version: 66.14
glider: 195
mission: 15
dive: 373
start: 2 14 118 4 35 47
data:
$ID,195
$MISSION,15
$DIVE,373
$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
$GPS1,140218,043019,4738.2603,-12253.9824,5,0.9,39,16.4,0.3,85.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-68.0
$GPS2,140218,043508,4738.2661,-12253.9219,6,0.9,19,16.4,0.0,147.3,10,4.1
$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,217.1,1104,-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,-244.4,179,1850,520,440,0.0,0.0,0,46,0.00,0.00,-34.67,0.000,16386,0.000,0.000,179,1850,1347,1406,1289,0,0,0,0,0,0,26.59,28.83,26.60,8.28,47.67
$GC,49,-0.79,-244.4,179,1850,1407,1291,2.5,-3.1,5,120,9.07,2.20,-54.60,0.000,18692,0.195,0.051,2537,3255,3245,3313,3177,0,0,0,0,0,0,24.95,25.60,25.14,8.37,47.12
$GC,165,-0.65,-244.4,2537,3255,3314,3177,17.2,-18.1,23,173,0.17,2.15,0.00,0.000,3078,0.107,0.029,2607,1843,3245,3314,3177,0,0,0,0,0,0,25.73,26.15,25.88,8.54,47.32
$GC,236,-0.65,-244.4,2607,1842,3315,3177,28.0,-13.5,31,245,0.00,2.17,0.00,0.000,516,0.000,0.041,2607,453,3245,3314,3177,0,0,0,0,0,0,26.67,25.99,26.68,8.53,47.36
$GC,289,-0.65,-244.4,2608,452,3315,3177,34.8,-13.0,36,293,0.00,2.15,0.00,0.000,1030,0.000,0.032,2601,1851,3246,3315,3177,0,0,0,0,0,0,26.23,26.14,26.27,8.54,47.28
$GC,421,-0.65,-244.4,2600,1851,3314,3177,50.6,-11.9,49,426,0.00,2.20,0.00,0.000,260,0.000,0.042,2591,3258,3246,3314,3178,0,0,0,0,0,0,26.70,26.03,26.71,8.54,47.59
$GC,456,-0.65,-244.4,2591,3258,3314,3178,54.3,-11.7,52,464,0.00,2.15,0.00,0.000,1030,0.000,0.030,2591,1847,3245,3314,3177,0,0,0,0,0,0,26.22,26.20,26.25,8.54,48.03
$GC,584,-0.65,-244.4,2591,1848,3314,3177,70.0,-12.2,65,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1848,3245,3314,3177,0,0,0,0,0,0,26.72,26.72,26.72,8.55,48.74
$GC,704,-0.65,-244.4,2590,1848,3314,3177,84.0,-11.4,77,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1848,3245,3314,3177,0,0,0,0,0,0,26.72,26.73,26.72,8.55,48.62
$GC,824,-0.65,-244.4,2591,1848,3314,3177,96.6,-10.2,89,834,0.00,2.20,0.00,0.000,260,0.000,0.042,2581,3249,3245,3314,3177,0,0,0,0,0,0,26.72,26.03,26.73,8.56,49.13
$GC,857,-0.65,-244.4,2581,3250,3314,3177,100.0,-10.1,92,862,0.00,2.10,0.00,0.000,1030,0.000,0.029,2581,1838,3245,3314,3177,0,0,0,0,0,0,26.27,26.19,26.30,8.55,48.81
$GC,990,-0.65,-244.4,2581,1838,3314,3177,114.1,-10.7,105,1003,0.00,2.20,0.00,0.000,516,0.000,0.042,2581,446,3245,3314,3177,0,0,0,0,0,0,26.72,25.99,26.73,8.56,49.52
$GC,1037,-0.65,-244.4,2581,446,3314,3177,119.5,-11.6,109,1048,0.00,2.15,0.00,0.000,1030,0.000,0.032,2573,1847,3245,3314,3177,0,0,0,0,0,0,26.25,26.15,26.28,8.56,48.54
$GC,1228,-0.65,-244.4,2572,1847,3314,3177,141.8,-11.8,128,1232,0.00,2.20,0.00,0.000,260,0.000,0.042,2568,3254,3245,3314,3177,0,0,0,0,0,0,26.72,26.01,26.73,8.56,48.93
$GC,1292,-0.65,-244.4,2567,3254,3314,3177,149.2,-11.7,134,1300,0.10,2.15,0.00,0.000,3078,0.106,0.029,2603,1840,3245,3314,3177,0,0,0,0,0,0,25.93,26.18,25.98,8.57,49.17
$STATE,1309,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1309,begin apogee
$GC,1314,-0.21,0.0,2603,1840,3314,3177,151.3,-10.7,136,1512,0.38,0.00,193.98,0.659,10246,0.090,0.000,2747,1840,2246,2379,2114,0,0,0,0,0,0,25.88,24.73,23.80,8.57,49.37
$STATE,1513,end apogee,CONTROL_FINISHED_OK
$STATE,1513,begin climb
$GC,1515,0.79,244.4,2747,1840,2379,2114,157.5,0.0,156,1732,0.85,2.28,203.57,0.643,11012,0.063,0.042,3066,459,1248,1358,1139,0,0,0,0,0,0,25.34,24.90,23.87,8.49,47.20
$GC,1748,0.68,244.4,3065,459,1358,1139,134.5,14.1,179,1756,0.10,2.20,0.00,0.000,5126,0.113,0.031,3032,1845,1248,1358,1138,0,0,0,0,0,0,25.43,25.65,25.62,8.41,45.74
$GC,1937,0.62,244.4,3031,1845,1358,1138,110.6,12.0,198,1942,0.00,2.22,0.00,0.000,516,0.000,0.043,3040,450,1248,1358,1138,0,0,0,0,0,0,26.54,25.94,26.55,8.40,47.63
$GC,1992,0.56,244.4,3039,449,1357,1136,103.8,12.5,203,2001,0.15,2.17,0.00,0.000,5126,0.100,0.031,2987,1845,1247,1357,1137,0,0,0,0,0,0,25.83,26.13,25.90,8.41,48.18
$GC,2181,0.56,244.4,2987,1845,1357,1136,85.6,8.9,222,2185,0.00,2.20,0.00,0.000,516,0.000,0.043,2995,454,1246,1357,1136,0,0,0,0,0,0,26.67,26.02,26.67,8.40,47.75
$GC,2213,0.56,244.4,2994,454,1357,1136,82.8,8.8,225,2218,0.00,2.15,0.00,0.000,1030,0.000,0.030,2994,1855,1246,1357,1135,0,0,0,0,0,0,26.27,26.19,26.30,8.40,48.26
$GC,2346,0.56,244.4,2994,1855,1357,1136,70.5,9.0,238,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1855,1246,1357,1136,0,0,0,0,0,0,26.70,26.70,26.70,8.40,48.30
$GC,2466,0.56,244.4,2994,1856,1357,1136,60.3,8.3,250,2476,0.00,2.22,0.00,0.000,516,0.000,0.043,3000,448,1246,1357,1136,0,0,0,0,0,0,26.70,26.03,26.71,8.40,48.89
$GC,2509,0.56,244.4,3000,448,1357,1136,56.4,9.3,254,2518,0.00,2.15,0.00,0.000,1030,0.000,0.031,3001,1851,1246,1357,1136,0,0,0,0,0,0,26.29,26.20,26.32,8.40,47.71
$GC,2639,0.56,244.4,3000,1851,1357,1136,44.3,9.2,267,2644,0.00,2.17,0.00,0.000,260,0.000,0.040,3000,3253,1246,1357,1136,0,0,0,0,0,0,26.71,26.08,26.72,8.39,48.58
$GC,2672,0.56,244.4,3000,3253,1357,1135,41.2,9.1,270,2682,0.00,2.12,0.00,0.000,1030,0.000,0.030,3001,1844,1246,1357,1136,0,0,0,0,0,0,26.27,26.19,26.31,8.39,47.99
$GC,2802,0.56,244.4,3000,1844,1357,1136,29.6,8.5,283,2807,0.00,2.20,0.00,0.000,516,0.000,0.044,3001,451,1246,1357,1135,0,0,0,0,0,0,26.72,26.01,26.72,8.39,48.11
$GC,2868,0.56,244.4,3000,451,1357,1136,24.3,8.6,289,2875,0.00,2.15,0.00,0.000,1030,0.000,0.030,3001,1847,1246,1357,1135,0,0,0,0,0,0,26.25,26.21,26.27,8.38,47.71
$GC,3002,0.74,367.6,3001,1847,1357,1135,15.0,6.5,309,3078,0.10,2.28,65.80,0.516,10756,0.076,0.043,3124,451,744,839,650,0,0,0,0,0,0,26.48,25.07,24.22,8.38,48.50
$STATE,3121,end climb,SURFACE_DEPTH_REACHED
$STATE,3121,begin surface coast
$FINISH,0.6,1.017524
$STATE,3149,end surface coast,CONTROL_FINISHED_OK
$STATE,3149,begin surface
$SM_CCo,3167,26.25,0.057,0,0,533,420.20
$SM_GC,1.73,7.65,2.20,26.25,0.029,0.030,0.057,190,1844,533,-8.05,-1.36,420.20,0,0,0,0,0,0,26.08,26.00,25.82
$IRIDIUM_FIX,4738.72,-12249.11,140218,033106
$TT8_MAMPS,0.026964,0.267393
$HUMID,47.59
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,125.2,34.8
$24V_AH,23.80,81.464
$10V_AH,9.75,55.722
$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,18.575,56.750,463.350,26.250,0.000,0.000,0.000,201.625,2.250,0.000,20.388,823.844,996.904,530.217,1050.815,109.890,0.000,1193.888,0.000,646.102,0.000,18.033,0.000
$DEVICE_MAMPS,195.075,51.255,659.430,56.610,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.009,716.740,435.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312096
$DATA_FILE_SIZE,24501,333
$CAP_FILE_SIZE,58188,0
$CFSIZE,2097872896,2058027008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,58.98,1
$GPS,140218,053025,4738.073,-12254.423,5,1.2,43,16.4,0.2,100.3,8,3.0