version: 66.14
glider: 195
mission: 15
dive: 435
start: 2 16 118 21 30 28
data:
$ID,195
$MISSION,15
$DIVE,435
$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,48
$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
$GPS1,160218,212442,4737.9053,-12254.6992,12,0.9,28,16.4,0.7,55.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-70.0
$GPS2,160218,212948,4737.9722,-12254.5752,7,0.9,29,16.4,0.7,54.5,9,5.0
$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,219.3,2114,-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,-244.4,197,1842,551,481,0.0,0.0,0,18,0.00,0.00,-7.85,0.000,16386,0.000,0.000,197,1843,715,767,664,0,0,0,0,0,0,26.58,28.83,26.58,8.30,47.51
$GC,21,-0.79,-244.4,197,1843,768,663,2.1,0.0,1,125,8.82,2.22,-83.68,0.000,19204,0.186,0.051,2540,3240,3245,3312,3179,0,0,0,0,0,0,24.95,23.89,25.13,8.32,47.40
$GC,155,-0.57,-244.4,2539,3240,3312,3180,13.2,-17.2,21,163,0.22,2.12,0.00,0.000,3078,0.103,0.029,2627,1843,3246,3312,3180,0,0,0,0,0,0,25.63,26.10,25.79,8.55,47.16
$GC,227,-0.57,-244.4,2626,1843,3313,3180,22.8,-12.1,32,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1843,3246,3313,3180,0,0,0,0,0,0,26.65,26.66,26.66,8.54,47.67
$GC,348,-0.57,-244.4,2626,1843,3313,3180,36.2,-10.5,44,358,0.00,2.17,0.00,0.000,260,0.000,0.041,2620,3245,3246,3313,3180,0,0,0,0,0,0,26.67,25.99,26.69,8.54,47.91
$GC,385,-0.57,-244.4,2619,3245,3313,3180,39.7,-10.3,47,392,0.00,2.12,0.00,0.000,1030,0.000,0.028,2619,1848,3246,3313,3179,0,0,0,0,0,0,26.17,26.14,26.20,8.54,47.87
$GC,512,-0.57,-244.4,2619,1848,3313,3179,53.6,-10.6,60,522,0.00,2.17,0.00,0.000,516,0.000,0.041,2620,453,3246,3313,3179,0,0,0,0,0,0,26.70,25.96,26.70,8.54,47.95
$GC,569,-0.57,-244.4,2620,452,3313,3180,59.5,-10.6,65,577,0.00,2.15,0.00,0.000,1030,0.000,0.031,2612,1836,3246,3313,3180,0,0,0,0,0,0,26.17,26.13,26.19,8.55,47.75
$GC,697,-0.57,-244.4,2612,1837,3313,3180,73.4,-10.7,78,708,0.00,2.20,0.00,0.000,260,0.000,0.041,2602,3254,3246,3313,3179,0,0,0,0,0,0,26.70,25.99,26.71,8.55,48.18
$GC,743,-0.57,-244.4,2602,3254,3313,3180,78.0,-10.5,82,753,0.00,2.15,0.00,0.000,1030,0.000,0.028,2602,1846,3246,3313,3180,0,0,0,0,0,0,26.17,26.14,26.21,8.55,48.38
$GC,873,-0.57,-244.4,2601,1845,3313,3180,91.8,-10.8,95,882,0.00,2.17,0.00,0.000,516,0.000,0.041,2602,453,3246,3313,3179,0,0,0,0,0,0,26.70,25.94,26.71,8.55,48.50
$GC,897,-0.57,-244.4,2601,453,3313,3179,94.3,-10.5,97,906,0.10,2.15,0.00,0.000,3078,0.109,0.031,2631,1838,3246,3313,3180,0,0,0,0,0,0,25.86,26.12,25.91,8.55,48.58
$GC,1028,-0.63,-244.4,2630,1838,3313,3180,105.6,-8.1,110,1039,0.00,2.17,0.00,0.000,260,0.000,0.041,2624,3248,3246,3313,3179,0,0,0,0,0,0,26.67,25.98,26.68,8.56,48.50
$GC,1064,-0.70,-244.4,2623,3247,3312,3180,108.5,-7.9,113,1074,0.05,2.10,0.00,0.000,5126,0.073,0.028,2542,1835,3246,3313,3180,0,0,0,0,0,0,26.05,26.15,26.09,8.56,49.56
$GC,1253,-0.65,-244.4,2542,1835,3313,3179,133.3,-13.9,132,1263,0.15,2.15,0.00,0.000,2564,0.117,0.039,2596,451,3245,3312,3179,0,0,0,0,0,0,26.09,25.94,26.12,8.57,48.89
$GC,1301,-0.65,-244.4,2596,451,3313,3179,138.7,-11.6,136,1310,0.00,2.17,0.00,0.000,1030,0.000,0.031,2590,1851,3246,3313,3180,0,0,0,0,0,0,26.15,26.12,26.19,8.57,48.93
$GC,1490,-0.65,-244.4,2589,1852,3313,3179,158.6,-10.1,155,1499,0.00,2.15,0.00,0.000,260,0.000,0.041,2580,3243,3246,3313,3180,0,0,0,0,0,0,26.70,25.98,26.71,8.57,49.17
$STATE,1521,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1521,begin apogee
$GC,1528,-0.21,0.0,2580,1835,3313,3180,162.1,-10.5,158,1733,0.45,0.00,194.18,0.668,10246,0.089,0.000,2745,1834,2246,2379,2114,0,0,0,0,0,0,25.76,24.73,23.81,8.57,49.37
$STATE,1734,end apogee,CONTROL_FINISHED_OK
$STATE,1734,begin climb
$GC,1737,0.79,244.4,2745,1834,2379,2113,165.1,0.0,179,1955,0.85,2.28,203.93,0.648,10756,0.058,0.041,3071,455,1248,1355,1141,0,0,0,0,0,0,25.39,24.78,23.83,8.49,47.12
$GC,1979,0.68,244.4,3070,455,1355,1141,142.3,15.1,203,1985,0.12,2.15,0.00,0.000,5126,0.123,0.029,3031,1844,1247,1354,1141,0,0,0,0,0,0,25.44,25.68,25.57,8.41,46.18
$GC,2175,0.63,244.4,3030,1844,1355,1139,117.6,12.1,222,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1843,1247,1355,1139,0,0,0,0,0,0,26.53,26.55,26.54,8.40,47.79
$GC,2363,0.57,244.4,3029,1844,1355,1138,95.3,11.0,241,2374,0.10,2.20,0.00,0.000,4612,0.133,0.040,2999,449,1246,1354,1138,0,0,0,0,0,0,26.17,25.97,26.20,8.40,48.81
$GC,2419,0.57,244.4,2999,449,1354,1137,90.1,9.0,246,2428,0.00,2.10,0.00,0.000,1030,0.000,0.030,2999,1835,1245,1354,1137,0,0,0,0,0,0,26.20,26.15,26.22,8.41,48.22
$GC,2548,0.57,244.4,2999,1835,1354,1136,78.0,8.8,259,2552,0.00,2.20,0.00,0.000,260,0.000,0.039,2999,3251,1245,1354,1137,0,0,0,0,0,0,26.67,26.03,26.68,8.40,48.03
$GC,2572,0.57,244.4,2998,3252,1354,1137,75.9,9.0,261,2582,0.00,2.10,0.00,0.000,1030,0.000,0.029,3005,1848,1245,1354,1137,0,0,0,0,0,0,26.18,26.15,26.22,8.40,48.38
$GC,2701,0.57,244.4,3004,1848,1354,1136,63.8,9.5,274,2705,0.00,2.20,0.00,0.000,516,0.000,0.042,3015,446,1245,1354,1136,0,0,0,0,0,0,26.68,25.97,26.70,8.40,48.46
$GC,2775,0.57,244.4,3014,445,1354,1136,56.7,9.7,281,2786,0.00,2.15,0.00,0.000,1030,0.000,0.030,3015,1849,1245,1354,1136,0,0,0,0,0,0,26.25,26.17,26.28,8.40,48.58
$GC,2906,0.57,244.4,3014,1849,1354,1136,43.6,9.6,294,2915,0.00,2.15,0.00,0.000,260,0.000,0.039,3015,3244,1245,1354,1136,0,0,0,0,0,0,26.70,26.03,26.70,8.39,48.14
$GC,2929,0.57,244.4,3014,3244,1354,1136,41.4,9.7,296,2938,0.00,2.10,0.00,0.000,1030,0.000,0.029,3015,1835,1245,1354,1136,0,0,0,0,0,0,26.19,26.15,26.22,8.39,47.75
$GC,3059,0.57,244.4,3014,1835,1353,1136,29.7,8.6,309,3069,0.00,2.15,0.00,0.000,516,0.000,0.042,3024,454,1245,1354,1136,0,0,0,0,0,0,26.70,25.96,26.70,8.39,48.77
$GC,3125,0.57,244.4,3024,453,1354,1136,23.8,9.0,315,3134,0.00,2.15,0.00,0.000,1030,0.000,0.029,3024,1845,1245,1354,1136,0,0,0,0,0,0,26.20,26.17,26.23,8.38,48.22
$GC,3260,0.66,336.5,3024,1846,1353,1136,12.6,7.4,336,3316,0.00,2.28,49.22,0.506,8708,0.000,0.041,3025,454,872,970,774,0,0,0,0,0,0,26.70,25.14,24.29,8.38,47.75
$STATE,3459,end climb,SURFACE_DEPTH_REACHED
$STATE,3459,begin surface coast
$FINISH,1.8,1.018035
$STATE,3546,end surface coast,CONTROL_FINISHED_OK
$STATE,3546,begin surface
$SM_CCo,3564,40.85,0.054,0,0,532,420.20
$SM_GC,2.03,7.38,2.17,40.85,0.029,0.028,0.054,191,1853,532,-8.07,-1.33,420.20,0,0,0,0,0,0,26.17,26.13,25.86
$IRIDIUM_FIX,4732.59,-12447.76,160218,202504
$TT8_MAMPS,0.026964,0.23968
$HUMID,47.40
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,9.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,155.5,16.6
$24V_AH,23.81,86.505
$10V_AH,9.83,59.117
$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,18.250,64.950,447.325,40.850,0.000,0.000,0.000,203.850,4.000,0.000,30.400,948.686,1085.629,567.246,1215.663,122.699,0.000,1304.831,0.000,755.775,0.000,30.438,0.000
$DEVICE_MAMPS,185.895,51.255,667.845,54.315,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.098,837.378,508.846,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312124
$DATA_FILE_SIZE,27983,389
$CAP_FILE_SIZE,64741,0
$CFSIZE,2097872896,2051932160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021,303.51,1
$GPS,160218,223152,4737.791,-12255.289,12,0.9,37,16.4,0.5,39.0,9,4.6