version: 66.14
glider: 195
mission: 15
dive: 123
start: 2 3 118 20 24 44
data:
$ID,195
$MISSION,15
$DIVE,123
$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,75
$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,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,2850
$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,40
$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,75
$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
$GPS1,030218,201945,4738.6162,-12253.0869,8,0.8,15,16.4,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.6
$GPS2,030218,202334,4738.6343,-12253.0439,5,0.8,16,16.4,0.0,52.5,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE_NE
$TGT_LATLONG,4738.910,-12252.370
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.000951,-0.320654
$KALMAN_X,-25741.837891,-28320.062500,-10693.488281,64864.058594,2312.308594
$KALMAN_Y,-1053184.250000,2178771.500000,-2885264.000000,1760955.750000,496225.500000
$MHEAD_RNG_PITCHd_Wd,163.8,984,-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,7,begin dive
$GC,9,-0.79,-244.4,197,1837,567,471,0.0,0.0,0,37,0.00,0.00,-26.38,0.000,16386,0.000,0.000,197,1837,1186,1256,1117,0,0,0,0,0,0,26.69,28.83,26.70,8.27,47.28
$GC,40,-0.79,-244.4,197,1837,1257,1118,2.2,-3.1,4,126,9.25,2.25,-66.97,0.000,19204,0.202,0.056,2580,3240,3246,3319,3173,0,0,0,0,0,0,24.89,23.89,25.32,8.34,47.04
$GC,195,-0.66,-244.4,2579,3240,3319,3175,18.4,-14.3,30,203,0.15,2.15,0.00,0.000,3078,0.114,0.031,2630,1834,3247,3319,3175,0,0,0,0,0,0,25.79,26.15,25.98,8.51,46.18
$GC,271,-0.66,-244.4,2629,1834,3319,3175,27.0,-11.0,38,281,0.00,2.20,0.00,0.000,516,0.000,0.044,2630,449,3247,3319,3175,0,0,0,0,0,0,26.72,25.98,26.72,8.52,46.77
$GC,357,-0.66,-244.4,2629,448,3319,3175,36.8,-11.7,46,365,0.00,2.17,0.00,0.000,1030,0.000,0.034,2624,1841,3247,3319,3175,0,0,0,0,0,0,26.19,26.15,26.22,8.52,46.57
$GC,485,-0.66,-244.4,2623,1841,3319,3175,51.0,-10.4,59,489,0.00,2.22,0.00,0.000,260,0.000,0.044,2613,3255,3247,3319,3175,0,0,0,0,0,0,26.74,26.03,26.74,8.52,47.16
$GC,548,-0.66,-244.4,2613,3255,3319,3175,57.3,-10.1,65,552,0.00,2.15,0.00,0.000,1030,0.000,0.031,2613,1836,3247,3319,3175,0,0,0,0,0,0,26.27,26.17,26.30,8.52,47.12
$GC,680,-0.66,-244.4,2613,1835,3319,3175,71.6,-10.6,78,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1835,3247,3319,3175,0,0,0,0,0,0,26.74,26.75,26.75,8.53,47.83
$GC,801,-0.66,-244.4,2612,1835,3319,3175,83.6,-9.7,90,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1835,3247,3319,3175,0,0,0,0,0,0,26.75,26.76,26.76,8.53,48.14
$GC,920,-0.66,-244.4,2613,1835,3319,3175,95.1,-9.5,102,930,0.00,2.22,0.00,0.000,260,0.000,0.044,2605,3250,3247,3319,3175,0,0,0,0,0,0,26.75,26.03,26.77,8.54,48.11
$GC,955,-0.66,-244.4,2604,3250,3319,3175,98.2,-9.3,105,963,0.00,2.15,0.00,0.000,1030,0.000,0.031,2604,1844,3247,3319,3175,0,0,0,0,0,0,26.22,26.18,26.25,8.54,48.30
$GC,1083,-0.66,-244.4,2604,1844,3319,3175,111.1,-9.8,118,1085,0.10,0.00,0.00,0.000,2054,0.130,0.000,2638,1844,3247,3319,3175,0,0,0,0,0,0,26.32,26.39,26.36,8.54,48.14
$GC,1265,-0.73,-244.4,2638,1844,3319,3175,125.6,-8.0,136,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1844,3247,3319,3175,0,0,0,0,0,0,26.76,26.77,26.77,8.55,48.34
$GC,1454,-0.80,-244.4,2638,1844,3319,3175,140.9,-8.0,155,1464,0.10,2.20,0.00,0.000,4356,0.076,0.041,2535,3254,3247,3319,3175,0,0,0,0,0,0,26.53,26.03,26.53,8.55,48.50
$STATE,1476,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1476,begin apogee
$GC,1483,-0.21,0.0,2535,1839,3319,3175,143.4,-9.1,157,1679,0.70,0.00,191.85,0.678,10246,0.100,0.000,2777,1839,2246,2379,2114,0,0,0,0,0,0,25.59,24.85,23.96,8.55,47.71
$STATE,1680,end apogee,CONTROL_FINISHED_OK
$STATE,1680,begin climb
$GC,1683,0.79,244.4,2777,1839,2379,2113,148.7,0.0,177,1889,0.85,0.00,199.85,0.656,11014,0.060,0.000,3092,1839,1250,1361,1139,0,0,0,0,0,0,25.32,24.75,23.93,8.48,46.25
$GC,2068,0.66,244.4,3091,1839,1359,1135,97.2,16.4,216,2078,0.00,2.20,0.00,0.000,516,0.000,0.044,3102,452,1247,1359,1135,0,0,0,0,0,0,26.42,25.89,26.43,8.39,46.37
$GC,2143,0.52,244.4,3101,452,1357,1134,84.2,17.7,223,2152,0.25,2.17,0.00,0.000,5126,0.111,0.032,3020,1847,1245,1356,1134,0,0,0,0,0,0,25.72,26.09,25.78,8.39,46.69
$GC,2272,0.52,244.4,3019,1848,1357,1133,68.9,10.7,236,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1848,1244,1356,1133,0,0,0,0,0,0,26.61,26.63,26.62,8.38,46.69
$GC,2391,0.52,244.4,3019,1848,1357,1133,56.7,9.9,248,2401,0.00,2.22,0.00,0.000,516,0.000,0.044,3027,449,1244,1356,1133,0,0,0,0,0,0,26.66,26.05,26.67,8.38,47.12
$GC,2464,0.52,244.4,3027,449,1356,1133,49.2,10.4,255,2468,0.00,2.17,0.00,0.000,1030,0.000,0.032,3027,1862,1244,1356,1133,0,0,0,0,0,0,26.29,26.20,26.32,8.38,47.67
$GC,2597,0.52,244.4,3027,1862,1356,1133,35.2,10.4,268,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1862,1245,1357,1133,0,0,0,0,0,0,26.71,26.72,26.72,8.38,47.71
$GC,2717,0.52,244.4,3027,1862,1357,1132,23.6,9.3,280,2726,0.00,2.25,0.00,0.000,516,0.000,0.044,3035,446,1244,1356,1133,0,0,0,0,0,0,26.72,26.08,26.73,8.37,47.12
$GC,2761,0.52,244.4,3035,446,1357,1132,19.2,10.0,284,2769,0.00,2.17,0.00,0.000,1030,0.000,0.032,3035,1845,1244,1357,1132,0,0,0,0,0,0,26.27,26.24,26.30,8.37,47.55
$GC,2831,0.52,244.4,3035,1845,1357,1132,12.3,8.9,297,2839,0.00,2.20,0.00,0.000,260,0.000,0.041,3035,3243,1244,1356,1132,0,0,0,0,0,0,26.73,26.13,26.74,8.37,46.88
$STATE,3096,end climb,NO_VERTICAL_VELOCITY
$STATE,3096,begin surface
$SM_CCo,3099,90.50,0.509,0,0,499,428.54
$SM_GC,1.67,7.32,2.20,0.00,0.021,0.030,0.000,187,1846,486,-8.19,1.58,431.97,0,0,0,0,0,0,25.89,25.84,25.94
$IRIDIUM_FIX,4738.72,-12249.11,030218,201607
$TT8_MAMPS,0.026964,0.265146
$HUMID,46.29
$INTERNAL_PRESSURE,8.24378
$TCM_TEMP,8.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.6
$ALTIM_BOTTOM_PING,75.7,77.1
$24V_AH,23.89,64.069
$10V_AH,9.88,42.536
$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,18.725,39.525,391.700,90.500,0.000,0.000,0.000,0.000,0.750,0.000,17.857,805.337,1108.363,519.419,880.500,70.108,33.445,957.365,0.000,650.786,0.000,7.268,0.000
$DEVICE_MAMPS,201.960,55.845,677.790,508.725,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.439,751.206,456.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312132
$DATA_FILE_SIZE,24445,349
$CAP_FILE_SIZE,72738,0
$CFSIZE,2097872896,2082668544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030218,212036,4738.229,-12252.958,8,0.8,15,16.3,0.0,18.5,10,4.6