version: 66.14
glider: 195
mission: 15
dive: 186
start: 2 6 118 8 0 57
data:
$ID,195
$MISSION,15
$DIVE,186
$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,47
$R_STBD_OVSHOOT,47
$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
$GPS1,060218,075221,4738.5879,-12252.9111,3,0.9,29,16.4,0.0,0.0,8,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-73.7
$GPS2,060218,075946,4738.5898,-12252.8857,6,0.9,29,16.4,0.0,0.0,8,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.126200,-0.118632
$KALMAN_X,11191.969727,349.806885,-43.141884,-11141.468750,-37.522125
$KALMAN_Y,4255.709961,-78.246033,-357.879272,-3873.805420,43.451355
$MHEAD_RNG_PITCHd_Wd,210.4,511,-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,-63.7,188,1838,507,444,0.0,0.0,0,31,0.00,0.00,-20.08,0.000,16386,0.000,0.000,188,1838,1001,1079,923,0,0,0,0,0,0,26.64,28.83,26.65,8.28,47.20
$GC,34,-1.20,-63.7,188,1838,1079,923,2.2,-1.8,3,101,8.60,2.20,-50.42,0.000,18692,0.200,0.051,2410,3247,2508,2591,2426,0,0,0,0,0,0,24.98,25.63,25.18,8.34,47.51
$GC,170,-1.02,-63.7,2409,3248,2591,2426,17.2,-13.6,26,178,0.20,2.15,0.00,0.000,3078,0.156,0.030,2479,1824,2509,2591,2427,0,0,0,0,0,0,25.44,26.19,25.67,8.47,46.33
$GC,247,-0.98,-113.5,2479,1824,2591,2426,22.7,-4.7,35,256,0.00,0.00,-2.97,0.000,16390,0.000,0.000,2479,1824,2713,2780,2647,0,0,0,0,0,0,26.70,25.66,26.66,8.48,46.57
$GC,377,-0.93,-113.5,2479,1824,2781,2647,37.8,-14.7,48,379,0.10,0.00,0.00,0.000,2054,0.172,0.000,2509,1823,2714,2781,2647,0,0,0,0,0,0,26.17,26.27,26.23,8.49,47.08
$GC,497,-0.93,-113.5,2508,1823,2782,2647,53.7,-13.4,60,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1823,2714,2782,2647,0,0,0,0,0,0,26.74,26.75,26.75,8.50,47.32
$GC,617,-0.93,-113.5,2508,1823,2782,2647,69.7,-13.5,72,627,0.00,2.20,0.00,0.000,260,0.000,0.041,2500,3241,2715,2782,2648,0,0,0,0,0,0,26.75,26.09,26.76,8.50,47.79
$GC,670,-0.98,-113.5,2500,3241,2782,2647,77.0,-14.0,77,680,0.00,2.10,0.00,0.000,1030,0.000,0.031,2501,1834,2714,2781,2648,0,0,0,0,0,0,26.25,26.20,26.27,8.50,48.54
$GC,801,-1.03,-113.5,2500,1833,2781,2647,95.8,-14.2,90,805,0.00,2.17,0.00,0.000,516,0.000,0.043,2500,451,2714,2781,2647,0,0,0,0,0,0,26.75,26.03,26.77,8.50,47.67
$GC,854,-1.03,-113.5,2500,451,2781,2647,103.6,-14.7,95,864,0.00,2.12,0.00,0.000,1030,0.000,0.032,2490,1843,2714,2781,2647,0,0,0,0,0,0,26.29,26.20,26.32,8.50,47.99
$GC,1044,-1.03,-113.5,2489,1842,2782,2647,128.9,-13.3,114,1054,0.00,2.17,0.00,0.000,260,0.000,0.041,2479,3246,2714,2781,2647,0,0,0,0,0,0,26.76,26.08,26.77,8.52,48.30
$GC,1128,-1.03,-113.5,2479,3246,2781,2648,140.3,-13.6,122,1138,0.00,2.10,0.00,0.000,1030,0.000,0.030,2479,1844,2714,2782,2647,0,0,0,0,0,0,26.29,26.20,26.32,8.52,48.70
$STATE,1227,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1227,begin apogee
$GC,1231,-0.21,0.0,2479,1845,2781,2647,154.3,-13.9,132,1329,0.80,0.00,90.32,0.686,10246,0.122,0.000,2740,1843,2246,2359,2134,0,0,0,0,0,0,25.43,24.57,24.03,8.52,48.03
$STATE,1330,end apogee,CONTROL_FINISHED_OK
$STATE,1330,begin climb
$GC,1332,1.25,113.5,2740,1843,2360,2134,156.8,0.0,142,1439,1.25,2.30,95.30,0.673,10500,0.059,0.039,3197,3249,1783,1919,1648,0,0,0,0,0,0,25.53,24.89,23.94,8.49,47.04
$GC,1464,1.13,113.5,3197,3248,1919,1647,141.2,19.2,155,1474,0.12,2.15,0.00,0.000,5126,0.168,0.031,3168,1846,1783,1919,1647,0,0,0,0,0,0,25.29,25.67,25.39,8.45,46.18
$GC,1655,1.06,113.5,3167,1846,1916,1644,102.7,20.3,174,1659,0.00,2.20,0.00,0.000,516,0.000,0.042,3177,448,1779,1915,1644,0,0,0,0,0,0,26.55,25.95,26.55,8.44,47.44
$GC,1708,0.98,113.5,3177,448,1914,1642,91.5,20.7,179,1718,0.15,2.12,0.00,0.000,5126,0.142,0.031,3132,1842,1778,1914,1642,0,0,0,0,0,0,25.66,26.13,25.75,8.44,47.24
$GC,1838,0.98,113.5,3132,1842,1914,1641,69.5,15.9,192,1847,0.00,2.17,0.00,0.000,516,0.000,0.042,3140,455,1777,1914,1641,0,0,0,0,0,0,26.67,26.03,26.67,8.44,47.44
$GC,1870,0.98,113.5,3139,455,1914,1641,63.9,16.3,195,1880,0.00,2.12,0.00,0.000,1030,0.000,0.031,3140,1844,1777,1914,1640,0,0,0,0,0,0,26.28,26.19,26.31,8.44,47.40
$GC,2000,0.98,113.5,3139,1844,1914,1640,42.1,17.1,208,2010,0.00,2.17,0.00,0.000,260,0.000,0.040,3140,3252,1777,1914,1640,0,0,0,0,0,0,26.71,26.10,26.72,8.44,47.48
$GC,2025,0.98,113.5,3139,3252,1914,1640,38.3,17.4,210,2033,0.00,2.15,0.00,0.000,1030,0.000,0.030,3150,1841,1777,1914,1640,0,0,0,0,0,0,26.25,26.20,26.27,8.44,47.51
$GC,2154,0.98,113.5,3150,1842,1914,1640,18.2,14.8,224,2161,0.00,2.22,0.00,0.000,260,0.000,0.040,3150,3256,1777,1914,1640,0,0,0,0,0,0,26.73,26.12,26.74,8.43,47.04
$GC,2174,0.98,113.5,3150,3256,1914,1640,15.0,15.3,227,2183,0.10,2.15,0.00,0.000,5126,0.151,0.031,3131,1847,1777,1914,1640,0,0,0,0,0,0,25.83,26.22,25.90,8.43,47.63
$GC,2246,1.01,136.6,3131,1846,1914,1640,7.8,7.6,240,2260,0.00,0.00,11.30,0.465,8198,0.000,0.000,3132,1846,1687,1822,1552,0,0,0,0,0,0,26.74,25.18,24.37,8.43,46.81
$GC,2324,1.24,243.2,3130,1846,1822,1551,5.4,-1.3,254,2384,0.15,2.22,53.05,0.507,10500,0.057,0.037,3239,3262,1253,1361,1145,0,0,0,0,0,0,26.42,24.88,24.42,8.41,47.32
$GC,2498,1.30,357.3,3239,3262,1361,1144,4.0,-2.0,285,2552,0.00,2.17,48.58,0.498,9218,0.000,0.031,3249,1838,849,954,745,0,0,0,0,0,0,26.08,26.04,26.11,8.37,46.88
$STATE,2553,end climb,SURFACE_DEPTH_REACHED
$STATE,2554,begin surface coast
$FINISH,0.7,1.016547
$STATE,2626,end surface coast,CONTROL_FINISHED_OK
$STATE,2627,begin surface
$SM_CCo,2643,38.20,0.056,0,0,532,420.20
$SM_GC,1.83,8.40,0.00,38.20,0.056,0.000,0.056,186,1838,532,-8.07,-0.14,420.20,0,0,0,0,0,0,26.04,26.44,25.84
$IRIDIUM_FIX,4738.24,-12244.69,060218,075340
$TT8_MAMPS,0.026964,0.264397
$HUMID,46.25
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,121.1,42.3
$24V_AH,23.94,67.743
$10V_AH,9.80,45.651
$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,19.875,43.400,298.550,38.200,0.000,0.000,0.000,293.775,2.250,0.000,31.769,732.982,862.322,378.580,1083.741,98.557,33.422,1090.170,0.000,587.004,0.000,19.333,0.000
$DEVICE_MAMPS,199.665,51.255,686.205,55.845,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.688,661.032,401.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312620
$DATA_FILE_SIZE,21060,307
$CAP_FILE_SIZE,55732,0
$CFSIZE,2097872896,2076442624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060218,084708,4738.435,-12253.109,26,0.9,48,16.4,0.0,0.0,9,4.7