version: 66.14
glider: 195
mission: 15
dive: 194
start: 2 6 118 16 7 13
data:
$ID,195
$MISSION,15
$DIVE,194
$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,46
$R_STBD_OVSHOOT,38
$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
$GPS1,060218,160135,4738.6694,-12252.9521,9,0.9,24,16.4,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-72.6
$GPS2,060218,160602,4738.6523,-12252.9512,5,1.2,24,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.151084,-0.084697
$KALMAN_X,11861.937500,-776.690613,-289.301239,-10521.118164,-42.122894
$KALMAN_Y,3108.787354,-541.814453,-230.386948,-2271.493408,-265.174805
$MHEAD_RNG_PITCHd_Wd,224.3,535,-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,-63.7,188,1837,505,446,0.0,0.0,0,31,0.00,0.00,-20.27,0.000,16386,0.000,0.000,188,1837,1003,1082,924,0,0,0,0,0,0,26.62,28.83,26.63,8.29,46.92
$GC,34,-1.20,-63.7,188,1837,1083,925,2.1,-2.1,3,101,8.62,2.22,-50.85,0.000,19204,0.200,0.050,2407,3258,2507,2588,2426,0,0,0,0,0,0,24.96,25.60,25.18,8.34,47.32
$GC,380,-1.02,-63.7,2406,3258,2588,2427,34.4,-8.2,49,388,0.20,2.17,0.00,0.000,3078,0.151,0.031,2479,1824,2507,2588,2426,0,0,0,0,0,0,25.46,26.20,25.67,8.48,47.48
$GC,508,-0.97,-63.7,2479,1824,2588,2427,46.2,-9.7,62,517,0.00,2.22,0.00,0.000,260,0.000,0.040,2471,3256,2507,2588,2427,0,0,0,0,0,0,26.74,26.08,26.75,8.47,47.51
$GC,663,-0.97,-63.7,2470,3257,2588,2427,63.1,-11.2,77,672,0.00,2.15,0.00,0.000,1030,0.000,0.030,2471,1846,2507,2588,2427,0,0,0,0,0,0,26.25,26.20,26.26,8.48,47.75
$GC,793,-0.97,-63.7,2470,1846,2588,2426,77.7,-11.3,90,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1846,2507,2588,2427,0,0,0,0,0,0,26.76,26.77,26.77,8.48,47.83
$GC,912,-0.97,-63.7,2470,1846,2588,2427,91.1,-10.9,102,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1846,2507,2588,2427,0,0,0,0,0,0,26.76,26.77,26.77,8.48,48.34
$GC,1032,-0.97,-63.7,2470,1846,2588,2426,104.6,-11.6,114,1043,0.00,2.17,0.00,0.000,260,0.000,0.040,2460,3250,2507,2588,2427,0,0,0,0,0,0,26.76,26.07,26.77,8.49,48.18
$GC,1058,-0.97,-63.7,2459,3251,2588,2426,107.1,-11.2,116,1066,0.10,2.15,0.00,0.000,3078,0.141,0.029,2491,1834,2507,2588,2426,0,0,0,0,0,0,25.80,26.20,25.89,8.49,47.75
$GC,1246,-0.97,-63.7,2490,1833,2588,2427,126.0,-9.8,135,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1833,2507,2588,2427,0,0,0,0,0,0,26.76,26.77,26.77,8.49,48.26
$GC,1426,-0.97,-63.7,2490,1833,2588,2427,143.3,-9.4,153,1436,0.00,2.22,0.00,0.000,260,0.000,0.041,2481,3259,2507,2588,2426,0,0,0,0,0,0,26.77,26.06,26.77,8.50,48.03
$GC,1499,-0.97,-63.7,2481,3259,2588,2426,150.6,-10.3,160,1509,0.00,2.12,0.00,0.000,1030,0.000,0.030,2481,1846,2507,2588,2427,0,0,0,0,0,0,26.27,26.18,26.31,8.50,48.14
$STATE,1517,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1517,begin apogee
$GC,1522,-0.21,0.0,2481,1846,2588,2427,152.6,-10.2,162,1579,0.80,0.00,50.97,0.682,10246,0.122,0.000,2741,1846,2246,2350,2142,0,0,0,0,0,0,25.35,25.05,24.06,8.50,48.38
$STATE,1581,end apogee,CONTROL_FINISHED_OK
$STATE,1581,begin climb
$GC,1582,1.20,63.7,2741,1846,2350,2142,155.0,0.0,168,1641,1.20,0.00,54.38,0.675,10502,0.061,0.000,3182,1846,1986,2125,1848,0,0,0,0,0,0,25.67,24.84,23.94,8.48,48.18
$GC,1820,1.09,63.7,3181,1846,2124,1846,123.7,16.8,192,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1846,1985,2124,1846,0,0,0,0,0,0,26.52,26.53,26.53,8.46,48.22
$GC,2000,0.99,63.7,3181,1846,2124,1845,94.5,15.3,210,2010,0.15,2.20,0.00,0.000,4612,0.158,0.041,3144,449,1983,2122,1844,0,0,0,0,0,0,25.86,25.98,25.91,8.46,47.79
$GC,2046,0.91,63.7,3143,450,2122,1844,87.9,15.0,214,2055,0.10,2.17,0.00,0.000,5126,0.151,0.031,3115,1851,1983,2122,1844,0,0,0,0,0,0,25.76,26.16,25.83,8.46,48.11
$GC,2173,0.91,63.7,3114,1851,2123,1844,71.4,12.1,227,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1851,1982,2121,1844,0,0,0,0,0,0,26.72,26.72,26.72,8.46,47.75
$GC,2293,0.91,63.7,3114,1851,2121,1844,56.4,12.2,239,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1851,1983,2122,1844,0,0,0,0,0,0,26.74,26.74,26.74,8.45,48.07
$GC,2413,0.91,63.7,3114,1851,2122,1843,42.8,10.8,251,2422,0.00,2.17,0.00,0.000,260,0.000,0.041,3115,3253,1982,2122,1843,0,0,0,0,0,0,26.74,26.08,26.75,8.46,47.59
$GC,2449,0.91,63.7,3114,3253,2122,1844,38.9,11.7,254,2456,0.00,2.15,0.00,0.000,1030,0.000,0.031,3122,1843,1983,2122,1844,0,0,0,0,0,0,26.24,26.20,26.27,8.45,47.59
$GC,2576,0.91,63.7,3122,1843,2122,1843,24.1,11.3,267,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1843,1982,2122,1843,0,0,0,0,0,0,26.75,26.76,26.76,8.45,47.75
$GC,2698,0.96,104.9,3122,1843,2122,1843,12.9,5.6,287,2726,0.00,2.20,21.30,0.516,8708,0.000,0.041,3133,450,1817,1961,1674,0,0,0,0,0,0,26.76,24.90,24.41,8.45,48.07
$GC,2754,1.00,145.6,3133,449,1960,1674,9.8,5.7,296,2782,0.00,2.17,20.75,0.497,9222,0.000,0.031,3133,1853,1652,1783,1521,0,0,0,0,0,0,26.15,26.13,24.46,8.44,47.44
$GC,2847,1.13,203.9,3133,1853,1782,1520,4.5,3.8,312,2882,0.08,2.28,29.08,0.487,10756,0.097,0.041,3224,449,1412,1523,1302,0,0,0,0,0,0,26.31,25.29,24.45,8.40,47.00
$GC,2905,1.20,279.2,3223,450,1523,1301,3.7,2.0,321,2947,0.00,2.17,36.40,0.484,9218,0.000,0.030,3224,1851,1113,1220,1007,0,0,0,0,0,0,26.00,25.95,26.03,8.39,47.24
$STATE,2948,end climb,SURFACE_DEPTH_REACHED
$STATE,2948,begin surface coast
$FINISH,2.3,1.018495
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3070,begin surface
$SM_CCo,3087,68.22,0.054,0,0,532,420.20
$SM_GC,2.20,8.35,0.00,68.22,0.058,0.000,0.054,189,1851,532,-8.06,0.23,420.20,0,0,0,0,0,0,26.10,26.52,25.83
$IRIDIUM_FIX,4738.33,-12256.21,060218,150246
$TT8_MAMPS,0.026964,0.266644
$HUMID,45.90
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,115.3,45.8
$24V_AH,23.94,68.137
$10V_AH,9.79,46.079
$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,19.600,34.975,212.875,68.225,0.000,0.000,0.000,180.500,1.750,0.000,26.930,869.791,1068.338,341.805,1073.448,98.007,33.429,932.303,0.000,649.626,0.000,14.860,0.000
$DEVICE_MAMPS,200.430,50.490,682.380,54.315,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.622,755.620,460.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312592
$DATA_FILE_SIZE,24443,351
$CAP_FILE_SIZE,55306,0
$CFSIZE,2097872896,2075656192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,170046,4738.500,-12253.328,7,0.9,16,16.4,0.0,0.0,11,5.0