version: 66.14
glider: 195
mission: 15
dive: 33
start: 2 2 118 3 37 26
data:
$ID,195
$MISSION,15
$DIVE,33
$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,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,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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,020218,033216,4737.5898,-12254.7090,2,0.9,16,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.5
$GPS2,020218,033615,4737.6040,-12254.6543,9,0.9,15,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.680,-12252.170
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.286254,0.144492
$KALMAN_X,2635.094482,326.665741,-481.971039,-4182.579102,401.734070
$KALMAN_Y,2086.322266,324.212555,-210.092239,-3475.941162,398.991760
$MHEAD_RNG_PITCHd_Wd,46.8,3685,-13.1,-10.000,-17.32,3645
$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,-0.79,-244.4,186,1842,565,474,0.0,0.0,0,37,0.00,0.00,-26.62,0.000,16386,0.000,0.000,186,1842,1209,1278,1140,0,0,0,0,0,0,26.60,28.83,26.61,8.29,47.28
$GC,40,-0.79,-244.4,186,1842,1278,1141,2.4,-3.4,4,120,9.07,2.22,-62.03,0.000,19204,0.197,0.055,2592,448,3245,3321,3170,0,0,0,0,0,0,25.21,25.56,25.58,8.35,46.88
$GC,306,-0.72,-244.4,2591,448,3322,3172,34.1,-14.3,42,316,0.10,2.15,0.00,0.000,3078,0.139,0.034,2616,1855,3247,3322,3172,0,0,0,0,0,0,25.95,26.17,26.06,8.54,46.73
$GC,435,-0.72,-244.4,2615,1855,3322,3172,48.1,-10.1,55,445,0.00,2.17,0.00,0.000,260,0.000,0.043,2608,3247,3247,3322,3172,0,0,0,0,0,0,26.73,26.08,26.74,8.53,47.59
$GC,490,-0.72,-244.4,2608,3247,3322,3172,53.7,-10.6,60,498,0.00,2.15,0.00,0.000,1030,0.000,0.031,2608,1837,3247,3322,3172,0,0,0,0,0,0,26.24,26.21,26.27,8.54,47.36
$GC,619,-0.72,-244.4,2607,1836,3322,3171,66.6,-9.7,73,628,0.00,2.17,0.00,0.000,516,0.000,0.044,2608,454,3247,3322,3172,0,0,0,0,0,0,26.75,26.03,26.76,8.54,47.48
$GC,651,-0.72,-244.4,2607,454,3322,3172,69.8,-9.7,76,661,0.00,2.15,0.00,0.000,1030,0.000,0.034,2600,1851,3247,3322,3172,0,0,0,0,0,0,26.28,26.18,26.32,8.54,47.55
$GC,782,-0.72,-244.4,2599,1851,3322,3172,83.2,-10.7,89,791,0.00,2.17,0.00,0.000,260,0.000,0.044,2591,3250,3247,3322,3172,0,0,0,0,0,0,26.76,26.07,26.77,8.55,47.99
$GC,825,-0.72,-244.4,2590,3250,3322,3171,87.6,-10.1,93,834,0.00,2.12,0.00,0.000,1030,0.000,0.031,2591,1842,3246,3322,3171,0,0,0,0,0,0,26.29,26.20,26.32,8.55,47.99
$GC,955,-0.72,-244.4,2590,1841,3321,3172,101.8,-11.4,106,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1841,3247,3322,3172,0,0,0,0,0,0,26.77,26.77,26.77,8.55,48.07
$GC,1135,-0.72,-244.4,2590,1841,3323,3171,120.5,-10.0,124,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1841,3247,3322,3172,0,0,0,0,0,0,26.77,26.78,26.78,8.56,47.63
$STATE,1313,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1313,begin apogee
$GC,1318,-0.21,0.0,2590,1841,3322,3172,139.2,-10.6,142,1515,0.52,0.00,189.77,0.667,10246,0.090,0.000,2781,1841,2246,2381,2112,0,0,0,0,0,0,25.82,24.65,24.15,8.56,48.50
$STATE,1516,end apogee,CONTROL_FINISHED_OK
$STATE,1516,begin climb
$GC,1518,0.79,244.4,2781,1841,2381,2111,144.5,0.0,162,1728,0.82,2.33,200.12,0.645,10756,0.052,0.044,3107,451,1248,1365,1131,0,0,0,0,0,0,25.43,24.97,24.11,8.48,46.45
$GC,1754,0.61,244.4,3107,451,1363,1130,115.6,17.9,185,1763,0.15,2.22,0.00,0.000,5126,0.118,0.033,3046,1839,1246,1363,1129,0,0,0,0,0,0,25.33,25.60,25.50,8.40,45.58
$GC,1942,0.53,244.4,3046,1840,1363,1127,88.9,13.5,204,1952,0.00,2.22,0.00,0.000,516,0.000,0.044,3054,444,1245,1363,1128,0,0,0,0,0,0,26.49,25.96,26.51,8.40,47.48
$GC,2006,0.45,244.4,3053,444,1362,1127,79.6,14.8,210,2017,0.15,2.15,0.00,0.000,5126,0.119,0.032,2997,1849,1244,1362,1127,0,0,0,0,0,0,25.86,26.13,25.94,8.39,46.45
$GC,2136,0.45,244.4,2996,1849,1363,1126,65.9,9.5,223,2145,0.00,2.22,0.00,0.000,516,0.000,0.044,3004,451,1244,1362,1126,0,0,0,0,0,0,26.64,26.05,26.65,8.39,47.36
$GC,2160,0.45,244.4,3004,450,1362,1126,63.6,9.8,225,2169,0.00,2.12,0.00,0.000,1030,0.000,0.031,3004,1845,1244,1362,1126,0,0,0,0,0,0,26.26,26.20,26.27,8.39,47.08
$GC,2289,0.45,244.4,3004,1845,1362,1126,50.0,10.5,238,2298,0.00,2.20,0.00,0.000,516,0.000,0.044,3011,447,1244,1362,1126,0,0,0,0,0,0,26.69,26.08,26.70,8.38,47.16
$GC,2323,0.45,244.4,3011,447,1363,1126,46.8,9.9,241,2332,0.00,2.15,0.00,0.000,1030,0.000,0.033,3011,1834,1244,1362,1126,0,0,0,0,0,0,26.27,26.24,26.28,8.38,47.16
$GC,2452,0.45,244.4,3011,1834,1362,1126,32.9,10.9,254,2462,0.00,2.20,0.00,0.000,260,0.000,0.041,3011,3259,1243,1362,1125,0,0,0,0,0,0,26.72,26.13,26.73,8.38,47.91
$GC,2475,0.45,244.4,3011,3259,1362,1126,30.5,10.4,256,2484,0.00,2.15,0.00,0.000,1030,0.000,0.032,3013,1840,1244,1362,1126,0,0,0,0,0,0,26.32,26.22,26.34,8.38,47.28
$GC,2606,0.45,244.4,3013,1840,1362,1126,17.0,9.7,271,2614,0.00,2.22,0.00,0.000,516,0.000,0.045,3023,451,1244,1363,1126,0,0,0,0,0,0,26.74,26.08,26.74,8.38,47.28
$GC,2728,0.59,384.4,3022,451,1362,1126,7.7,6.1,294,2806,0.00,2.17,69.95,0.504,9222,0.000,0.031,3022,1858,677,783,572,0,0,0,0,0,0,26.29,26.24,24.65,8.37,47.71
$STATE,2842,end climb,SURFACE_DEPTH_REACHED
$STATE,2842,begin surface coast
$FINISH,0.5,1.018353
$STATE,2909,end surface coast,CONTROL_FINISHED_OK
$STATE,2909,begin surface
$SM_CCo,2924,17.05,0.058,0,0,532,420.20
$SM_GC,3.68,7.32,0.00,17.05,0.028,0.000,0.058,188,1858,532,-8.19,0.42,420.20,0,0,0,0,0,0,26.12,26.48,25.84
$IRIDIUM_FIX,4736.40,-12251.79,020218,023801
$TT8_MAMPS,0.026964,0.241927
$HUMID,46.69
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.3
$ALTIM_BOTTOM_PING,75.8,77.4
$24V_AH,24.11,60.019
$10V_AH,9.90,40.153
$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,18.150,43.700,459.850,17.050,0.000,0.000,0.000,164.150,0.750,0.000,17.261,724.938,901.744,515.141,981.450,88.857,33.431,1126.946,0.000,628.169,0.000,7.266,0.000
$DEVICE_MAMPS,196.605,55.080,667.080,58.140,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.672,701.687,425.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21099,326
$CAP_FILE_SIZE,50349,0
$CFSIZE,2097872896,2091548672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020218,042735,4737.813,-12253.817,1,0.9,25,16.3,0.3,74.9,8,4.7