version: 66.14
glider: 195
mission: 15
dive: 204
start: 2 7 118 2 16 29
data:
$ID,195
$MISSION,15
$DIVE,204
$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,48
$R_STBD_OVSHOOT,44
$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
$GPS1,070218,021030,4738.4302,-12253.2256,5,1.0,22,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-70.5
$GPS2,070218,021519,4738.4360,-12253.1875,8,0.9,17,16.4,0.2,0.0,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.065019,0.160538
$KALMAN_X,12376.992188,769.662109,274.786621,-13439.517578,-119.413376
$KALMAN_Y,2149.777588,444.454163,241.536057,-3168.412109,-240.348633
$MHEAD_RNG_PITCHd_Wd,5.6,39,-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,-63.7,191,1845,548,471,0.0,0.0,0,31,0.00,0.00,-19.88,0.000,16386,0.000,0.000,191,1846,1024,1084,964,0,0,0,0,0,0,26.63,28.83,26.63,8.30,46.49
$GC,34,-1.20,-63.7,190,1846,1085,964,2.1,-3.4,3,107,8.57,2.25,-54.10,0.000,18948,0.196,0.052,2418,447,2508,2588,2428,0,0,0,0,0,0,24.92,23.90,25.11,8.35,47.00
$GC,512,-1.03,-63.7,2418,446,2589,2430,55.5,-12.0,62,520,0.20,2.15,0.00,0.000,3078,0.152,0.031,2470,1839,2509,2588,2430,0,0,0,0,0,0,25.49,26.19,25.60,8.48,47.28
$GC,640,-1.03,-63.7,2469,1839,2589,2430,68.9,-9.8,75,649,0.00,2.17,0.00,0.000,260,0.000,0.040,2461,3253,2509,2588,2430,0,0,0,0,0,0,26.76,26.06,26.76,8.48,47.20
$GC,675,-0.98,-63.7,2461,3254,2589,2430,72.2,-10.1,78,683,0.10,2.15,0.00,0.000,3078,0.144,0.029,2491,1830,2509,2588,2430,0,0,0,0,0,0,25.81,26.20,25.86,8.48,47.51
$GC,803,-0.98,-63.7,2491,1830,2588,2430,85.2,-10.4,91,812,0.00,2.17,0.00,0.000,260,0.000,0.041,2482,3245,2509,2589,2430,0,0,0,0,0,0,26.76,26.06,26.77,8.49,47.51
$GC,847,-0.98,-63.7,2482,3245,2589,2429,89.7,-10.3,95,855,0.00,2.10,0.00,0.000,1030,0.000,0.028,2482,1853,2509,2589,2430,0,0,0,0,0,0,26.23,26.20,26.27,8.49,47.63
$GC,976,-0.98,-63.7,2481,1853,2588,2430,103.4,-10.6,108,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1853,2509,2589,2430,0,0,0,0,0,0,26.76,26.77,26.77,8.49,47.40
$GC,1157,-0.98,-63.7,2481,1853,2588,2430,121.5,-9.9,126,1167,0.00,2.20,0.00,0.000,516,0.000,0.041,2482,448,2509,2588,2430,0,0,0,0,0,0,26.76,26.00,26.77,8.49,48.07
$GC,1211,-0.98,-63.7,2481,448,2588,2430,127.4,-11.1,131,1220,0.00,2.15,0.00,0.000,1030,0.000,0.031,2472,1842,2509,2589,2430,0,0,0,0,0,0,26.24,26.22,26.25,8.50,48.11
$GC,1400,-0.98,-63.7,2471,1842,2589,2430,147.3,-10.0,150,1410,0.00,2.17,0.00,0.000,516,0.000,0.041,2471,448,2509,2589,2430,0,0,0,0,0,0,26.77,26.00,26.77,8.50,48.50
$GC,1453,-0.98,-63.7,2471,448,2588,2430,152.8,-10.4,155,1463,0.10,2.10,0.00,0.000,3078,0.168,0.031,2489,1844,2509,2588,2430,0,0,0,0,0,0,25.83,26.18,25.94,8.50,48.30
$STATE,1481,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1481,begin apogee
$GC,1486,-0.21,0.0,2489,1844,2589,2430,155.7,-9.9,158,1544,0.75,0.00,52.25,0.678,10246,0.121,0.000,2735,1845,2246,2348,2145,0,0,0,0,0,0,25.31,25.03,24.06,8.50,48.34
$STATE,1545,end apogee,CONTROL_FINISHED_OK
$STATE,1545,begin climb
$GC,1547,1.20,63.7,2736,1845,2348,2145,156.9,0.0,164,1614,1.23,2.25,54.33,0.672,10756,0.062,0.040,3194,449,1985,2124,1846,0,0,0,0,0,0,25.65,24.49,23.93,8.48,47.71
$GC,1628,1.08,63.7,3193,449,2123,1846,151.3,9.3,172,1639,0.10,2.12,0.00,0.000,5126,0.148,0.030,3165,1839,1984,2124,1845,0,0,0,0,0,0,25.37,25.70,25.44,8.46,46.81
$GC,1819,1.00,63.7,3164,1839,2122,1841,122.6,15.4,191,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1839,1982,2122,1842,0,0,0,0,0,0,26.57,26.58,26.58,8.46,47.95
$GC,2007,0.94,63.7,3165,1839,2122,1841,93.4,15.3,210,2017,0.15,2.15,0.00,0.000,4612,0.158,0.040,3125,454,1980,2121,1840,0,0,0,0,0,0,25.89,25.99,25.94,8.46,47.87
$GC,2051,0.94,63.7,3125,454,2121,1840,87.2,13.8,214,2055,0.00,2.12,0.00,0.000,1030,0.000,0.031,3125,1844,1980,2121,1840,0,0,0,0,0,0,26.25,26.16,26.28,8.46,48.26
$GC,2183,0.94,63.7,3125,1844,2121,1840,70.3,12.2,227,2192,0.00,2.17,0.00,0.000,260,0.000,0.040,3125,3250,1980,2121,1840,0,0,0,0,0,0,26.72,26.06,26.74,8.46,47.87
$GC,2217,0.94,63.7,3125,3250,2121,1840,66.1,12.7,230,2226,0.00,2.15,0.00,0.000,1030,0.000,0.029,3135,1837,1980,2121,1840,0,0,0,0,0,0,26.22,26.20,26.26,8.46,48.14
$GC,2346,0.94,63.7,3135,1837,2121,1840,49.6,12.8,243,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1837,1980,2121,1840,0,0,0,0,0,0,26.74,26.75,26.75,8.45,48.03
$GC,2466,0.94,63.7,3135,1837,2120,1840,34.2,12.8,255,2475,0.00,2.17,0.00,0.000,516,0.000,0.043,3146,451,1980,2121,1840,0,0,0,0,0,0,26.75,26.01,26.76,8.45,48.22
$GC,2696,0.99,111.7,3146,451,2120,1839,10.0,4.9,289,2730,0.00,2.15,24.33,0.510,9222,0.000,0.031,3146,1850,1789,1931,1647,0,0,0,0,0,0,26.25,26.22,24.42,8.45,48.03
$GC,2793,1.05,180.9,3145,1850,1930,1646,7.1,2.7,306,2833,0.00,0.00,34.53,0.498,8198,0.000,0.000,3146,1850,1505,1621,1390,0,0,0,0,0,0,26.60,25.18,24.44,8.43,47.99
$GC,2896,1.24,268.9,3145,1850,1619,1388,4.8,0.7,324,2951,0.10,2.25,44.00,0.493,10756,0.076,0.042,3249,458,1147,1245,1050,0,0,0,0,0,0,26.27,25.21,24.39,8.40,46.81
$STATE,2962,end climb,SURFACE_DEPTH_REACHED
$STATE,2962,begin surface coast
$FINISH,1.4,1.018959
$STATE,3030,end surface coast,CONTROL_FINISHED_OK
$STATE,3030,begin surface
$SM_CCo,3049,72.22,0.055,0,0,532,420.20
$SM_GC,1.61,8.43,2.17,72.22,0.057,0.029,0.055,195,1846,532,-8.05,-1.53,420.20,0,0,0,0,0,0,26.03,26.01,25.82
$IRIDIUM_FIX,4740.65,-12253.53,070218,010932
$TT8_MAMPS,0.026964,0.23968
$HUMID,45.55
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,120.5,44.3
$24V_AH,23.90,68.605
$10V_AH,9.83,46.618
$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,19.725,43.350,209.425,72.225,0.000,0.000,0.000,205.725,2.250,0.000,18.885,843.545,1010.133,362.301,1120.584,101.384,33.435,1009.228,0.000,685.372,0.000,19.374,0.000
$DEVICE_MAMPS,195.840,52.020,677.790,55.080,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.191,747.022,454.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312580
$DATA_FILE_SIZE,24435,347
$CAP_FILE_SIZE,56532,0
$CFSIZE,2097872896,2074673152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070218,030926,4738.593,-12253.057,4,0.8,15,16.4,0.0,0.0,10,4.8