version: 66.14
glider: 195
mission: 15
dive: 437
start: 2 16 118 23 42 44
data:
$ID,195
$MISSION,15
$DIVE,437
$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,52
$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
$GPS1,160218,233729,4737.4810,-12255.8027,8,0.8,15,16.4,0.4,25.9,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-71.9
$GPS2,160218,234203,4737.5288,-12255.7744,6,0.8,17,16.4,0.0,0.0,10,4.6
$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,195.4,436,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-1.20,-63.7,196,1832,552,486,0.0,0.0,0,18,0.00,0.00,-7.22,0.000,16386,0.000,0.000,195,1832,707,756,659,0,0,0,0,0,0,26.58,28.83,26.60,8.30,47.63
$GC,21,-1.20,-63.7,196,1832,756,658,2.0,0.0,1,104,8.38,2.17,-65.55,0.000,18948,0.188,0.048,2417,447,2507,2590,2424,0,0,0,0,0,0,24.98,25.59,25.17,8.32,47.71
$GC,112,-1.03,-63.7,2416,446,2590,2425,7.1,-13.0,14,121,0.20,2.17,0.00,0.000,3078,0.151,0.030,2480,1850,2507,2590,2425,0,0,0,0,0,0,25.34,26.12,25.56,8.49,47.51
$GC,185,-0.94,-63.7,2479,1850,2591,2425,18.0,-15.3,27,192,0.00,2.22,0.00,0.000,516,0.000,0.039,2480,454,2508,2591,2425,0,0,0,0,0,0,26.65,25.96,26.65,8.48,46.96
$GC,200,-0.85,-63.7,2479,454,2591,2425,20.5,-15.6,29,206,0.20,2.15,0.00,0.000,3078,0.148,0.029,2530,1847,2508,2591,2425,0,0,0,0,0,0,25.53,26.13,25.71,8.48,47.71
$GC,334,-0.85,-63.7,2529,1848,2591,2425,33.7,-10.0,42,338,0.00,2.20,0.00,0.000,516,0.000,0.040,2530,449,2508,2592,2425,0,0,0,0,0,0,26.68,25.96,26.68,8.48,48.07
$GC,399,-0.85,-63.7,2529,448,2591,2425,39.8,-9.4,48,407,0.00,2.15,0.00,0.000,1030,0.000,0.029,2522,1843,2508,2592,2425,0,0,0,0,0,0,26.18,26.15,26.21,8.48,47.83
$GC,527,-0.85,-63.7,2521,1843,2591,2425,52.1,-9.6,61,531,0.00,2.17,0.00,0.000,260,0.000,0.039,2511,3244,2508,2592,2425,0,0,0,0,0,0,26.70,26.01,26.70,8.49,48.42
$GC,642,-0.85,-63.7,2511,3245,2592,2425,64.1,-10.9,72,650,0.00,2.12,0.00,0.000,1030,0.000,0.028,2511,1834,2508,2591,2425,0,0,0,0,0,0,26.19,26.16,26.22,8.49,48.46
$GC,770,-0.85,-63.7,2511,1834,2591,2425,78.3,-11.1,85,775,0.00,2.15,0.00,0.000,516,0.000,0.041,2511,454,2508,2591,2425,0,0,0,0,0,0,26.70,25.95,26.71,8.49,49.52
$GC,876,-0.85,-63.7,2511,454,2592,2425,91.0,-12.9,95,885,0.10,2.12,0.00,0.000,3078,0.145,0.031,2530,1836,2507,2590,2425,0,0,0,0,0,0,25.75,26.15,25.80,8.49,48.58
$GC,1005,-0.94,-63.7,2529,1836,2591,2425,104.9,-10.2,108,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1835,2508,2592,2425,0,0,0,0,0,0,26.70,26.71,26.71,8.50,49.72
$GC,1186,-1.02,-63.7,2529,1836,2591,2425,121.3,-9.2,126,1191,0.10,2.15,0.00,0.000,4612,0.077,0.039,2444,455,2508,2592,2425,0,0,0,0,0,0,26.47,25.94,26.47,8.50,48.85
$GC,1232,-1.02,-63.7,2443,456,2591,2425,126.5,-11.4,130,1240,0.12,2.12,0.00,0.000,3078,0.149,0.030,2472,1837,2508,2591,2425,0,0,0,0,0,0,25.64,26.15,25.72,8.50,49.13
$GC,1420,-1.02,-63.7,2472,1836,2591,2425,148.0,-11.2,149,1424,0.00,2.20,0.00,0.000,260,0.000,0.038,2463,3254,2508,2591,2425,0,0,0,0,0,0,26.70,26.00,26.71,8.50,49.13
$GC,1513,-1.02,-63.7,2462,3254,2592,2425,158.6,-11.3,158,1523,0.00,2.10,0.00,0.000,1030,0.000,0.028,2463,1845,2508,2591,2425,0,0,0,0,0,0,26.22,26.15,26.26,8.51,49.33
$STATE,1542,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1542,begin apogee
$GC,1547,-0.21,0.0,2463,1844,2591,2425,162.0,-11.3,161,1604,0.85,0.00,52.25,0.668,10246,0.125,0.000,2735,1845,2246,2348,2145,0,0,0,0,0,0,25.24,25.01,24.05,8.51,49.25
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1607,1.20,63.7,2735,1845,2348,2145,164.7,0.0,167,1666,1.23,0.00,54.58,0.666,10502,0.063,0.000,3182,1845,1986,2119,1853,0,0,0,0,0,0,25.58,24.74,23.83,8.49,48.38
$GC,1845,1.09,63.7,3181,1845,2117,1850,135.3,15.3,191,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1845,1983,2117,1850,0,0,0,0,0,0,26.51,26.52,26.52,8.47,48.85
$GC,2025,0.99,63.7,3181,1845,2116,1849,108.5,14.8,209,2027,0.17,0.00,0.00,0.000,4102,0.156,0.000,3132,1845,1983,2116,1850,0,0,0,0,0,0,25.79,25.98,25.91,8.47,48.74
$GC,2206,0.99,63.7,3131,1845,2116,1849,85.6,12.4,227,2210,0.00,2.20,0.00,0.000,516,0.000,0.041,3140,448,1982,2116,1849,0,0,0,0,0,0,26.67,25.96,26.68,8.47,49.09
$GC,2240,0.99,63.7,3139,448,2115,1848,81.6,11.8,230,2248,0.00,2.15,0.00,0.000,1030,0.000,0.029,3140,1842,1981,2115,1848,0,0,0,0,0,0,26.20,26.16,26.22,8.47,49.68
$GC,2369,0.99,63.7,3139,1841,2115,1849,65.4,13.2,243,2373,0.00,2.20,0.00,0.000,516,0.000,0.040,3150,446,1981,2115,1848,0,0,0,0,0,0,26.69,25.98,26.70,8.47,49.17
$GC,2442,0.93,63.7,3150,445,2114,1848,56.0,12.9,250,2452,0.12,2.10,0.00,0.000,5126,0.142,0.029,3113,1844,1981,2115,1848,0,0,0,0,0,0,25.73,26.17,25.77,8.46,49.21
$GC,2572,0.93,63.7,3113,1844,2114,1848,42.8,9.5,263,2576,0.00,2.17,0.00,0.000,260,0.000,0.038,3113,3257,1981,2114,1848,0,0,0,0,0,0,26.70,26.02,26.70,8.46,49.09
$GC,2615,0.93,63.7,3113,3256,2114,1848,38.5,10.0,267,2620,0.00,2.10,0.00,0.000,1030,0.000,0.028,3121,1842,1981,2114,1848,0,0,0,0,0,0,26.24,26.16,26.27,8.46,49.25
$GC,2748,0.93,63.7,3120,1842,2114,1848,25.7,9.9,280,2752,0.00,2.17,0.00,0.000,516,0.000,0.041,3132,449,1981,2115,1848,0,0,0,0,0,0,26.70,25.96,26.71,8.45,48.77
$GC,3266,1.04,164.6,3131,448,2114,1848,14.4,-0.7,374,3328,0.00,2.15,53.22,0.525,9222,0.000,0.029,3132,1851,1573,1687,1459,0,0,0,0,0,0,26.20,26.17,24.30,8.44,48.77
$GC,3395,1.17,216.2,3131,1851,1684,1459,8.9,4.6,395,3431,0.10,2.22,26.88,0.484,10756,0.076,0.039,3233,452,1361,1461,1262,0,0,0,0,0,0,26.22,24.73,24.27,8.41,48.22
$GC,3439,1.22,266.9,3233,452,1461,1262,6.7,4.6,401,3474,0.00,2.15,26.42,0.474,9222,0.000,0.029,3233,1842,1155,1244,1067,0,0,0,0,0,0,25.95,25.91,24.27,8.38,47.79
$GC,3539,1.28,325.7,3233,1842,1243,1067,3.2,3.8,418,3555,0.00,0.00,14.15,0.441,8706,0.000,0.000,3233,1843,1042,1134,951,0,0,0,0,0,0,26.40,28.83,26.41,8.37,47.20
$STATE,3556,end climb,SURFACE_DEPTH_REACHED
$STATE,3556,begin surface coast
$FINISH,0.9,1.018786
$STATE,3683,end surface coast,CONTROL_FINISHED_OK
$STATE,3683,begin surface
$SM_CCo,3700,62.00,0.056,0,0,532,420.20
$SM_GC,2.69,8.15,0.00,62.00,0.043,0.000,0.056,180,1842,532,-8.06,-0.03,420.20,0,0,0,0,0,0,26.17,26.55,25.78
$IRIDIUM_FIX,4741.12,-12257.95,160218,223329
$TT8_MAMPS,0.026964,0.238931
$HUMID,47.95
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.1
$ALTIM_BOTTOM_PING,110.6,61.2
$24V_AH,23.83,86.633
$10V_AH,9.83,59.237
$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,19.725,51.850,227.500,62.000,0.000,0.000,0.000,183.700,1.250,0.000,19.004,1169.653,1123.249,354.883,1296.486,122.589,0.000,1030.683,0.000,806.434,0.000,10.433,0.000
$DEVICE_MAMPS,188.190,48.195,667.845,55.845,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,302.820,955.955,582.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,31671,444
$CAP_FILE_SIZE,66290,0
$CFSIZE,2097872896,2051702784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,43.02,1
$GPS,170218,004656,4737.380,-12255.954,24,0.8,47,16.4,0.3,39.8,10,4.2