACHED
$STATE,1846,begin surface coast
$FINISH,0.8,1.020100
$STATE,1867,end surface coast,CONTROL_FINISHED_OK
$STATE,1868,begin surface
$SM_CCo,1883,85.68,0.054,0,0,531,420.20
$SM_GC,1.91,7.82,0.00,85.68,0.033,0.000,0.054,179,1838,531,-8.06,-0.17,420.20,0,0,0,0,0,0,26.32,26.70,25.98
$IRIDIUM_FIX,4741.52,-12250.84,130218,054332
$TT8_MAMPS,0.026964,0.262899
$HUMID,46.96
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.7,16.2
$24V_AH,23.85,79.712
$10V_AH,9.77,54.562
$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,19.450,30.200,317.825,85.675,0.000,0.000,0.000,139.850,4.000,0.000,20.057,499.903,531.113,436.412,681.444,73.554,0.000,892.500,0.000,419.841,0.000,29.064,0.000
$DEVICE_MAMPS,194.310,48.960,669.375,54.315,0.000,0.000,0.000,73.440,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,131.520,428.439,259.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312080
$DATA_FILE_SIZE,14104,199
$CAP_FILE_SIZE,38806,0
$CFSIZE,2097872896,2060189696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,213.82,1
$GPS,130218,070124,4738.466,-12253.160,5,0.9,17,16.4,0.0,277.2,9,4.7