version: 66.14
glider: 195
mission: 15
dive: 239
start: 2 8 118 13 22 24
data:
$ID,195
$MISSION,15
$DIVE,239
$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,51
$R_STBD_OVSHOOT,46
$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
$GPS1,080218,131715,4738.3745,-12253.3682,5,0.8,14,16.4,0.6,61.6,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.6
$GPS2,080218,132112,4738.4048,-12253.2676,5,0.9,19,16.4,0.6,65.6,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.167915,-0.042481
$KALMAN_X,20980.992188,-329.058411,422.780243,-21196.849609,642.398193
$KALMAN_Y,3974.479004,-235.626068,390.050262,-4521.454590,178.001801
$MHEAD_RNG_PITCHd_Wd,239.4,77,-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,-63.7,172,1855,530,436,0.0,0.0,0,36,0.00,0.00,-26.12,0.000,16386,0.000,0.000,171,1856,1158,1242,1075,0,0,0,0,0,0,26.65,28.83,26.65,8.30,47.48
$GC,39,-1.20,-63.7,171,1856,1242,1076,2.2,-2.9,4,98,8.45,0.00,-44.38,0.000,18950,0.193,0.000,2417,1856,2508,2590,2427,0,0,0,0,0,0,25.08,25.70,25.27,8.36,47.24
$GC,163,-1.04,-63.7,2416,1856,2590,2427,12.7,-10.1,25,171,0.17,2.20,0.00,0.000,2564,0.164,0.038,2473,453,2508,2590,2427,0,0,0,0,0,0,25.77,25.93,25.86,8.48,47.12
$GC,283,-0.93,-83.4,2472,451,2590,2427,22.6,-7.9,44,293,0.15,2.15,-1.20,0.000,19462,0.152,0.031,2508,1845,2590,2664,2517,0,0,0,0,0,0,25.69,26.22,25.96,8.48,46.81
$GC,411,-0.93,-83.4,2507,1845,2664,2518,36.5,-11.7,57,421,0.00,2.15,0.00,0.000,260,0.000,0.041,2499,3241,2591,2665,2518,0,0,0,0,0,0,26.73,26.11,26.74,8.49,47.24
$GC,514,-0.93,-83.4,2499,3241,2665,2518,48.8,-12.0,67,518,0.00,2.10,0.00,0.000,1030,0.000,0.030,2499,1831,2591,2665,2518,0,0,0,0,0,0,26.32,26.23,26.34,8.49,47.44
$GC,646,-0.93,-83.4,2498,1832,2664,2518,64.5,-11.8,80,656,0.00,2.20,0.00,0.000,260,0.000,0.041,2488,3245,2591,2665,2518,0,0,0,0,0,0,26.74,26.11,26.75,8.49,47.71
$GC,711,-0.93,-83.4,2488,3244,2665,2518,72.1,-12.3,86,719,0.00,2.12,0.00,0.000,1030,0.000,0.029,2488,1840,2591,2665,2518,0,0,0,0,0,0,26.27,26.24,26.33,8.49,47.08
$GC,839,-0.93,-83.4,2488,1840,2665,2518,87.4,-11.6,99,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1840,2591,2665,2518,0,0,0,0,0,0,26.75,26.76,26.76,8.50,47.36
$GC,959,-0.93,-83.4,2488,1840,2665,2517,101.3,-11.5,111,969,0.00,2.17,0.00,0.000,516,0.000,0.042,2488,452,2591,2665,2518,0,0,0,0,0,0,26.74,26.06,26.75,8.50,47.95
$GC,1005,-0.93,-83.4,2487,451,2664,2518,107.1,-12.7,115,1015,0.10,2.12,0.00,0.000,3078,0.161,0.031,2507,1847,2591,2665,2518,0,0,0,0,0,0,25.90,26.21,26.02,8.50,48.66
$GC,1195,-0.99,-83.4,2506,1847,2665,2517,128.5,-10.8,134,1204,0.00,2.15,0.00,0.000,260,0.000,0.041,2498,3246,2591,2664,2518,0,0,0,0,0,0,26.75,26.09,26.76,8.50,47.87
$GC,1220,-1.05,-83.4,2498,3246,2665,2517,131.0,-10.7,136,1228,0.00,2.12,0.00,0.000,1030,0.000,0.029,2498,1845,2591,2665,2518,0,0,0,0,0,0,26.27,26.22,26.29,8.51,48.42
$GC,1409,-1.05,-83.4,2498,1845,2665,2518,152.3,-11.1,155,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1845,2591,2665,2518,0,0,0,0,0,0,26.75,26.77,26.77,8.51,48.50
$STATE,1497,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1497,begin apogee
$GC,1502,-0.21,0.0,2498,1844,2665,2518,162.0,-11.1,164,1579,0.73,0.00,68.25,0.685,10246,0.119,0.000,2737,1844,2246,2350,2143,0,0,0,0,0,0,25.48,24.98,24.01,8.52,48.42
$STATE,1580,end apogee,CONTROL_FINISHED_OK
$STATE,1580,begin climb
$GC,1582,1.22,83.4,2737,1844,2349,2143,164.9,0.0,172,1659,1.23,0.00,70.85,0.682,10758,0.051,0.000,3196,1844,1906,2049,1764,0,0,0,0,0,0,25.66,24.81,23.89,8.49,47.55
$GC,1839,1.10,83.4,3195,1844,2046,1761,129.2,19.4,198,1849,0.10,2.20,0.00,0.000,4612,0.170,0.040,3174,446,1902,2045,1760,0,0,0,0,0,0,25.92,25.93,25.95,8.45,47.51
$GC,1915,1.00,83.4,3174,447,2044,1759,115.2,18.3,205,1923,0.12,2.15,0.00,0.000,5126,0.146,0.031,3137,1832,1901,2044,1759,0,0,0,0,0,0,25.70,26.13,25.78,8.45,47.51
$GC,2104,1.00,83.4,3137,1832,2044,1758,85.1,16.3,224,2107,0.00,2.17,0.00,0.000,516,0.000,0.042,3145,450,1901,2044,1758,0,0,0,0,0,0,26.69,26.05,26.70,8.45,48.18
$GC,2137,1.00,83.4,3145,449,2044,1758,79.7,16.6,227,2145,0.00,2.15,0.00,0.000,1030,0.000,0.031,3145,1847,1901,2044,1758,0,0,0,0,0,0,26.25,26.20,26.27,8.45,48.42
$GC,2266,1.00,83.4,3145,1847,2044,1758,59.2,15.1,240,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1847,1901,2044,1758,0,0,0,0,0,0,26.72,26.74,26.73,8.45,47.83
$GC,2386,1.00,83.4,3145,1847,2044,1757,41.5,14.6,252,2395,0.00,2.17,0.00,0.000,260,0.000,0.039,3145,3253,1900,2044,1757,0,0,0,0,0,0,26.74,26.12,26.74,8.45,48.18
$GC,2430,1.00,83.4,3145,3253,2043,1757,35.2,15.4,256,2438,0.00,2.12,0.00,0.000,1030,0.000,0.030,3155,1849,1900,2043,1757,0,0,0,0,0,0,26.27,26.21,26.29,8.45,48.03
$GC,2560,1.00,83.4,3155,1849,2043,1757,16.9,13.2,271,2567,0.00,2.22,0.00,0.000,516,0.000,0.042,3166,450,1900,2043,1757,0,0,0,0,0,0,26.74,26.08,26.75,8.44,48.03
$GC,2575,1.00,83.4,3166,450,2042,1757,14.9,13.6,273,2583,0.10,2.15,0.00,0.000,5126,0.146,0.031,3137,1844,1900,2043,1757,0,0,0,0,0,0,25.84,26.24,25.91,8.44,48.22
$GC,2646,1.00,83.4,3136,1843,2043,1757,5.8,10.6,286,2653,0.00,2.22,0.00,0.000,516,0.000,0.043,3145,452,1899,2042,1757,0,0,0,0,0,0,26.74,26.06,26.75,8.43,47.00
$GC,2681,1.11,192.9,3144,452,2042,1756,4.8,-1.6,292,2742,0.00,2.15,54.67,0.502,9222,0.000,0.029,3145,1858,1459,1573,1345,0,0,0,0,0,0,26.29,26.25,24.39,8.43,47.36
$GC,2806,1.33,291.1,3144,1858,1571,1341,4.8,-0.4,313,2867,0.17,2.20,49.53,0.490,10500,0.049,0.037,3266,3247,1055,1161,950,0,0,0,0,0,0,26.22,25.19,24.38,8.39,46.88
$GC,2875,1.39,351.1,3266,3247,1161,949,3.1,3.7,323,2884,0.00,2.17,4.10,0.310,9218,0.000,0.029,3276,1837,1022,1132,912,0,0,0,0,0,0,25.87,25.84,25.91,8.36,46.53
$STATE,2885,end climb,SURFACE_DEPTH_REACHED
$STATE,2885,begin surface coast
$FINISH,0.9,1.018773
$STATE,2956,end surface coast,CONTROL_FINISHED_OK
$STATE,2956,begin surface
$SM_CCo,2972,58.17,0.056,0,0,533,420.20
$SM_GC,2.55,8.50,0.00,58.17,0.057,0.000,0.056,185,1837,533,-8.07,-0.17,420.20,0,0,0,0,0,0,26.07,26.46,25.83
$IRIDIUM_FIX,4737.86,-12251.79,080218,123046
$TT8_MAMPS,0.026964,0.265895
$HUMID,46.37
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,9.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,145.6,25.8
$24V_AH,23.89,70.409
$10V_AH,9.79,48.428
$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,19.825,47.600,247.400,58.175,0.000,0.000,0.000,159.250,3.000,0.000,21.176,826.499,983.499,380.135,1014.651,96.853,33.433,964.098,0.000,631.818,0.000,22.618,0.000
$DEVICE_MAMPS,192.780,42.840,684.675,55.845,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.369,727.617,442.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312596
$DATA_FILE_SIZE,24468,338
$CAP_FILE_SIZE,57784,0
$CFSIZE,2097872896,2071232512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080218,141354,4738.383,-12253.507,6,0.9,18,16.4,0.6,68.5,8,5.0