version: 66.14
glider: 195
mission: 15
dive: 387
start: 2 14 118 19 24 36
data:
$ID,195
$MISSION,15
$DIVE,387
$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,51
$R_STBD_OVSHOOT,36
$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
$GPS1,140218,191901,4737.9619,-12254.6660,6,0.9,15,16.4,0.0,16.5,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-74.1
$GPS2,140218,192356,4737.9854,-12254.5967,8,0.8,17,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE3
$TGT_LATLONG,4737.343,-12255.988
$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,218.7,2106,-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,8,-0.79,-244.4,186,1835,554,486,0.0,0.0,0,18,0.00,0.00,-8.12,0.000,16386,0.000,0.000,186,1835,734,784,685,0,0,0,0,0,0,26.59,28.83,26.60,8.28,47.36
$GC,21,-0.79,-244.4,186,1835,784,685,2.3,0.0,1,118,9.05,2.22,-80.10,0.000,19204,0.194,0.052,2540,3253,3246,3313,3179,0,0,0,0,0,0,24.96,25.59,25.13,8.31,46.96
$GC,173,-0.63,-244.4,2539,3253,3313,3179,18.3,-15.8,25,182,0.17,2.15,0.00,0.000,3078,0.105,0.029,2611,1842,3246,3313,3179,0,0,0,0,0,0,25.72,26.13,25.86,8.53,47.24
$GC,250,-0.63,-244.4,2610,1842,3314,3179,28.3,-12.3,33,255,0.00,2.20,0.00,0.000,516,0.000,0.041,2611,448,3246,3314,3179,0,0,0,0,0,0,26.67,25.97,26.68,8.53,47.28
$GC,324,-0.63,-244.4,2610,448,3314,3179,38.0,-13.2,40,333,0.00,2.15,0.00,0.000,1030,0.000,0.032,2605,1850,3246,3314,3179,0,0,0,0,0,0,26.22,26.13,26.26,8.53,47.99
$GC,454,-0.63,-244.4,2604,1850,3313,3179,53.3,-11.2,53,458,0.00,2.20,0.00,0.000,260,0.000,0.042,2595,3253,3246,3314,3179,0,0,0,0,0,0,26.70,26.01,26.71,8.53,47.95
$GC,517,-0.63,-244.4,2594,3253,3314,3179,60.2,-11.0,59,521,0.00,2.12,0.00,0.000,1030,0.000,0.028,2595,1839,3246,3314,3179,0,0,0,0,0,0,26.26,26.17,26.29,8.54,48.03
$GC,650,-0.63,-244.4,2594,1838,3314,3179,74.8,-10.8,72,659,0.00,2.17,0.00,0.000,516,0.000,0.042,2595,451,3246,3314,3179,0,0,0,0,0,0,26.72,25.97,26.72,8.54,48.30
$GC,692,-0.63,-244.4,2594,451,3314,3179,79.7,-11.5,76,702,0.00,2.15,0.00,0.000,1030,0.000,0.033,2586,1851,3246,3314,3179,0,0,0,0,0,0,26.23,26.13,26.26,8.54,48.66
$GC,823,-0.63,-244.4,2585,1851,3314,3179,94.8,-11.7,89,827,0.00,2.20,0.00,0.000,260,0.000,0.043,2578,3254,3246,3314,3179,0,0,0,0,0,0,26.72,26.01,26.72,8.55,48.46
$GC,879,-0.63,-244.4,2577,3254,3313,3179,100.7,-10.9,94,888,0.00,2.15,0.00,0.000,1030,0.000,0.029,2578,1845,3246,3314,3179,0,0,0,0,0,0,26.21,26.17,26.23,8.54,48.58
$GC,1068,-0.63,-244.4,2577,1845,3314,3179,122.4,-11.2,113,1079,0.10,2.20,0.00,0.000,2564,0.132,0.041,2614,451,3246,3313,3179,0,0,0,0,0,0,26.25,25.96,26.26,8.56,48.77
$GC,1115,-0.63,-244.4,2613,451,3314,3179,127.0,-10.0,117,1123,0.00,2.15,0.00,0.000,1030,0.000,0.032,2609,1839,3246,3314,3179,0,0,0,0,0,0,26.17,26.14,26.20,8.56,48.77
$GC,1309,-0.63,-244.4,2609,1839,3314,3179,145.6,-9.8,136,1319,0.00,2.17,0.00,0.000,260,0.000,0.041,2599,3243,3246,3314,3179,0,0,0,0,0,0,26.70,26.01,26.70,8.57,48.85
$GC,1373,-0.69,-244.4,2599,3243,3313,3179,152.1,-9.1,142,1383,0.00,2.10,0.00,0.000,1030,0.000,0.028,2599,1836,3247,3314,3180,0,0,0,0,0,0,26.20,26.17,26.23,8.57,48.34
$GC,1565,-0.92,-244.4,2598,1835,3314,3179,164.8,0.2,161,1572,0.17,0.00,0.00,0.000,4102,0.060,0.000,2511,1835,3246,3313,3180,0,0,0,0,0,0,26.40,26.44,26.43,8.57,49.05
$STATE,1661,end dive,NO_VERTICAL_VELOCITY
$STATE,1661,begin apogee
$GC,1666,-0.21,0.0,2511,1835,3314,3179,164.9,0.0,171,1865,0.62,0.00,194.32,0.664,10246,0.049,0.000,2757,1835,2246,2379,2114,0,0,0,0,0,0,26.08,24.70,23.77,8.57,49.37
$STATE,1867,end apogee,CONTROL_FINISHED_OK
$STATE,1867,begin climb
$GC,1869,0.79,244.4,2757,1835,2378,2114,164.8,0.0,191,2085,0.82,2.28,202.95,0.647,10500,0.065,0.038,3055,3250,1247,1354,1141,0,0,0,0,0,0,25.33,24.35,23.82,8.49,47.63
$GC,2099,0.68,244.4,3055,3250,1354,1141,143.9,13.8,214,2109,0.10,2.17,0.00,0.000,5126,0.120,0.030,3031,1840,1247,1354,1141,0,0,0,0,0,0,25.36,25.60,25.44,8.41,46.37
$GC,2291,0.62,244.4,3030,1840,1354,1139,120.8,11.8,233,2300,0.00,2.20,0.00,0.000,516,0.000,0.043,3040,448,1246,1354,1139,0,0,0,0,0,0,26.53,25.91,26.54,8.40,47.87
$GC,2379,0.56,244.4,3039,448,1354,1136,110.1,12.3,241,2389,0.12,2.12,0.00,0.000,5126,0.103,0.030,2996,1841,1244,1353,1136,0,0,0,0,0,0,25.86,26.13,25.92,8.40,47.48
$GC,2568,0.56,244.4,2995,1841,1353,1136,91.8,9.4,260,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1841,1244,1353,1136,0,0,0,0,0,0,26.67,26.68,26.68,8.40,47.91
$GC,2697,0.56,244.4,2995,1841,1353,1135,80.3,9.0,273,2707,0.00,2.22,0.00,0.000,516,0.000,0.043,3004,441,1244,1353,1136,0,0,0,0,0,0,26.69,26.01,26.70,8.40,47.95
$GC,2740,0.56,244.4,3004,441,1353,1136,76.1,9.7,277,2750,0.00,2.15,0.00,0.000,1030,0.000,0.030,3004,1846,1244,1353,1136,0,0,0,0,0,0,26.27,26.19,26.30,8.40,48.03
$GC,2870,0.56,244.4,3003,1846,1353,1136,63.4,9.9,290,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1846,1244,1353,1136,0,0,0,0,0,0,26.70,26.71,26.71,8.39,48.50
$GC,2990,0.56,244.4,3003,1846,1354,1135,52.0,9.3,302,2994,0.00,2.22,0.00,0.000,516,0.000,0.043,3006,445,1244,1353,1135,0,0,0,0,0,0,26.71,26.01,26.72,8.39,48.22
$GC,3024,0.56,244.4,3005,445,1353,1135,49.0,9.6,305,3028,0.00,2.15,0.00,0.000,1030,0.000,0.031,3006,1835,1244,1353,1135,0,0,0,0,0,0,26.29,26.20,26.32,8.39,47.79
$GC,3156,0.56,244.4,3006,1835,1353,1135,36.8,9.1,318,3161,0.00,2.20,0.00,0.000,260,0.000,0.040,3006,3254,1244,1353,1135,0,0,0,0,0,0,26.71,26.06,26.72,8.39,47.71
$GC,3181,0.56,244.4,3005,3253,1353,1135,34.9,8.7,320,3189,0.00,2.15,0.00,0.000,1030,0.000,0.030,3012,1843,1244,1354,1135,0,0,0,0,0,0,26.22,26.17,26.25,8.39,48.07
$GC,3309,0.56,244.4,3011,1843,1353,1135,23.5,8.6,333,3313,0.00,2.20,0.00,0.000,516,0.000,0.043,3015,444,1244,1353,1135,0,0,0,0,0,0,26.71,25.99,26.72,8.38,48.50
$GC,3374,0.56,244.4,3014,444,1353,1136,18.0,8.7,341,3381,0.00,2.17,0.00,0.000,1030,0.000,0.030,3015,1854,1244,1353,1135,0,0,0,0,0,0,26.23,26.19,26.26,8.38,48.54
$GC,3446,0.56,244.4,3014,1854,1353,1135,11.9,8.1,354,3454,0.00,2.20,0.00,0.000,260,0.000,0.041,3015,3253,1244,1353,1135,0,0,0,0,0,0,26.71,26.05,26.72,8.37,48.07
$GC,3498,0.75,382.5,3014,3253,1353,1135,8.2,6.1,363,3569,0.05,2.15,65.38,0.492,11266,0.074,0.030,3102,1839,728,821,635,0,0,0,0,0,0,26.07,26.17,26.13,8.37,47.95
$STATE,3570,end climb,SURFACE_DEPTH_REACHED
$STATE,3570,begin surface coast
$FINISH,1.0,1.016730
$STATE,3610,end surface coast,CONTROL_FINISHED_OK
$STATE,3610,begin surface
$SM_CCo,3626,24.58,0.060,0,0,533,420.20
$SM_GC,4.07,7.72,0.00,24.58,0.037,0.000,0.060,198,1839,533,-8.06,-0.11,420.20,0,0,0,0,0,0,25.97,26.38,25.72
$IRIDIUM_FIX,4737.86,-12251.79,140218,181701
$TT8_MAMPS,0.026215,0.245672
$HUMID,46.65
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,23.77,82.542
$10V_AH,9.80,56.504
$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,18.950,60.950,462.650,24.575,0.000,0.000,0.000,208.325,4.750,0.000,18.531,947.985,1178.091,524.964,1204.466,119.312,0.000,1264.768,0.000,750.699,0.000,38.828,0.000
$DEVICE_MAMPS,194.310,52.020,664.020,60.435,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.087,818.062,497.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,27924,380
$CAP_FILE_SIZE,65355,0
$CFSIZE,2097872896,2056650752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.015,289.35,1
$GPS,140218,202803,4737.734,-12255.281,108,0.9,115,16.4,0.3,50.8,9,4.5