version: 66.14
glider: 195
mission: 15
dive: 202
start: 2 7 118 0 12 21
data:
$ID,195
$MISSION,15
$DIVE,202
$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,56
$R_STBD_OVSHOOT,36
$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
$GPS1,070218,000650,4738.4302,-12253.2695,4,0.8,38,16.4,0.3,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.9
$GPS2,070218,001110,4738.4429,-12253.2197,9,0.8,13,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.171845,-0.021663
$KALMAN_X,12238.468750,569.833252,449.628662,-13319.164062,130.942505
$KALMAN_Y,2520.370605,253.027252,360.842041,-3459.342529,-18.735779
$MHEAD_RNG_PITCHd_Wd,246.4,38,-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,-63.7,186,1826,553,472,0.0,0.0,0,37,0.00,0.00,-26.17,0.000,16386,0.000,0.000,186,1826,1193,1269,1117,0,0,0,0,0,0,26.63,28.83,26.64,8.29,46.73
$GC,40,-1.20,-63.7,185,1826,1270,1118,2.3,-3.0,4,101,8.57,2.30,-45.15,0.000,18692,0.197,0.051,2409,3261,2508,2589,2427,0,0,0,0,0,0,24.95,23.93,25.15,8.36,46.88
$GC,114,-0.97,-63.7,2409,3261,2590,2427,8.1,-17.2,15,123,0.28,2.15,0.00,0.000,3078,0.148,0.030,2491,1844,2508,2590,2427,0,0,0,0,0,0,25.37,26.13,25.48,8.48,46.73
$GC,186,-0.90,-63.7,2491,1845,2590,2427,16.5,-9.9,28,193,0.10,0.00,0.00,0.000,2054,0.171,0.000,2524,1844,2508,2590,2427,0,0,0,0,0,0,26.09,26.15,26.10,8.48,46.57
$GC,261,-0.92,-86.0,2523,1844,2591,2427,22.6,-7.6,39,271,0.00,2.17,-1.33,0.000,16900,0.000,0.054,2524,460,2599,2673,2526,0,0,0,0,0,0,26.71,25.53,26.60,8.47,46.10
$GC,448,-0.92,-86.0,2523,460,2673,2527,43.3,-12.1,57,456,0.00,2.15,0.00,0.000,1030,0.000,0.031,2516,1850,2600,2674,2527,0,0,0,0,0,0,26.22,26.18,26.25,8.48,46.77
$GC,576,-0.92,-86.0,2515,1850,2674,2527,58.3,-11.8,70,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1850,2600,2673,2527,0,0,0,0,0,0,26.75,26.76,26.76,8.49,47.00
$GC,696,-0.92,-86.0,2515,1850,2673,2527,71.7,-11.0,82,706,0.00,2.17,0.00,0.000,516,0.000,0.042,2516,460,2600,2673,2527,0,0,0,0,0,0,26.76,26.01,26.76,8.49,47.51
$GC,739,-0.92,-86.0,2515,459,2673,2527,76.8,-11.8,86,749,0.00,2.12,0.00,0.000,1030,0.000,0.032,2505,1848,2600,2673,2527,0,0,0,0,0,0,26.27,26.18,26.31,8.49,47.91
$GC,869,-0.92,-86.0,2505,1849,2673,2527,91.9,-11.3,99,879,0.00,2.17,0.00,0.000,516,0.000,0.041,2505,456,2600,2673,2527,0,0,0,0,0,0,26.75,26.02,26.77,8.49,47.67
$GC,902,-0.92,-86.0,2505,455,2674,2527,95.8,-11.7,102,912,0.00,2.12,0.00,0.000,1030,0.000,0.031,2495,1847,2600,2673,2527,0,0,0,0,0,0,26.27,26.18,26.31,8.50,47.83
$GC,1033,-0.92,-86.0,2494,1846,2673,2527,111.2,-11.8,115,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1847,2600,2674,2526,0,0,0,0,0,0,26.72,26.73,26.72,8.50,47.87
$GC,1214,-0.92,-86.0,2494,1847,2673,2527,132.0,-11.8,133,1223,0.00,2.17,0.00,0.000,516,0.000,0.041,2495,457,2600,2673,2527,0,0,0,0,0,0,26.76,26.01,26.77,8.51,48.77
$GC,1291,-0.92,-86.0,2495,457,2673,2527,141.4,-12.1,140,1299,0.08,2.15,0.00,0.000,3078,0.155,0.031,2508,1846,2600,2673,2527,0,0,0,0,0,0,25.84,26.18,25.90,8.51,48.46
$GC,1479,-0.98,-86.0,2507,1846,2673,2526,161.6,-10.6,159,1489,0.00,2.15,0.00,0.000,260,0.000,0.041,2499,3243,2600,2673,2527,0,0,0,0,0,0,26.76,26.03,26.77,8.51,48.07
$STATE,1662,end dive,NO_VERTICAL_VELOCITY
$STATE,1662,begin apogee
$GC,1669,-0.21,0.0,2498,1847,2673,2527,163.6,0.0,177,1744,0.70,0.00,69.55,0.686,10246,0.073,0.000,2751,1847,2246,2350,2142,0,0,0,0,0,0,25.83,24.96,24.00,8.52,47.95
$STATE,1745,end apogee,CONTROL_FINISHED_OK
$STATE,1745,begin climb
$GC,1747,1.22,86.0,2751,1847,2350,2142,163.7,0.0,185,1827,1.23,2.22,72.95,0.677,10756,0.067,0.041,3202,454,1894,2037,1752,0,0,0,0,0,0,25.53,24.89,23.89,8.49,47.71
$GC,2052,1.11,86.0,3201,454,2034,1748,123.5,17.7,215,2060,0.10,2.15,0.00,0.000,5126,0.151,0.031,3173,1839,1891,2034,1748,0,0,0,0,0,0,25.70,26.10,25.77,8.46,47.12
$GC,2240,1.05,86.0,3172,1839,2034,1747,92.7,16.1,234,2243,0.00,2.17,0.00,0.000,516,0.000,0.041,3181,454,1890,2034,1747,0,0,0,0,0,0,26.68,26.01,26.69,8.46,47.59
$GC,2343,0.96,86.0,3181,453,2032,1746,74.6,16.5,244,2353,0.17,2.10,0.00,0.000,5126,0.138,0.031,3128,1842,1889,2032,1746,0,0,0,0,0,0,25.65,26.20,25.73,8.45,48.07
$GC,2473,0.96,86.0,3127,1842,2032,1746,56.2,13.7,257,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1842,1889,2032,1746,0,0,0,0,0,0,26.73,26.74,26.74,8.45,47.75
$GC,2593,0.96,86.0,3128,1842,2032,1746,40.8,12.8,269,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1842,1889,2032,1746,0,0,0,0,0,0,26.74,26.75,26.75,8.45,47.63
$GC,2714,0.96,86.0,3127,1842,2032,1746,26.5,12.1,281,2723,0.00,2.17,0.00,0.000,260,0.000,0.041,3128,3255,1888,2031,1746,0,0,0,0,0,0,26.75,26.08,26.76,8.44,47.83
$GC,2777,0.96,86.0,3127,3254,2031,1746,19.0,11.7,287,2786,0.00,2.15,0.00,0.000,1030,0.000,0.030,3136,1845,1888,2031,1746,0,0,0,0,0,0,26.24,26.21,26.27,8.45,48.07
$GC,2848,0.96,86.0,3135,1846,2031,1745,11.0,10.9,300,2856,0.00,2.22,0.00,0.000,516,0.000,0.044,3147,451,1888,2031,1746,0,0,0,0,0,0,26.75,26.02,26.76,8.44,47.36
$GC,2954,1.08,203.1,3146,451,2031,1745,7.7,-2.4,320,3021,0.00,2.15,58.72,0.514,9222,0.000,0.030,3147,1852,1416,1531,1302,0,0,0,0,0,0,26.26,26.22,24.39,8.44,47.55
$GC,3086,1.24,272.6,3146,1852,1529,1301,4.3,2.7,342,3127,0.10,2.22,34.55,0.483,11012,0.076,0.038,3241,3246,1132,1230,1034,0,0,0,0,0,0,26.23,25.23,24.41,8.39,46.88
$STATE,3133,end climb,SURFACE_DEPTH_REACHED
$STATE,3133,begin surface coast
$FINISH,1.7,1.018807
$STATE,3210,end surface coast,CONTROL_FINISHED_OK
$STATE,3210,begin surface
$SM_CCo,3229,70.32,0.054,0,0,533,420.20
$SM_GC,2.06,8.45,2.20,70.32,0.059,0.029,0.054,195,1828,533,-8.05,1.27,420.20,0,0,0,0,0,0,26.06,26.01,25.82
$IRIDIUM_FIX,4736.40,-12251.79,060218,231649
$TT8_MAMPS,0.026964,0.241927
$HUMID,45.70
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,17.9
$ALTIM_BOTTOM_PING,155.3,21.3
$24V_AH,23.89,68.526
$10V_AH,9.82,46.511
$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,19.775,47.775,235.775,70.325,0.000,0.000,0.000,185.825,4.000,0.000,15.552,901.190,1049.879,368.506,1169.323,101.105,33.433,1024.192,0.000,740.111,0.000,31.379,0.000
$DEVICE_MAMPS,196.605,53.550,686.205,54.315,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.926,783.518,477.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312588
$DATA_FILE_SIZE,24469,364
$CAP_FILE_SIZE,61061,0
$CFSIZE,2097872896,2074869760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070218,010819,4738.375,-12253.538,7,1.0,17,16.4,0.4,97.6,9,4.7