version: 66.14
glider: 195
mission: 15
dive: 392
start: 2 15 118 0 51 40
data:
$ID,195
$MISSION,15
$DIVE,392
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,150218,004247,4737.7876,-12254.8193,4,1.0,44,16.4,0.3,74.8,9,23.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.4
$GPS2,150218,005101,4737.8213,-12254.7051,7,0.8,25,16.4,0.4,64.9,10,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$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,45.2,2171,-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,-244.4,189,1838,552,485,0.0,0.0,0,18,0.00,0.00,-7.45,0.000,16386,0.000,0.000,189,1838,712,761,664,0,0,0,0,0,0,26.60,28.83,26.60,8.28,46.96
$GC,21,-0.79,-244.4,189,1838,761,664,2.2,0.0,1,124,9.00,2.25,-84.40,0.000,19204,0.192,0.054,2541,3247,3246,3314,3179,0,0,0,0,0,0,24.95,23.90,25.13,8.30,47.16
$GC,327,-0.69,-244.4,2541,3248,3315,3179,41.6,-16.1,42,337,0.12,2.10,0.00,0.000,3078,0.110,0.028,2584,1836,3247,3315,3179,0,0,0,0,0,0,25.82,26.15,25.90,8.54,48.14
$GC,457,-0.69,-244.4,2583,1836,3315,3179,58.7,-12.5,55,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1835,3247,3315,3179,0,0,0,0,0,0,26.71,26.72,26.72,8.54,47.67
$GC,576,-0.69,-244.4,2583,1836,3314,3179,73.1,-12.1,67,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1836,3247,3315,3179,0,0,0,0,0,0,26.71,26.72,26.72,8.54,48.30
$GC,696,-0.69,-244.4,2583,1836,3315,3179,87.6,-11.9,79,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1836,3247,3315,3179,0,0,0,0,0,0,26.72,26.72,26.72,8.55,48.42
$GC,817,-0.69,-244.4,2583,1836,3314,3179,102.1,-12.2,91,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1836,3247,3315,3179,0,0,0,0,0,0,26.71,26.72,26.72,8.55,48.26
$GC,998,-0.69,-244.4,2583,1836,3315,3179,122.4,-10.9,109,1008,0.00,2.20,0.00,0.000,260,0.000,0.042,2577,3247,3246,3314,3179,0,0,0,0,0,0,26.72,26.00,26.72,8.56,48.81
$GC,1034,-0.69,-244.4,2576,3248,3314,3179,126.5,-10.9,112,1038,0.00,2.12,0.00,0.000,1030,0.000,0.028,2576,1836,3246,3314,3179,0,0,0,0,0,0,26.25,26.16,26.27,8.56,48.85
$GC,1227,-0.69,-244.4,2576,1836,3314,3179,148.7,-11.7,131,1232,0.00,2.17,0.00,0.000,516,0.000,0.042,2576,447,3246,3314,3179,0,0,0,0,0,0,26.72,25.95,26.72,8.57,49.37
$GC,1276,-0.69,-244.4,2576,447,3314,3179,154.4,-12.0,135,1289,0.00,2.15,0.00,0.000,1030,0.000,0.033,2569,1836,3247,3315,3179,0,0,0,0,0,0,26.16,26.16,26.20,8.57,48.81
$STATE,1455,end dive,NO_VERTICAL_VELOCITY
$STATE,1455,begin apogee
$GC,1460,-0.21,0.0,2568,1836,3315,3179,156.6,0.0,153,1659,0.47,0.00,194.77,0.661,10246,0.058,0.000,2756,1835,2246,2379,2113,0,0,0,0,0,0,26.07,24.71,23.78,8.57,48.77
$STATE,1661,end apogee,CONTROL_FINISHED_OK
$STATE,1661,begin climb
$GC,1663,0.79,244.4,2756,1835,2379,2114,156.6,0.0,173,1879,0.80,2.28,203.40,0.643,10756,0.057,0.043,3064,455,1248,1355,1141,0,0,0,0,0,0,25.37,24.79,23.84,8.49,47.28
$GC,1906,0.69,244.4,3064,455,1354,1140,135.2,13.7,197,1915,0.10,2.20,0.00,0.000,5126,0.113,0.031,3030,1842,1246,1354,1139,0,0,0,0,0,0,25.45,25.72,25.65,8.41,46.53
$GC,2095,0.63,244.4,3030,1842,1354,1138,111.3,12.1,216,2099,0.00,2.20,0.00,0.000,516,0.000,0.042,3038,454,1246,1354,1138,0,0,0,0,0,0,26.54,25.92,26.55,8.40,47.36
$GC,2128,0.58,244.4,3037,453,1353,1138,107.1,12.8,219,2138,0.10,2.12,0.00,0.000,5126,0.107,0.031,3003,1845,1245,1353,1137,0,0,0,0,0,0,25.84,26.10,25.91,8.40,47.48
$GC,2319,0.58,244.4,3002,1845,1353,1137,88.0,10.0,238,2328,0.00,2.17,0.00,0.000,260,0.000,0.041,3002,3254,1245,1353,1137,0,0,0,0,0,0,26.66,26.04,26.67,8.40,47.55
$GC,2342,0.58,244.4,3002,3255,1353,1137,85.5,10.0,240,2351,0.00,2.12,0.00,0.000,1030,0.000,0.029,3003,1837,1245,1353,1137,0,0,0,0,0,0,26.20,26.16,26.22,8.40,47.91
$GC,2472,0.58,244.4,3002,1837,1353,1137,72.8,9.6,253,2482,0.00,2.17,0.00,0.000,516,0.000,0.043,3004,451,1245,1353,1137,0,0,0,0,0,0,26.68,26.01,26.69,8.40,47.99
$GC,2539,0.58,244.4,3004,451,1353,1136,66.8,9.1,259,2548,0.00,2.17,0.00,0.000,1030,0.000,0.030,3004,1856,1244,1353,1136,0,0,0,0,0,0,26.22,26.18,26.27,8.40,47.63
$GC,2668,0.58,244.4,3004,1856,1353,1136,54.6,9.6,272,2677,0.00,2.20,0.00,0.000,516,0.000,0.042,3012,455,1244,1353,1136,0,0,0,0,0,0,26.70,26.01,26.71,8.39,47.83
$GC,2693,0.58,244.4,3011,455,1353,1136,52.5,9.5,274,2700,0.00,2.15,0.00,0.000,1030,0.000,0.031,3012,1841,1244,1353,1136,0,0,0,0,0,0,26.22,26.19,26.25,8.39,47.87
$GC,2821,0.58,244.4,3012,1841,1353,1136,40.0,9.1,287,2831,0.00,2.20,0.00,0.000,516,0.000,0.042,3018,450,1244,1353,1136,0,0,0,0,0,0,26.71,26.00,26.72,8.39,47.48
$GC,2846,0.58,244.4,3017,450,1353,1136,37.9,9.1,289,2855,0.00,2.15,0.00,0.000,1030,0.000,0.030,3018,1840,1244,1353,1136,0,0,0,0,0,0,26.22,26.20,26.26,8.39,48.11
$GC,2975,0.58,244.4,3017,1841,1353,1136,25.9,8.7,302,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1841,1244,1352,1136,0,0,0,0,0,0,26.71,26.72,26.72,8.38,48.30
$GC,3098,0.58,244.4,3017,1841,1352,1136,15.8,8.3,318,3106,0.00,2.22,0.00,0.000,260,0.000,0.040,3018,3253,1244,1353,1136,0,0,0,0,0,0,26.71,26.05,26.72,8.38,47.71
$GC,3196,0.69,353.8,3017,3254,1352,1136,8.6,6.9,336,3259,0.00,2.15,56.33,0.491,9222,0.000,0.029,3024,1841,802,897,708,0,0,0,0,0,0,26.22,26.17,24.26,8.37,48.50
$STATE,3310,end climb,SURFACE_DEPTH_REACHED
$STATE,3310,begin surface coast
$FINISH,1.7,1.018171
$STATE,3429,end surface coast,CONTROL_FINISHED_OK
$STATE,3429,begin surface
$SM_CCo,3444,32.30,0.055,0,0,533,420.20
$SM_GC,1.74,7.32,0.00,32.30,0.028,0.000,0.055,199,1841,533,-8.05,-0.06,420.20,0,0,0,0,0,0,26.13,26.59,25.87
$IRIDIUM_FIX,4737.86,-12251.79,150218,004403
$TT8_MAMPS,0.026964,0.266644
$HUMID,46.77
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.9
$24V_AH,23.78,82.944
$10V_AH,9.77,56.787
$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,17.925,43.525,454.500,32.300,0.000,0.000,0.000,340.200,5.000,0.000,26.322,918.190,1148.382,509.235,1308.229,114.883,0.000,1344.151,0.000,715.911,0.000,42.469,0.000
$DEVICE_MAMPS,192.015,53.550,660.960,55.080,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.548,813.765,494.715,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312088
$DATA_FILE_SIZE,27877,378
$CAP_FILE_SIZE,59995,0
$CFSIZE,2097872896,2056159232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,49.04,1
$GPS,150218,015030,4738.090,-12253.990,5,0.8,12,16.4,0.0,0.0,10,4.7