version: 66.14
glider: 195
mission: 15
dive: 436
start: 2 16 118 22 37 42
data:
$ID,195
$MISSION,15
$DIVE,436
$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,49
$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
$GPS1,160218,223152,4737.7910,-12255.2891,12,0.9,37,16.4,0.5,39.0,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.2
$GPS2,160218,223701,4737.8525,-12255.2158,6,0.9,12,16.4,0.5,38.7,9,4.9
$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,205.5,1349,-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,-244.4,190,1854,555,487,0.0,0.0,0,32,0.00,0.00,-21.30,0.000,16386,0.000,0.000,190,1854,1076,1131,1021,0,0,0,0,0,0,26.58,28.83,26.58,8.29,48.11
$GC,34,-0.79,-244.4,190,1854,1131,1022,2.3,-3.0,3,119,8.90,2.22,-69.50,0.000,19204,0.188,0.051,2538,3240,3246,3313,3179,0,0,0,0,0,0,24.99,23.88,25.18,8.35,47.59
$GC,154,-0.59,-244.4,2537,3240,3313,3180,13.2,-17.8,21,163,0.22,2.12,0.00,0.000,3078,0.106,0.028,2624,1845,3246,3313,3180,0,0,0,0,0,0,25.60,26.09,25.77,8.54,47.63
$GC,227,-0.59,-244.4,2623,1844,3314,3180,23.5,-11.6,31,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1844,3246,3314,3179,0,0,0,0,0,0,26.65,26.67,26.66,8.55,47.67
$GC,348,-0.59,-244.4,2623,1844,3314,3180,36.8,-10.6,43,357,0.00,2.17,0.00,0.000,260,0.000,0.041,2617,3240,3246,3313,3180,0,0,0,0,0,0,26.68,25.98,26.69,8.54,48.38
$GC,380,-0.59,-244.4,2616,3240,3314,3180,40.5,-11.2,46,385,0.00,2.10,0.00,0.000,1030,0.000,0.028,2616,1843,3247,3314,3180,0,0,0,0,0,0,26.22,26.13,26.25,8.54,48.11
$GC,513,-0.59,-244.4,2616,1843,3313,3179,54.0,-9.8,59,523,0.00,2.20,0.00,0.000,516,0.000,0.041,2616,450,3247,3314,3180,0,0,0,0,0,0,26.70,25.94,26.70,8.55,48.58
$GC,556,-0.59,-244.4,2616,450,3313,3179,58.5,-10.5,63,566,0.00,2.12,0.00,0.000,1030,0.000,0.031,2609,1834,3246,3313,3180,0,0,0,0,0,0,26.20,26.12,26.23,8.55,48.46
$GC,686,-0.59,-244.4,2609,1834,3313,3180,71.4,-9.7,76,690,0.00,2.22,0.00,0.000,260,0.000,0.041,2599,3255,3246,3313,3180,0,0,0,0,0,0,26.70,25.98,26.71,8.55,49.05
$GC,721,-0.59,-244.4,2599,3255,3313,3180,74.8,-10.4,79,729,0.00,2.15,0.00,0.000,1030,0.000,0.028,2599,1848,3246,3313,3180,0,0,0,0,0,0,26.17,26.13,26.20,8.55,49.05
$GC,849,-0.59,-244.4,2598,1848,3314,3179,88.3,-10.6,92,854,0.00,2.22,0.00,0.000,516,0.000,0.042,2599,442,3246,3313,3180,0,0,0,0,0,0,26.70,25.92,26.71,8.55,49.05
$GC,884,-0.59,-244.4,2599,442,3313,3180,91.8,-10.5,95,891,0.00,2.17,0.00,0.000,1030,0.000,0.032,2592,1840,3246,3313,3180,0,0,0,0,0,0,26.15,26.10,26.17,8.56,49.05
$GC,1013,-0.59,-244.4,2591,1840,3313,3180,105.5,-10.6,108,1017,0.00,2.22,0.00,0.000,260,0.000,0.041,2582,3257,3246,3313,3180,0,0,0,0,0,0,26.66,25.96,26.67,8.56,49.52
$GC,1059,-0.59,-244.4,2581,3258,3313,3180,110.2,-10.7,112,1067,0.10,2.17,0.00,0.000,3078,0.100,0.028,2619,1833,3246,3313,3179,0,0,0,0,0,0,25.89,26.13,25.94,8.56,48.89
$GC,1248,-0.64,-244.4,2618,1833,3313,3179,126.6,-8.2,131,1253,0.00,2.20,0.00,0.000,516,0.000,0.042,2619,444,3246,3313,3180,0,0,0,0,0,0,26.70,25.91,26.71,8.57,49.44
$GC,1283,-0.69,-244.4,2618,444,3313,3180,129.5,-8.7,134,1293,0.00,2.12,0.00,0.000,1030,0.000,0.031,2614,1840,3246,3313,3179,0,0,0,0,0,0,26.15,26.11,26.17,8.57,49.84
$GC,1471,-0.69,-244.4,2613,1841,3313,3180,146.9,-9.5,153,1475,0.00,2.20,0.00,0.000,260,0.000,0.041,2605,3250,3246,3313,3180,0,0,0,0,0,0,26.70,25.95,26.71,8.57,49.25
$GC,1544,-0.76,-244.4,2604,3251,3313,3180,153.3,-8.7,160,1550,0.05,2.12,0.00,0.000,5126,0.128,0.028,2523,1837,3246,3313,3179,0,0,0,0,0,0,26.08,26.13,26.16,8.57,49.17
$STATE,1627,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1627,begin apogee
$GC,1632,-0.21,0.0,2523,1836,3313,3179,164.8,-14.9,168,1830,0.62,0.00,194.45,0.668,10246,0.099,0.000,2739,1835,2246,2378,2115,0,0,0,0,0,0,25.53,24.72,23.81,8.58,49.52
$STATE,1831,end apogee,CONTROL_FINISHED_OK
$STATE,1832,begin climb
$GC,1835,0.79,244.4,2739,1836,2378,2114,167.0,0.0,188,2050,0.85,0.00,203.23,0.648,10502,0.034,0.000,3089,1835,1251,1355,1147,0,0,0,0,0,0,25.49,24.34,23.82,8.49,47.67
$GC,2229,0.65,244.4,3089,1835,1354,1145,117.2,16.1,228,2239,0.17,2.15,0.00,0.000,4612,0.123,0.041,3037,460,1249,1354,1145,0,0,0,0,0,0,25.82,25.86,25.87,8.41,47.91
$GC,2292,0.65,244.4,3036,460,1353,1143,108.8,12.5,234,2302,0.00,2.10,0.00,0.000,1030,0.000,0.030,3037,1841,1248,1353,1143,0,0,0,0,0,0,26.12,26.08,26.15,8.41,47.36
$GC,2484,0.60,244.4,3036,1841,1352,1142,85.5,12.2,253,2494,0.10,2.20,0.00,0.000,4612,0.132,0.041,3007,450,1248,1354,1142,0,0,0,0,0,0,26.18,25.96,26.20,8.41,48.34
$GC,2518,0.60,244.4,3006,449,1353,1142,81.8,10.6,256,2522,0.00,2.15,0.00,0.000,1030,0.000,0.029,3007,1852,1247,1353,1142,0,0,0,0,0,0,26.23,26.15,26.26,8.40,48.14
$GC,2651,0.60,244.4,3007,1853,1353,1141,68.7,9.8,269,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1852,1247,1353,1141,0,0,0,0,0,0,26.67,26.68,26.68,8.40,48.34
$GC,2771,0.60,244.4,3007,1852,1353,1141,57.0,9.8,281,2781,0.00,2.22,0.00,0.000,516,0.000,0.042,3014,442,1247,1353,1141,0,0,0,0,0,0,26.68,25.98,26.69,8.40,48.38
$GC,2824,0.60,244.4,3013,441,1353,1141,51.6,10.1,286,2828,0.00,2.15,0.00,0.000,1030,0.000,0.029,3014,1845,1247,1353,1141,0,0,0,0,0,0,26.25,26.17,26.28,8.40,48.34
$GC,2957,0.60,244.4,3014,1845,1353,1141,38.9,8.7,299,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1845,1247,1353,1141,0,0,0,0,0,0,26.70,26.70,26.70,8.39,48.74
$GC,3077,0.60,244.4,3013,1845,1353,1141,27.9,9.2,311,3080,0.00,2.20,0.00,0.000,516,0.000,0.041,3021,453,1247,1353,1141,0,0,0,0,0,0,26.70,25.96,26.70,8.40,48.42
$GC,3139,0.60,244.4,3020,452,1353,1141,22.2,9.0,317,3149,0.00,2.12,0.00,0.000,1030,0.000,0.030,3021,1842,1247,1353,1141,0,0,0,0,0,0,26.25,26.16,26.27,8.39,47.91
$GC,3272,0.68,330.8,3020,1842,1353,1141,11.6,7.6,340,3327,0.00,2.25,46.40,0.504,8452,0.000,0.038,3021,3253,895,993,797,0,0,0,0,0,0,26.70,25.16,24.30,8.39,48.85
$STATE,3455,end climb,SURFACE_DEPTH_REACHED
$STATE,3455,begin surface coast
$FINISH,2.5,1.018136
$STATE,3467,end surface coast,CONTROL_FINISHED_OK
$STATE,3467,begin surface
$SM_CCo,3485,44.00,0.055,0,0,532,420.20
$SM_GC,2.33,7.40,2.20,44.00,0.031,0.028,0.055,196,1833,532,-8.06,1.33,420.20,0,0,0,0,0,0,26.13,26.07,25.84
$IRIDIUM_FIX,4736.40,-12251.79,160218,212602
$TT8_MAMPS,0.026964,0.339297
$HUMID,47.48
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.8
$ALTIM_BOTTOM_PING,140.4,34.1
$24V_AH,23.81,86.591
$10V_AH,9.76,59.174
$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,18.425,56.525,444.075,44.000,0.000,0.000,0.000,223.050,3.000,0.000,14.030,934.722,1113.142,523.234,1176.989,119.281,0.000,1246.588,0.000,718.851,0.000,22.747,0.000
$DEVICE_MAMPS,188.190,51.255,667.845,55.080,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.660,807.293,490.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312064
$DATA_FILE_SIZE,27888,375
$CAP_FILE_SIZE,61808,0
$CFSIZE,2097872896,2051833856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021,280.40,1
$GPS,160218,233729,4737.481,-12255.803,8,0.8,15,16.4,0.4,25.9,10,4.5