version: 66.14
glider: 195
mission: 15
dive: 320
start: 2 12 118 1 39 41
data:
$ID,195
$MISSION,15
$DIVE,320
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,50
$R_STBD_OVSHOOT,42
$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
$GPS1,120218,013450,4738.3169,-12253.1738,10,1.3,50,16.3,0.0,225.0,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.7
$GPS2,120218,013901,4738.3105,-12253.1963,3,1.1,38,16.3,0.2,228.0,8,3.2
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$TGT_LATLONG,4737.883,-12254.600
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.289812,-0.137217
$KALMAN_X,24982.394531,32.228821,-582.533447,-24351.066406,911.770996
$KALMAN_Y,5615.479492,-3.337315,-424.696045,-5543.971191,423.217987
$MHEAD_RNG_PITCHd_Wd,242.0,1922,-13.1,-10.000,-17.32,3645
$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,-0.79,-244.4,171,1845,523,444,0.0,0.0,0,38,0.00,0.00,-27.40,0.000,16386,0.000,0.000,171,1845,1177,1255,1099,0,0,0,0,0,0,26.64,28.83,26.65,8.29,47.55
$GC,41,-0.79,-244.4,171,1845,1256,1100,2.4,-4.2,4,124,9.05,2.20,-66.53,0.000,18692,0.197,0.052,2544,3250,3243,3309,3177,0,0,0,0,0,0,25.06,25.58,25.46,8.36,47.12
$GC,293,-0.69,-244.4,2544,3250,3310,3178,36.8,-15.2,38,304,0.12,2.10,0.00,0.000,3078,0.109,0.029,2586,1839,3244,3310,3178,0,0,0,0,0,0,25.91,26.22,25.97,8.54,46.92
$GC,423,-0.69,-244.4,2585,1839,3310,3177,53.9,-12.4,51,433,0.00,2.15,0.00,0.000,516,0.000,0.042,2586,458,3243,3310,3177,0,0,0,0,0,0,26.72,26.06,26.73,8.54,47.79
$GC,467,-0.69,-244.4,2586,459,3310,3177,59.4,-12.6,55,477,0.00,2.10,0.00,0.000,1030,0.000,0.032,2580,1837,3243,3309,3177,0,0,0,0,0,0,26.23,26.20,26.27,8.55,47.67
$GC,597,-0.69,-244.4,2580,1837,3310,3177,75.9,-12.3,68,607,0.00,2.17,0.00,0.000,260,0.000,0.041,2570,3240,3244,3310,3178,0,0,0,0,0,0,26.72,26.07,26.73,8.55,47.87
$GC,641,-0.69,-244.4,2569,3239,3310,3177,81.0,-11.9,72,651,0.00,2.10,0.00,0.000,1030,0.000,0.029,2570,1842,3244,3310,3178,0,0,0,0,0,0,26.30,26.22,26.34,8.55,47.83
$GC,772,-0.69,-244.4,2569,1842,3309,3177,96.4,-12.1,85,781,0.00,2.15,0.00,0.000,516,0.000,0.041,2570,453,3243,3310,3177,0,0,0,0,0,0,26.73,26.04,26.74,8.55,48.07
$GC,831,-0.69,-244.4,2569,453,3310,3177,103.6,-12.6,90,840,0.00,2.15,0.00,0.000,1030,0.000,0.032,2561,1839,3243,3310,3177,0,0,0,0,0,0,26.23,26.17,26.27,8.56,48.26
$GC,1020,-0.69,-244.4,2561,1840,3310,3177,127.7,-12.8,109,1030,0.00,2.17,0.00,0.000,260,0.000,0.041,2552,3249,3243,3310,3177,0,0,0,0,0,0,26.73,26.07,26.74,8.57,48.70
$GC,1058,-0.69,-244.4,2551,3249,3310,3177,132.2,-12.3,112,1067,0.10,2.12,0.00,0.000,3078,0.107,0.028,2587,1843,3243,3310,3177,0,0,0,0,0,0,25.96,26.21,26.02,8.57,48.70
$GC,1247,-0.69,-244.4,2587,1843,3310,3177,151.9,-10.0,131,1256,0.00,2.17,0.00,0.000,516,0.000,0.041,2587,449,3243,3309,3177,0,0,0,0,0,0,26.73,26.03,26.74,8.57,48.77
$GC,1295,-0.69,-244.4,2586,448,3310,3177,157.1,-11.0,135,1305,0.00,2.12,0.00,0.000,1030,0.000,0.032,2581,1849,3243,3309,3177,0,0,0,0,0,0,26.22,26.18,26.25,8.57,49.17
$GC,1487,-0.93,-244.4,2581,1850,3310,3177,164.3,-0.0,154,1497,0.12,2.17,0.00,0.000,4356,0.068,0.040,2508,3252,3243,3310,3177,0,0,0,0,0,0,26.46,26.07,26.46,8.57,48.46
$STATE,1519,end dive,NO_VERTICAL_VELOCITY
$STATE,1519,begin apogee
$GC,1526,-0.21,0.0,2508,1838,3310,3177,164.3,0.0,157,1731,0.65,0.00,194.73,0.662,10246,0.050,0.000,2763,1837,2246,2382,2110,0,0,0,0,0,0,26.11,24.76,23.83,8.57,48.34
$STATE,1733,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1735,0.79,244.4,2763,1837,2382,2110,164.1,0.0,178,1952,0.77,2.25,202.73,0.646,10756,0.061,0.041,3061,457,1249,1360,1138,0,0,0,0,0,0,25.43,24.46,23.92,8.49,47.04
$GC,2019,0.70,244.4,3061,456,1358,1135,135.0,14.1,206,2028,0.00,2.12,0.00,0.000,1030,0.000,0.031,3061,1835,1246,1358,1135,0,0,0,0,0,0,25.92,25.89,25.95,8.40,45.82
$GC,2208,0.62,244.4,3061,1835,1358,1134,108.1,14.4,225,2210,0.15,0.00,0.00,0.000,4102,0.117,0.000,3011,1835,1246,1358,1134,0,0,0,0,0,0,26.05,26.18,26.13,8.41,47.67
$GC,2389,0.62,244.4,3011,1835,1358,1132,88.8,10.1,243,2399,0.00,2.17,0.00,0.000,516,0.000,0.043,3019,453,1245,1358,1132,0,0,0,0,0,0,26.67,26.06,26.68,8.40,48.30
$GC,2453,0.62,244.4,3018,454,1356,1132,82.0,10.2,249,2464,0.00,2.12,0.00,0.000,1030,0.000,0.031,3019,1845,1244,1356,1132,0,0,0,0,0,0,26.30,26.22,26.33,8.40,47.32
$GC,2584,0.62,244.4,3018,1845,1356,1132,68.8,10.5,262,2588,0.00,2.17,0.00,0.000,260,0.000,0.040,3019,3257,1244,1356,1132,0,0,0,0,0,0,26.71,26.12,26.72,8.40,47.83
$GC,2616,0.62,244.4,3018,3258,1356,1132,65.2,10.8,265,2627,0.00,2.12,0.00,0.000,1030,0.000,0.030,3025,1847,1244,1356,1132,0,0,0,0,0,0,26.31,26.22,26.34,8.40,47.67
$GC,2747,0.62,244.4,3025,1847,1356,1132,51.3,10.8,278,2757,0.00,2.20,0.00,0.000,516,0.000,0.044,3034,448,1244,1356,1132,0,0,0,0,0,0,26.72,26.08,26.73,8.40,47.95
$GC,2843,0.62,244.4,3033,447,1356,1132,41.0,10.4,287,2854,0.00,2.15,0.00,0.000,1030,0.000,0.031,3034,1852,1243,1355,1132,0,0,0,0,0,0,26.32,26.24,26.35,8.39,48.03
$GC,2974,0.62,244.4,3033,1853,1356,1132,27.3,10.3,300,2983,0.00,2.20,0.00,0.000,516,0.000,0.042,3042,452,1244,1356,1132,0,0,0,0,0,0,26.73,26.07,26.74,8.39,47.55
$GC,2997,0.62,244.4,3041,452,1356,1132,24.9,10.5,302,3007,0.08,2.10,0.00,0.000,5126,0.106,0.031,3013,1841,1244,1356,1132,0,0,0,0,0,0,26.03,26.24,26.08,8.39,47.28
$GC,3132,0.74,365.2,3013,1841,1356,1132,14.1,6.6,322,3202,0.08,0.00,63.55,0.514,10502,0.093,0.000,3113,1841,756,851,662,0,0,0,0,0,0,26.51,25.03,24.27,8.38,48.26
$STATE,3265,end climb,SURFACE_DEPTH_REACHED
$STATE,3265,begin surface coast
$FINISH,0.6,1.001482
$STATE,3297,end surface coast,CONTROL_FINISHED_OK
$STATE,3297,begin surface
$SM_CCo,3313,27.08,0.056,0,0,532,420.20
$SM_GC,1.28,7.57,0.00,27.08,0.028,0.000,0.056,188,1841,532,-8.06,-0.06,420.20,0,0,0,0,0,0,26.13,26.51,25.88
$IRIDIUM_FIX,4739.27,-12305.05,120218,005435
$TT8_MAMPS,0.026964,0.268891
$HUMID,47.12
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.1
$24V_AH,23.83,77.042
$10V_AH,9.72,53.069
$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,18.700,51.700,461.000,27.075,0.000,0.000,0.000,154.500,4.750,0.000,40.060,850.316,1022.039,521.991,1130.455,102.349,0.000,1205.972,0.000,731.526,0.000,37.523,0.000
$DEVICE_MAMPS,196.605,52.020,661.725,55.845,0.000,0.000,0.000,71.145,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.853,753.454,457.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,24585,350
$CAP_FILE_SIZE,58440,0
$CFSIZE,2097872896,2063237120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,68.20,1
$GPS,120218,023643,4738.328,-12253.698,4,0.9,41,16.4,0.3,179.3,8,3.0