version: 66.14
glider: 195
mission: 15
dive: 13
start: 2 1 118 8 4 26
data:
$ID,195
$MISSION,15
$DIVE,13
$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,150
$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,48
$R_STBD_OVSHOOT,36
$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
$GPS1,010218,075756,4737.9961,-12254.0254,8,1.2,48,16.4,0.4,79.8,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.1
$GPS2,010218,080320,4738.0107,-12253.9258,5,1.2,45,16.4,0.4,74.4,7,3.0
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.222503,-0.129954
$KALMAN_X,243.376282,217.149445,192.858734,-1455.257324,231.323685
$KALMAN_Y,138.793991,127.366669,115.897232,-911.521484,131.775620
$MHEAD_RNG_PITCHd_Wd,223.3,2483,-17.6,-10.000,-21.21,2209
$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,-0.88,-146.6,182,1845,552,471,0.0,0.0,0,38,0.00,0.00,-27.05,0.000,16386,0.000,0.000,182,1846,1217,1277,1158,0,0,0,0,0,0,26.60,28.83,26.62,8.28,46.61
$GC,40,-0.88,-146.6,182,1845,1277,1159,2.2,-3.2,4,113,9.02,2.25,-54.67,0.000,19204,0.198,0.054,2551,3252,2846,2930,2763,0,0,0,0,0,0,25.15,23.91,25.55,8.35,47.75
$GC,147,-0.78,-146.6,2550,3252,2930,2763,10.3,-11.4,21,155,0.12,2.15,0.00,0.000,3078,0.125,0.031,2591,1841,2847,2931,2764,0,0,0,0,0,0,25.76,26.12,25.82,8.50,46.06
$GC,218,-0.72,-146.6,2590,1840,2931,2763,16.4,-9.2,34,226,0.00,2.22,0.00,0.000,516,0.000,0.043,2590,451,2847,2931,2763,0,0,0,0,0,0,26.68,25.96,26.69,8.49,46.57
$GC,244,-0.66,-146.6,2590,451,2931,2763,18.9,-9.8,38,252,0.15,2.17,0.00,0.000,3078,0.123,0.034,2646,1847,2847,2931,2763,0,0,0,0,0,0,25.65,26.12,25.82,8.50,46.06
$GC,321,-0.72,-146.6,2646,1846,2931,2763,25.9,-8.4,46,330,0.00,2.17,0.00,0.000,260,0.000,0.044,2638,3247,2847,2931,2763,0,0,0,0,0,0,26.71,26.01,26.72,8.50,46.57
$GC,374,-0.78,-146.6,2637,3248,2930,2763,30.2,-8.4,51,384,0.05,2.12,0.00,0.000,5126,0.076,0.031,2576,1839,2847,2931,2763,0,0,0,0,0,0,26.07,26.15,26.11,8.49,47.51
$GC,503,-0.78,-146.6,2575,1839,2930,2763,43.8,-10.8,64,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1839,2847,2931,2763,0,0,0,0,0,0,26.74,26.75,26.75,8.50,47.87
$GC,624,-0.78,-146.6,2575,1839,2931,2763,57.4,-12.0,76,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1839,2847,2931,2763,0,0,0,0,0,0,26.76,26.77,26.77,8.50,47.95
$GC,743,-0.78,-146.6,2575,1839,2931,2762,70.9,-11.4,88,753,0.00,2.20,0.00,0.000,516,0.000,0.043,2575,449,2846,2930,2763,0,0,0,0,0,0,26.77,25.96,26.77,8.50,47.95
$GC,789,-0.78,-146.6,2575,449,2930,2763,76.0,-11.9,92,799,0.10,2.12,0.00,0.000,3078,0.123,0.034,2600,1842,2846,2930,2763,0,0,0,0,0,0,25.83,26.13,25.89,8.51,48.14
$GC,918,-0.84,-146.6,2600,1842,2931,2763,88.9,-9.7,105,927,0.00,2.20,0.00,0.000,260,0.000,0.044,2593,3255,2847,2931,2763,0,0,0,0,0,0,26.77,26.00,26.78,8.51,47.79
$GC,961,-0.91,-146.6,2592,3255,2931,2763,93.2,-10.0,109,966,0.05,2.12,0.00,0.000,5126,0.131,0.031,2543,1841,2847,2931,2763,0,0,0,0,0,0,26.11,26.15,26.19,8.51,48.07
$GC,1094,-0.91,-146.6,2532,1841,2931,2763,109.9,-12.8,122,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1841,2847,2931,2763,0,0,0,0,0,0,26.77,26.79,26.79,8.51,48.62
$GC,1274,-0.91,-146.6,2532,1841,2930,2763,131.9,-12.6,140,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1841,2846,2930,2763,0,0,0,0,0,0,26.78,26.79,26.79,8.52,48.81
$STATE,1332,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1332,begin apogee
$GC,1337,-0.21,0.0,2532,1841,2930,2763,139.3,-12.6,146,1455,0.73,0.00,114.28,0.680,10246,0.106,0.000,2778,1839,2247,2374,2120,0,0,0,0,0,0,25.46,24.99,24.11,8.52,48.85
$STATE,1456,end apogee,CONTROL_FINISHED_OK
$STATE,1456,begin climb
$GC,1458,0.88,146.6,2778,1840,2375,2120,142.0,0.0,158,1584,0.93,0.00,120.88,0.669,10246,0.055,0.000,3127,1840,1648,1777,1519,0,0,0,0,0,0,25.42,24.82,24.00,8.48,47.48
$GC,1764,0.71,146.6,3126,1839,1773,1515,94.6,18.6,189,1775,0.15,2.20,0.00,0.000,4612,0.142,0.042,3086,454,1643,1772,1515,0,0,0,0,0,0,25.77,25.88,25.83,8.44,47.32
$GC,1828,0.60,146.6,3086,454,1772,1513,84.0,16.3,195,1839,0.12,2.12,0.00,0.000,5126,0.127,0.033,3046,1845,1642,1771,1513,0,0,0,0,0,0,25.72,26.06,25.80,8.42,47.71
$GC,1959,0.60,146.6,3045,1845,1772,1512,67.5,12.6,208,1968,0.00,2.17,0.00,0.000,260,0.000,0.042,3046,3247,1641,1771,1512,0,0,0,0,0,0,26.63,26.03,26.63,8.42,48.14
$GC,1993,0.60,146.6,3045,3247,1772,1512,62.9,13.5,211,2001,0.00,2.15,0.00,0.000,1030,0.000,0.032,3054,1842,1641,1771,1512,0,0,0,0,0,0,26.17,26.13,26.20,8.42,47.79
$GC,2121,0.60,146.6,3052,1841,1771,1512,46.3,12.7,224,2131,0.00,2.22,0.00,0.000,516,0.000,0.044,3063,446,1641,1771,1512,0,0,0,0,0,0,26.69,26.00,26.70,8.42,47.44
$GC,2154,0.60,146.6,3062,447,1770,1512,42.2,12.2,227,2164,0.00,2.15,0.00,0.000,1030,0.000,0.033,3063,1848,1641,1770,1512,0,0,0,0,0,0,26.27,26.17,26.30,8.42,47.51
$GC,2284,0.60,146.6,3062,1848,1770,1512,25.8,12.5,240,2294,0.00,2.20,0.00,0.000,516,0.000,0.044,3071,452,1641,1770,1512,0,0,0,0,0,0,26.72,26.01,26.74,8.41,47.12
$GC,2317,0.54,146.6,3071,451,1770,1512,21.5,12.8,243,2327,0.12,2.12,0.00,0.000,5126,0.117,0.032,3029,1848,1641,1770,1512,0,0,0,0,0,0,25.83,26.19,25.92,8.42,47.55
$GC,2450,0.54,146.6,3029,1848,1770,1511,8.9,10.4,267,2457,0.00,2.22,0.00,0.000,260,0.000,0.043,3029,3255,1640,1770,1511,0,0,0,0,0,0,26.74,26.06,26.76,8.41,47.51
$STATE,2830,end climb,NO_VERTICAL_VELOCITY
$STATE,2830,begin surface
$SM_CCo,2832,145.05,0.511,0,0,498,428.54
$SM_GC,1.65,7.47,2.25,0.00,0.031,0.031,0.000,187,1838,485,-8.19,1.24,432.22,0,0,0,0,0,0,25.84,25.73,25.89
$IRIDIUM_FIX,4737.86,-12251.79,010218,070045
$TT8_MAMPS,0.026964,0.23968
$HUMID,46.41
$INTERNAL_PRESSURE,8.23402
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.5
$ALTIM_BOTTOM_PING,76.0,77.6
$24V_AH,23.91,58.659
$10V_AH,9.93,39.112
$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,19.025,43.575,235.150,145.050,0.000,0.000,0.000,216.950,0.750,0.000,46.580,830.952,961.601,474.249,1075.568,92.128,31.521,1090.651,0.000,607.234,0.000,7.267,0.000
$DEVICE_MAMPS,198.135,54.315,680.085,511.020,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.509,736.122,448.255,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312124
$DATA_FILE_SIZE,24510,342
$CAP_FILE_SIZE,55278,0
$CFSIZE,2097872896,2093514752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010218,085652,4737.780,-12254.541,8,1.1,20,16.4,0.3,77.9,8,4.9