version: 66.14
glider: 195
mission: 15
dive: 15
start: 2 1 118 9 58 53
data:
$ID,195
$MISSION,15
$DIVE,15
$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,39
$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
$GPS1,010218,095302,4737.5537,-12255.2598,8,0.9,18,16.4,0.3,56.8,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.1
$GPS2,010218,095745,4737.5835,-12255.1963,8,0.8,25,16.4,0.4,58.6,10,4.9
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE_SW
$TGT_LATLONG,4737.330,-12255.640
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.143154,-0.135219
$KALMAN_X,177.273834,308.302307,211.044678,-3079.457520,-41.412460
$KALMAN_Y,212.857742,201.532150,116.006805,-1851.923340,17.806824
$MHEAD_RNG_PITCHd_Wd,210.2,726,-23.9,-10.000,-26.92,1246
$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,-1.08,-82.2,195,1840,556,475,0.0,0.0,0,38,0.00,0.00,-26.95,0.000,16386,0.000,0.000,195,1840,1232,1294,1170,0,0,0,0,0,0,26.60,28.83,26.61,8.28,46.37
$GC,40,-1.08,-82.2,195,1840,1294,1171,2.5,-4.7,4,100,8.77,2.22,-42.65,0.000,19204,0.199,0.053,2485,3256,2577,2657,2498,0,0,0,0,0,0,25.14,25.61,25.34,8.35,47.08
$GC,317,-0.96,-82.2,2484,3256,2658,2498,20.0,-9.3,55,326,0.17,2.15,0.00,0.000,3078,0.134,0.031,2538,1839,2578,2658,2498,0,0,0,0,0,0,25.64,26.16,25.71,8.47,47.51
$GC,445,-0.96,-82.2,2538,1839,2658,2498,31.7,-9.0,68,455,0.00,2.20,0.00,0.000,516,0.000,0.043,2538,448,2578,2658,2498,0,0,0,0,0,0,26.74,25.98,26.75,8.48,46.81
$GC,610,-0.96,-82.2,2538,448,2658,2498,46.4,-9.7,84,619,0.00,2.12,0.00,0.000,1030,0.000,0.034,2529,1845,2578,2658,2498,0,0,0,0,0,0,26.20,26.20,26.22,8.48,47.79
$GC,739,-0.96,-82.2,2529,1845,2658,2498,58.5,-9.1,97,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1845,2578,2658,2498,0,0,0,0,0,0,26.77,26.78,26.77,8.48,48.11
$GC,859,-0.96,-82.2,2529,1845,2658,2498,69.1,-8.4,109,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1845,2578,2658,2498,0,0,0,0,0,0,26.77,26.79,26.78,8.48,47.67
$GC,979,-0.96,-82.2,2529,1845,2657,2498,79.0,-8.5,121,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1845,2578,2658,2498,0,0,0,0,0,0,26.78,26.79,26.79,8.49,47.99
$GC,1101,-0.96,-82.2,2529,1845,2658,2498,90.1,-9.2,133,1111,0.00,2.17,0.00,0.000,260,0.000,0.042,2519,3249,2578,2658,2498,0,0,0,0,0,0,26.75,26.01,26.76,8.49,47.87
$GC,1146,-0.96,-82.2,2519,3249,2658,2498,94.2,-9.2,137,1157,0.00,2.15,0.00,0.000,1030,0.000,0.031,2519,1841,2578,2658,2498,0,0,0,0,0,0,26.20,26.16,26.23,8.49,47.67
$GC,1278,-0.96,-82.2,2519,1840,2658,2498,105.6,-8.7,150,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1840,2578,2658,2498,0,0,0,0,0,0,26.75,26.76,26.76,8.49,47.95
$GC,1465,-0.96,-82.2,2519,1840,2658,2498,124.6,-10.3,169,1478,0.00,2.20,0.00,0.000,516,0.000,0.043,2519,451,2578,2658,2498,0,0,0,0,0,0,26.78,25.92,26.79,8.50,48.46
$GC,1551,-0.96,-82.2,2518,451,2658,2498,134.0,-10.6,177,1562,0.10,2.15,0.00,0.000,3078,0.158,0.033,2545,1854,2578,2658,2498,0,0,0,0,0,0,25.77,26.13,25.82,8.50,48.58
$GC,1742,-1.02,-82.2,2544,1854,2658,2498,151.8,-9.6,196,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1854,2578,2658,2498,0,0,0,0,0,0,26.78,26.79,26.79,8.50,48.30
$STATE,1770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1770,begin apogee
$GC,1774,-0.21,0.0,2544,1854,2658,2498,154.5,-9.2,199,1843,0.68,0.00,65.07,0.685,10246,0.110,0.000,2775,1854,2247,2355,2139,0,0,0,0,0,0,25.39,25.15,24.22,8.49,48.34
$STATE,1844,end apogee,CONTROL_FINISHED_OK
$STATE,1844,begin climb
$GC,1846,1.08,82.2,2774,1854,2355,2138,156.6,0.0,206,1923,1.10,2.33,68.62,0.699,10756,0.055,0.042,3195,454,1911,2049,1773,0,0,0,0,0,0,25.63,24.99,24.03,8.48,48.34
$GC,1958,0.88,82.2,3195,453,2048,1771,144.5,16.2,217,1967,0.20,2.17,0.00,0.000,5126,0.148,0.032,3138,1834,1908,2048,1769,0,0,0,0,0,0,25.22,25.70,25.34,8.45,47.48
$GC,2148,0.78,82.2,3137,1834,2046,1765,110.7,17.8,236,2156,0.12,0.00,0.00,0.000,4102,0.162,0.000,3101,1834,1905,2046,1765,0,0,0,0,0,0,25.89,26.03,25.98,8.45,47.59
$GC,2336,0.78,82.2,3100,1834,2046,1764,82.4,13.8,255,2346,0.00,2.20,0.00,0.000,516,0.000,0.043,3109,449,1904,2045,1764,0,0,0,0,0,0,26.66,25.97,26.67,8.45,47.95
$GC,2430,0.72,82.2,3108,449,2045,1764,68.8,14.0,264,2440,0.00,2.12,0.00,0.000,1030,0.000,0.033,3108,1845,1904,2045,1764,0,0,0,0,0,0,26.18,26.15,26.22,8.45,47.48
$GC,2559,0.72,82.2,3108,1845,2045,1763,53.1,12.1,277,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1845,1904,2045,1763,0,0,0,0,0,0,26.73,26.74,26.74,8.44,47.63
$GC,2680,0.72,82.2,3108,1845,2045,1764,37.6,14.2,289,2689,0.00,2.17,0.00,0.000,516,0.000,0.043,3118,456,1904,2045,1763,0,0,0,0,0,0,26.75,25.99,26.75,8.44,48.50
$GC,2765,0.66,82.2,3118,455,2044,1763,24.3,16.5,297,2775,0.17,2.12,0.00,0.000,5126,0.130,0.033,3063,1846,1903,2044,1763,0,0,0,0,0,0,25.66,26.17,25.74,8.44,47.95
$GC,2896,0.70,119.6,3063,1846,2044,1763,10.7,6.9,319,2924,0.00,2.25,18.62,0.519,8708,0.000,0.044,3071,445,1756,1896,1617,0,0,0,0,0,0,26.77,25.60,24.72,8.43,47.71
$GC,2932,0.76,119.6,3071,445,1895,1616,6.8,10.7,324,2939,0.00,2.17,0.00,0.000,1030,0.000,0.032,3071,1845,1756,1896,1617,0,0,0,0,0,0,26.17,26.13,26.18,8.42,47.59
$GC,3003,1.06,278.9,3071,1846,1896,1615,5.5,-3.1,337,3090,0.25,2.30,80.03,0.532,11012,0.044,0.043,3220,449,1108,1231,985,0,0,0,0,0,0,26.34,25.31,24.53,8.41,47.04
$GC,3105,1.05,349.8,3220,449,1231,985,4.3,4.2,352,3134,0.08,2.20,23.42,0.478,13314,0.142,0.031,3197,1850,914,1038,791,0,0,0,0,0,0,25.51,25.77,25.59,8.36,46.25
$STATE,3135,end climb,SURFACE_DEPTH_REACHED
$STATE,3135,begin surface coast
$FINISH,2.0,1.019194
$STATE,3147,end surface coast,CONTROL_FINISHED_OK
$STATE,3147,begin surface
$SM_CCo,3164,46.05,0.057,0,0,531,420.20
$SM_GC,2.17,8.30,0.00,46.05,0.057,0.000,0.057,203,1851,531,-8.17,0.23,420.20,0,0,0,0,0,0,25.82,26.15,25.72
$IRIDIUM_FIX,4739.20,-12253.53,010218,085800
$TT8_MAMPS,0.026964,0.241927
$HUMID,46.25
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,18.0
$ALTIM_BOTTOM_PING,125.5,43.8
$24V_AH,24.03,58.768
$10V_AH,9.93,39.215
$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,19.950,39.425,255.775,46.050,0.000,0.000,0.000,196.825,3.500,0.000,26.443,868.546,1072.985,365.251,1115.077,98.241,33.439,1005.128,0.000,673.171,0.000,26.136,0.000
$DEVICE_MAMPS,198.900,52.785,699.210,56.610,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.086,770.356,469.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312104
$DATA_FILE_SIZE,24528,358
$CAP_FILE_SIZE,58119,0
$CFSIZE,2097872896,2093318144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010218,105336,4737.238,-12255.723,26,0.9,31,16.4,0.4,45.5,9,4.6