version: 66.14
glider: 195
mission: 15
dive: 181
start: 2 6 118 2 54 15
data:
$ID,195
$MISSION,15
$DIVE,181
$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,44
$R_STBD_OVSHOOT,33
$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
$GPS1,060218,024838,4738.1509,-12253.2939,5,0.9,15,16.3,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.8
$GPS2,060218,025305,4738.1479,-12253.3008,11,0.9,15,16.3,0.0,0.0,9,4.6
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.162561,0.059784
$KALMAN_X,12830.916992,-270.637665,-798.462585,-11922.308594,621.403992
$KALMAN_Y,5398.140137,-21.174255,-381.267242,-5858.527344,315.593689
$MHEAD_RNG_PITCHd_Wd,273.9,521,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-1.20,-63.7,189,1840,554,484,0.0,0.0,0,31,0.00,0.00,-19.95,0.000,16386,0.000,0.000,189,1840,1049,1099,1000,0,0,0,0,0,0,26.63,28.83,26.64,8.29,46.65
$GC,33,-1.20,-63.7,189,1840,1099,1001,2.2,-2.1,3,100,8.48,2.25,-47.25,0.000,18692,0.196,0.051,2406,3260,2509,2593,2426,0,0,0,0,0,0,25.03,23.94,25.22,8.34,46.88
$GC,612,-1.06,-63.7,2405,3260,2593,2426,68.0,-12.4,70,622,0.17,2.12,0.00,0.000,3078,0.149,0.030,2459,1831,2509,2593,2426,0,0,0,0,0,0,25.60,26.22,25.70,8.48,47.36
$GC,740,-1.06,-63.7,2459,1831,2593,2427,83.2,-11.7,83,750,0.00,2.22,0.00,0.000,260,0.000,0.041,2449,3258,2509,2593,2426,0,0,0,0,0,0,26.76,26.10,26.77,8.48,47.67
$GC,856,-1.01,-63.7,2449,3258,2593,2426,96.8,-12.1,94,864,0.10,2.15,0.00,0.000,3078,0.142,0.030,2480,1841,2509,2593,2426,0,0,0,0,0,0,25.84,26.22,25.91,8.49,47.83
$GC,986,-1.01,-63.7,2480,1841,2593,2426,110.5,-10.4,107,996,0.00,2.17,0.00,0.000,516,0.000,0.042,2480,451,2510,2594,2427,0,0,0,0,0,0,26.72,26.03,26.74,8.50,47.79
$GC,1062,-1.01,-63.7,2479,451,2593,2426,119.4,-11.5,114,1071,0.00,2.15,0.00,0.000,1030,0.000,0.031,2471,1850,2509,2593,2426,0,0,0,0,0,0,26.25,26.21,26.27,8.49,48.07
$GC,1251,-1.01,-63.7,2470,1850,2593,2426,139.8,-10.2,133,1262,0.00,2.15,0.00,0.000,260,0.000,0.041,2460,3245,2509,2593,2426,0,0,0,0,0,0,26.76,26.09,26.77,8.49,48.03
$GC,1287,-1.01,-63.7,2460,3244,2593,2426,143.6,-10.7,136,1296,0.00,2.12,0.00,0.000,1030,0.000,0.029,2460,1846,2509,2592,2426,0,0,0,0,0,0,26.25,26.21,26.27,8.50,47.71
$GC,1475,-1.01,-63.7,2460,1846,2593,2426,164.2,-11.2,155,1486,0.00,2.17,0.00,0.000,260,0.000,0.040,2449,3246,2509,2593,2426,0,0,0,0,0,0,26.76,26.08,26.77,8.51,48.74
$STATE,1669,end dive,NO_VERTICAL_VELOCITY
$STATE,1669,begin apogee
$GC,1676,-0.21,0.0,2448,1836,2593,2426,167.4,0.0,174,1732,0.85,0.00,52.30,0.694,10246,0.103,0.000,2737,1835,2246,2348,2145,0,0,0,0,0,0,25.55,25.03,24.03,8.51,48.18
$STATE,1733,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1735,1.20,63.7,2736,1835,2348,2145,167.4,0.0,180,1794,1.30,0.00,54.30,0.675,10246,0.097,0.000,3175,1835,1986,2127,1846,0,0,0,0,0,0,25.46,24.84,23.94,8.48,48.26
$GC,1972,1.10,63.7,3174,1835,2125,1844,152.7,15.2,204,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1835,1984,2124,1844,0,0,0,0,0,0,26.52,26.53,26.53,8.47,47.59
$GC,2152,1.00,63.7,3174,1835,2122,1844,123.8,16.5,222,2162,0.10,2.12,0.00,0.000,4612,0.173,0.041,3152,463,1983,2122,1844,0,0,0,0,0,0,26.03,25.99,26.06,8.46,47.95
$GC,2189,0.92,63.7,3151,463,2121,1844,118.2,16.8,225,2197,0.12,2.12,0.00,0.000,5126,0.147,0.032,3115,1840,1982,2121,1844,0,0,0,0,0,0,25.72,26.17,25.79,8.47,48.14
$GC,2376,0.92,63.7,3115,1839,2121,1844,92.7,12.9,244,2380,0.00,2.17,0.00,0.000,516,0.000,0.042,3123,454,1982,2121,1844,0,0,0,0,0,0,26.72,26.04,26.73,8.46,47.95
$GC,2418,0.92,63.7,3122,454,2121,1843,87.0,13.4,248,2423,0.00,2.12,0.00,0.000,1030,0.000,0.031,3123,1849,1982,2121,1843,0,0,0,0,0,0,26.29,26.21,26.34,8.46,47.67
$GC,2551,0.92,63.7,3123,1849,2121,1843,69.9,12.0,261,2560,0.00,2.20,0.00,0.000,516,0.000,0.042,3133,452,1982,2121,1843,0,0,0,0,0,0,26.74,26.05,26.75,8.46,48.26
$GC,2593,0.92,63.7,3133,452,2121,1843,64.5,12.6,265,2597,0.00,2.12,0.00,0.000,1030,0.000,0.031,3133,1851,1982,2121,1843,0,0,0,0,0,0,26.30,26.22,26.34,8.46,48.11
$GC,2725,0.92,63.7,3133,1851,2121,1843,48.2,11.8,278,2735,0.00,2.17,0.00,0.000,260,0.000,0.041,3133,3255,1982,2121,1843,0,0,0,0,0,0,26.75,26.10,26.76,8.46,47.83
$GC,2829,0.92,63.7,3133,3256,2122,1843,34.9,12.8,288,2840,0.12,2.12,0.00,0.000,5126,0.157,0.030,3108,1840,1982,2121,1843,0,0,0,0,0,0,25.82,26.22,25.95,8.45,47.32
$GC,2959,0.92,63.7,3107,1840,2121,1843,21.5,9.6,301,2969,0.00,2.20,0.00,0.000,516,0.000,0.042,3115,444,1982,2121,1843,0,0,0,0,0,0,26.76,26.05,26.77,8.45,47.71
$GC,3003,0.92,63.7,3115,444,2120,1842,17.7,8.9,307,3010,0.00,2.17,0.00,0.000,1030,0.000,0.032,3116,1850,1982,2121,1843,0,0,0,0,0,0,26.26,26.22,26.28,8.45,48.14
$GC,3073,0.96,100.7,3115,1850,2121,1843,12.9,6.1,320,3101,0.00,2.20,18.92,0.519,8452,0.000,0.040,3116,3249,1834,1975,1693,0,0,0,0,0,0,26.76,25.30,24.35,8.45,47.63
$GC,3144,0.99,135.9,3115,3249,1974,1693,8.4,6.3,332,3172,0.00,2.15,17.80,0.496,9222,0.000,0.031,3126,1843,1690,1822,1559,0,0,0,0,0,0,26.17,26.13,24.45,8.43,46.88
$GC,3237,1.19,223.6,3125,1843,1818,1558,6.2,0.7,348,3291,0.12,2.28,43.90,0.508,10500,0.064,0.039,3229,3256,1333,1434,1233,0,0,0,0,0,0,26.33,25.22,24.40,8.41,46.73
$STATE,3664,end climb,NO_VERTICAL_VELOCITY
$STATE,3664,begin surface
$SM_CCo,3667,104.12,0.503,0,0,499,428.54
$SM_GC,1.80,8.02,2.25,0.00,0.034,0.031,0.000,188,1835,485,-8.08,1.16,432.22,0,0,0,0,0,0,25.91,25.80,25.96
$IRIDIUM_FIX,4740.06,-12250.84,060218,015146
$TT8_MAMPS,0.026964,0.23968
$HUMID,46.53
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.7
$24V_AH,23.94,67.433
$10V_AH,9.84,45.407
$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,19.400,52.125,187.225,104.125,0.000,0.000,0.000,188.200,4.250,0.000,17.089,1064.399,1278.940,383.721,1338.298,106.953,33.427,1075.257,0.000,846.363,0.000,30.600,0.000
$DEVICE_MAMPS,195.840,51.255,693.855,502.605,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.747,925.778,564.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312600
$DATA_FILE_SIZE,28022,430
$CAP_FILE_SIZE,64793,0
$CFSIZE,2097872896,2076934144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060218,040003,4738.188,-12253.669,18,0.8,28,16.4,0.0,0.0,10,4.7