version: 66.14
glider: 195
mission: 15
dive: 229
start: 2 8 118 3 50 43
data:
$ID,195
$MISSION,15
$DIVE,229
$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,54
$R_STBD_OVSHOOT,37
$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
$GPS1,080218,034501,4738.2896,-12253.1494,8,0.9,46,16.3,0.0,0.0,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-72.1
$GPS2,080218,034932,4738.3086,-12253.1357,8,0.9,15,16.3,0.0,0.0,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.046402,0.166874
$KALMAN_X,17919.537109,348.402466,-41.161068,-18186.960938,-176.469055
$KALMAN_Y,3406.438477,282.867279,-36.500935,-4227.256348,-93.196777
$MHEAD_RNG_PITCHd_Wd,359.2,232,-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,8,-1.20,-63.7,190,1830,507,437,0.0,0.0,0,30,0.00,0.00,-19.90,0.000,16386,0.000,0.000,188,1830,996,1068,924,0,0,0,0,0,0,26.63,28.83,26.63,8.29,46.65
$GC,33,-1.20,-63.7,189,1830,1069,924,2.2,-2.2,3,106,8.48,2.20,-54.28,0.000,19204,0.194,0.051,2415,454,2508,2588,2429,0,0,0,0,0,0,24.98,23.93,25.17,8.34,47.24
$GC,613,-1.04,-63.7,2414,454,2588,2430,60.4,-12.2,73,622,0.20,2.15,0.00,0.000,3078,0.152,0.031,2467,1851,2509,2588,2430,0,0,0,0,0,0,25.51,26.20,25.61,8.48,47.87
$GC,742,-1.04,-63.7,2466,1851,2588,2430,74.5,-11.2,86,751,0.00,2.17,0.00,0.000,516,0.000,0.041,2467,455,2509,2588,2430,0,0,0,0,0,0,26.75,26.03,26.76,8.48,47.79
$GC,797,-0.98,-63.7,2466,455,2588,2430,80.9,-11.6,91,805,0.10,2.15,0.00,0.000,3078,0.152,0.031,2488,1848,2509,2588,2430,0,0,0,0,0,0,25.79,26.20,25.84,8.48,47.28
$GC,925,-0.98,-63.7,2487,1848,2589,2430,94.8,-10.3,104,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1848,2509,2588,2430,0,0,0,0,0,0,26.76,26.77,26.77,8.49,47.71
$GC,1045,-0.98,-63.7,2487,1848,2588,2430,107.3,-10.3,116,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1848,2509,2588,2430,0,0,0,0,0,0,26.76,26.77,26.77,8.49,48.42
$GC,1225,-0.98,-63.7,2487,1848,2588,2430,125.0,-9.2,134,1236,0.00,2.12,0.00,0.000,260,0.000,0.041,2479,3241,2509,2588,2430,0,0,0,0,0,0,26.76,26.06,26.77,8.50,48.46
$GC,1324,-0.98,-63.7,2479,3241,2588,2430,133.7,-8.8,143,1332,0.00,2.12,0.00,0.000,1030,0.000,0.030,2479,1842,2509,2588,2430,0,0,0,0,0,0,26.22,26.18,26.25,8.50,48.26
$GC,1513,-0.98,-63.7,2479,1842,2588,2430,151.3,-9.3,162,1522,0.00,2.20,0.00,0.000,516,0.000,0.041,2479,445,2509,2589,2430,0,0,0,0,0,0,26.75,26.00,26.76,8.51,48.07
$GC,1556,-0.98,-63.7,2479,445,2588,2430,155.6,-10.0,166,1566,0.00,2.10,0.00,0.000,1030,0.000,0.031,2469,1837,2509,2588,2430,0,0,0,0,0,0,26.22,26.18,26.25,8.51,48.26
$STATE,1613,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1613,begin apogee
$GC,1618,-0.21,0.0,2468,1837,2588,2430,161.4,-9.9,172,1676,0.82,0.00,51.85,0.681,10246,0.123,0.000,2735,1838,2246,2348,2145,0,0,0,0,0,0,25.29,25.04,24.06,8.51,48.26
$STATE,1677,end apogee,CONTROL_FINISHED_OK
$STATE,1677,begin climb
$GC,1679,1.20,63.7,2735,1838,2348,2146,163.5,0.0,178,1746,1.20,2.22,54.55,0.674,10756,0.052,0.039,3197,453,1985,2123,1848,0,0,0,0,0,0,25.72,24.52,23.93,8.49,47.71
$GC,1774,1.06,63.7,3196,452,2123,1848,157.7,9.5,187,1783,0.12,2.17,0.00,0.000,5126,0.148,0.031,3161,1833,1985,2123,1848,0,0,0,0,0,0,25.37,25.77,25.61,8.46,46.88
$GC,1963,0.98,63.7,3160,1833,2122,1844,127.8,15.8,206,1973,0.10,2.17,0.00,0.000,4612,0.169,0.041,3136,453,1983,2122,1844,0,0,0,0,0,0,25.98,25.92,26.00,8.46,47.44
$GC,1997,0.92,63.7,3136,453,2122,1844,122.1,15.8,209,2007,0.10,2.08,0.00,0.000,5126,0.148,0.031,3107,1835,1982,2121,1843,0,0,0,0,0,0,25.71,26.10,25.78,8.46,47.28
$GC,2188,0.92,63.7,3106,1835,2121,1843,97.7,12.7,228,2197,0.00,2.17,0.00,0.000,260,0.000,0.040,3107,3259,1982,2121,1843,0,0,0,0,0,0,26.70,26.06,26.71,8.46,47.87
$GC,2221,0.92,63.7,3106,3259,2121,1843,93.3,13.0,231,2231,0.00,2.12,0.00,0.000,1030,0.000,0.030,3115,1831,1982,2121,1843,0,0,0,0,0,0,26.26,26.17,26.29,8.46,48.07
$GC,2351,0.92,63.7,3114,1831,2121,1843,77.1,12.5,244,2360,0.00,2.17,0.00,0.000,516,0.000,0.042,3126,451,1981,2121,1842,0,0,0,0,0,0,26.73,26.01,26.74,8.46,47.71
$GC,2375,0.92,63.7,3125,450,2121,1842,74.1,12.9,246,2383,0.00,2.15,0.00,0.000,1030,0.000,0.031,3125,1841,1981,2121,1842,0,0,0,0,0,0,26.23,26.20,26.26,8.46,47.87
$GC,2504,0.92,63.7,3125,1841,2121,1842,57.1,13.0,259,2513,0.00,2.20,0.00,0.000,516,0.000,0.042,3136,448,1981,2120,1842,0,0,0,0,0,0,26.74,26.01,26.75,8.46,47.75
$GC,2577,0.92,63.7,3135,448,2121,1842,46.9,13.2,266,2587,0.00,2.12,0.00,0.000,1030,0.000,0.031,3136,1856,1981,2121,1842,0,0,0,0,0,0,26.28,26.20,26.31,8.45,47.87
$GC,2707,0.92,63.7,3135,1856,2121,1842,29.9,13.2,279,2717,0.00,2.15,0.00,0.000,260,0.000,0.040,3136,3254,1981,2120,1842,0,0,0,0,0,0,26.75,26.08,26.76,8.45,47.83
$GC,2772,0.92,63.7,3135,3254,2121,1842,21.5,12.8,285,2781,0.12,2.15,0.00,0.000,5126,0.140,0.030,3108,1841,1981,2121,1842,0,0,0,0,0,0,25.75,26.20,25.82,8.45,47.36
$GC,2902,0.97,116.6,3107,1841,2121,1842,12.3,4.4,309,2936,0.00,2.22,26.98,0.519,8708,0.000,0.041,3116,439,1771,1914,1628,0,0,0,0,0,0,26.76,24.87,24.39,8.44,47.44
$GC,3442,1.14,205.5,3116,439,1913,1622,5.3,0.6,414,3465,0.10,2.17,16.73,0.481,11266,0.046,0.031,3215,1855,1631,1761,1502,0,0,0,0,0,0,26.15,26.21,26.20,8.41,48.18
$STATE,3466,end climb,NO_VERTICAL_VELOCITY
$STATE,3466,begin surface
$SM_CCo,3469,142.05,0.493,0,0,499,428.54
$SM_GC,1.65,8.20,0.00,0.00,0.045,0.000,0.000,189,1855,480,-8.07,0.34,433.20,0,0,0,0,0,0,25.91,26.20,25.95
$IRIDIUM_FIX,4738.72,-12249.11,080218,024910
$TT8_MAMPS,0.026964,0.266644
$HUMID,46.33
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.3
$ALTIM_BOTTOM_PING,160.5,10.1
$24V_AH,23.93,69.810
$10V_AH,9.77,47.961
$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,19.550,47.525,150.100,142.050,0.000,0.000,0.000,190.850,4.750,0.000,17.655,1035.954,1180.586,400.134,1292.154,108.547,33.438,1074.751,0.000,800.916,0.000,38.722,0.000
$DEVICE_MAMPS,193.545,51.255,680.850,493.425,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.778,897.755,547.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,28008,417
$CAP_FILE_SIZE,63268,0
$CFSIZE,2097872896,2072215552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080218,045340,4738.522,-12253.104,8,0.9,18,16.4,0.0,139.5,9,4.8