version: 66.14
glider: 195
mission: 15
dive: 389
start: 2 14 118 21 39 10
data:
$ID,195
$MISSION,15
$DIVE,389
$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,48
$R_STBD_OVSHOOT,41
$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
$GPS1,140218,213349,4737.4375,-12255.8916,18,1.1,39,16.4,0.3,67.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-73.1
$GPS2,140218,213829,4737.4561,-12255.8359,10,1.1,19,16.4,0.0,47.0,9,4.9
$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,204.0,283,-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,9,-1.20,-63.7,189,1848,554,486,0.0,0.0,0,18,0.00,0.00,-7.57,0.000,16386,0.000,0.000,189,1848,717,768,667,0,0,0,0,0,0,26.59,28.83,26.60,8.28,47.08
$GC,21,-1.20,-63.7,189,1848,768,666,2.1,0.0,1,98,8.43,2.25,-62.25,0.000,18692,0.190,0.050,2408,3258,2509,2595,2424,0,0,0,0,0,0,24.95,23.91,25.13,8.30,47.20
$GC,240,-1.01,-63.7,2407,3258,2595,2426,24.9,-10.4,35,250,0.25,2.10,0.00,0.000,3078,0.148,0.028,2483,1827,2510,2595,2425,0,0,0,0,0,0,25.42,26.16,25.53,8.47,47.51
$GC,370,-0.95,-63.7,2482,1827,2595,2426,40.1,-11.0,48,375,0.00,2.15,0.00,0.000,516,0.000,0.040,2483,457,2510,2595,2426,0,0,0,0,0,0,26.70,26.00,26.71,8.47,48.22
$GC,626,-0.90,-63.7,2482,457,2595,2426,70.9,-12.2,73,636,0.15,2.10,0.00,0.000,3078,0.142,0.031,2519,1850,2510,2595,2425,0,0,0,0,0,0,25.65,26.17,25.74,8.48,48.26
$GC,756,-0.95,-63.7,2518,1849,2595,2426,84.1,-9.7,86,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1850,2510,2595,2426,0,0,0,0,0,0,26.72,26.72,26.73,8.49,48.18
$GC,876,-1.01,-63.7,2519,1850,2595,2425,95.6,-10.0,98,880,0.00,2.17,0.00,0.000,260,0.000,0.040,2511,3247,2510,2595,2426,0,0,0,0,0,0,26.72,26.03,26.73,8.49,48.81
$GC,943,-1.01,-63.7,2510,3247,2595,2425,101.9,-9.9,104,951,0.00,2.12,0.00,0.000,1030,0.000,0.028,2511,1846,2510,2595,2426,0,0,0,0,0,0,26.21,26.18,26.25,8.50,49.17
$GC,1133,-1.06,-63.7,2510,1846,2595,2425,120.3,-9.1,123,1142,0.08,0.00,0.00,0.000,4102,0.099,0.000,2436,1845,2510,2595,2426,0,0,0,0,0,0,26.47,26.50,26.48,8.50,48.70
$GC,1325,-1.00,-63.7,2435,1845,2595,2426,140.9,-10.8,142,1333,0.15,0.00,0.00,0.000,2054,0.151,0.000,2483,1845,2510,2595,2426,0,0,0,0,0,0,25.94,26.01,25.96,8.50,48.85
$GC,1517,-1.00,-63.7,2483,1845,2595,2426,160.2,-10.0,161,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1845,2510,2595,2425,0,0,0,0,0,0,26.70,26.70,26.70,8.51,48.77
$STATE,1560,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1560,begin apogee
$GC,1565,-0.21,0.0,2483,1845,2595,2425,165.1,-9.6,166,1623,0.77,0.00,53.12,0.668,10246,0.121,0.000,2737,1845,2246,2349,2143,0,0,0,0,0,0,25.34,24.96,23.98,8.50,48.89
$STATE,1624,end apogee,CONTROL_FINISHED_OK
$STATE,1624,begin climb
$GC,1626,1.20,63.7,2737,1845,2349,2143,167.4,0.0,172,1692,1.23,2.25,54.60,0.666,10756,0.063,0.040,3194,450,1985,2120,1851,0,0,0,0,0,0,25.60,24.36,23.79,8.49,48.38
$GC,1720,1.08,63.7,3194,450,2119,1851,159.3,12.3,181,1729,0.10,2.17,0.00,0.000,5126,0.151,0.030,3165,1841,1985,2119,1851,0,0,0,0,0,0,25.41,25.77,25.49,8.47,48.34
$GC,1909,1.00,63.7,3164,1841,2117,1848,129.6,15.6,200,1917,0.10,0.00,0.00,0.000,4102,0.170,0.000,3136,1841,1983,2118,1848,0,0,0,0,0,0,26.01,26.13,26.08,8.47,48.50
$GC,2098,1.00,63.7,3136,1841,2118,1847,102.5,13.7,219,2107,0.00,2.17,0.00,0.000,260,0.000,0.039,3136,3248,1982,2117,1847,0,0,0,0,0,0,26.67,26.03,26.67,8.47,48.74
$GC,2122,1.00,63.7,3136,3248,2117,1847,99.4,13.7,221,2126,0.00,2.12,0.00,0.000,1030,0.000,0.028,3143,1845,1981,2117,1846,0,0,0,0,0,0,26.20,26.16,26.27,8.46,48.97
$GC,2254,1.00,63.7,3143,1844,2117,1846,81.1,13.6,234,2259,0.00,2.20,0.00,0.000,516,0.000,0.041,3155,447,1981,2117,1846,0,0,0,0,0,0,26.70,26.00,26.70,8.46,48.77
$GC,2307,0.93,63.7,3154,447,2115,1846,73.4,15.1,239,2317,0.12,2.10,0.00,0.000,5126,0.144,0.031,3117,1837,1981,2116,1846,0,0,0,0,0,0,25.73,26.18,25.79,8.46,48.42
$GC,2437,0.93,63.7,3117,1837,2116,1846,57.4,12.3,252,2442,0.00,2.20,0.00,0.000,260,0.000,0.039,3117,3254,1980,2116,1845,0,0,0,0,0,0,26.71,26.05,26.72,8.45,48.62
$GC,2513,0.93,63.7,3117,3254,2116,1845,48.7,11.4,259,2521,0.00,2.15,0.00,0.000,1030,0.000,0.029,3125,1839,1981,2116,1846,0,0,0,0,0,0,26.22,26.18,26.25,8.46,48.14
$GC,2641,0.93,63.7,3125,1838,2116,1845,35.4,10.0,272,2646,0.00,2.20,0.00,0.000,516,0.000,0.041,3136,442,1981,2116,1846,0,0,0,0,0,0,26.72,26.00,26.72,8.46,48.38
$GC,2737,0.93,63.7,3135,442,2115,1845,26.2,8.7,281,2745,0.00,2.17,0.00,0.000,1030,0.000,0.030,3136,1853,1980,2116,1845,0,0,0,0,0,0,26.22,26.18,26.25,8.45,48.97
$GC,2868,0.93,63.7,3135,1853,2115,1845,15.3,10.7,298,2876,0.00,2.25,0.00,0.000,516,0.000,0.041,3146,446,1980,2115,1845,0,0,0,0,0,0,26.72,26.00,26.72,8.45,48.14
$STATE,3199,end climb,NO_VERTICAL_VELOCITY
$STATE,3199,begin surface
$SM_CCo,3202,186.90,0.485,0,0,499,428.54
$SM_GC,2.20,7.78,2.25,0.00,0.028,0.032,0.000,186,1845,485,-8.06,-1.13,432.22,0,0,0,0,0,0,25.89,25.76,25.94
$IRIDIUM_FIX,4737.52,-12310.40,140218,202920
$TT8_MAMPS,0.025466,0.246421
$HUMID,46.65
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.6
$ALTIM_BOTTOM_PING,160.2,14.2
$24V_AH,23.79,82.680
$10V_AH,9.80,56.618
$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,19.150,39.150,107.725,186.900,0.000,0.000,0.000,190.925,5.000,0.000,20.656,993.290,1172.584,392.784,1141.337,106.104,0.000,989.524,0.000,679.261,0.000,43.676,0.000
$DEVICE_MAMPS,190.485,50.490,667.845,485.010,0.000,0.000,0.000,82.620,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.552,779.286,475.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312052
$DATA_FILE_SIZE,24551,362
$CAP_FILE_SIZE,57914,0
$CFSIZE,2097872896,2056454144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.009,227.95,1
$GPS,140218,223831,4737.242,-12256.117,3,0.9,23,16.4,0.3,0.0,9,4.2