version: 66.14
glider: 195
mission: 15
dive: 781
start: 3 2 118 4 52 42
data:
$ID,195
$MISSION,15
$DIVE,781
$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,46
$R_STBD_OVSHOOT,44
$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,15
$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
$GPS1,020318,044652,4738.1914,-12254.0898,12,0.9,40,16.4,0.2,142.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.1
$GPS2,020318,045201,4738.1934,-12254.0391,5,0.9,22,16.4,0.2,0.0,9,4.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$TGT_LATLONG,4737.883,-12254.600
$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,215.9,906,-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,-244.4,174,1849,547,484,0.0,0.0,0,60,0.00,0.00,-48.12,0.000,16386,0.000,0.000,174,1849,1646,1691,1601,0,0,0,0,0,0,26.26,28.83,26.27,8.30,49.29
$GC,64,-0.79,-244.4,174,1849,1691,1602,2.1,-2.6,7,134,9.18,2.28,-54.22,0.000,19204,0.199,0.049,2543,3250,3245,3309,3181,0,0,0,0,0,0,24.94,23.65,25.31,8.40,49.13
$GC,223,-0.69,-244.4,2542,3250,3310,3182,20.1,-17.7,33,232,0.12,2.17,0.00,0.000,3078,0.107,0.026,2583,1835,3246,3310,3182,0,0,0,0,0,0,25.44,25.74,25.51,8.54,48.93
$GC,351,-0.69,-244.4,2583,1835,3310,3182,39.9,-13.3,46,361,0.00,2.15,0.00,0.000,516,0.000,0.039,2584,460,3246,3310,3182,0,0,0,0,0,0,26.38,25.59,26.39,8.55,49.72
$GC,429,-0.69,-244.4,2583,460,3310,3182,50.1,-13.3,53,437,0.00,2.17,0.00,0.000,1030,0.000,0.029,2577,1845,3246,3310,3182,0,0,0,0,0,0,25.77,25.74,25.79,8.55,50.11
$GC,555,-0.69,-244.4,2576,1845,3310,3182,67.6,-13.0,66,559,0.00,2.22,0.00,0.000,260,0.000,0.039,2567,3255,3246,3311,3182,0,0,0,0,0,0,26.40,25.63,26.40,8.55,50.39
$GC,618,-0.69,-244.4,2566,3257,3310,3182,75.8,-13.1,72,628,0.00,2.15,0.00,0.000,1030,0.000,0.026,2567,1835,3246,3310,3182,0,0,0,0,0,0,25.84,25.76,25.87,8.55,50.82
$GC,749,-0.64,-244.4,2566,1835,3310,3182,93.8,-13.9,85,757,0.12,0.00,0.00,0.000,2054,0.128,0.000,2606,1835,3246,3310,3182,0,0,0,0,0,0,25.85,25.91,25.89,8.56,50.27
$GC,879,-0.64,-244.4,2606,1835,3310,3182,107.9,-10.4,98,888,0.00,2.17,0.00,0.000,516,0.000,0.039,2606,457,3246,3311,3182,0,0,0,0,0,0,26.41,25.63,26.41,8.56,51.06
$GC,926,-0.64,-244.4,2606,457,3310,3182,112.9,-11.0,102,934,0.00,2.17,0.00,0.000,1030,0.000,0.029,2601,1844,3246,3310,3182,0,0,0,0,0,0,25.79,25.76,25.82,8.57,50.74
$GC,1117,-0.64,-244.4,2600,1844,3310,3182,132.8,-10.6,121,1121,0.00,2.22,0.00,0.000,260,0.000,0.038,2591,3256,3246,3310,3182,0,0,0,0,0,0,26.41,25.65,26.42,8.57,50.86
$GC,1152,-0.64,-244.4,2590,3257,3310,3182,136.6,-10.2,124,1163,0.00,2.12,0.00,0.000,1030,0.000,0.026,2591,1845,3246,3310,3182,0,0,0,0,0,0,25.82,25.79,25.84,8.57,51.06
$GC,1344,-0.64,-244.4,2590,1845,3310,3182,157.7,-11.7,143,1355,0.00,2.20,0.00,0.000,260,0.000,0.040,2581,3245,3246,3310,3182,0,0,0,0,0,0,26.41,25.65,26.42,8.58,50.98
$STATE,1520,end dive,NO_VERTICAL_VELOCITY
$STATE,1520,begin apogee
$GC,1529,-0.21,0.0,2581,1835,3310,3182,159.3,0.0,160,1732,0.40,0.00,194.07,0.662,10246,0.049,0.000,2748,1834,2246,2368,2124,0,0,0,0,0,0,25.83,23.80,23.37,8.58,50.43
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1738,0.79,244.4,2748,1835,2368,2123,159.0,0.0,181,1963,0.88,2.45,212.30,0.629,11012,0.057,0.034,3053,3237,1248,1350,1147,0,0,0,0,0,0,24.27,22.85,22.43,8.51,49.37
$GC,2063,0.72,244.4,3053,3237,1349,1146,126.9,13.4,213,2072,0.00,2.28,0.00,0.000,1030,0.000,0.027,3062,1845,1247,1349,1146,0,0,0,0,0,0,24.20,24.15,24.22,8.41,49.17
$GC,2253,0.63,244.4,3061,1845,1349,1144,100.4,13.5,232,2264,0.12,2.28,0.00,0.000,4612,0.128,0.038,3028,454,1246,1349,1143,0,0,0,0,0,0,25.04,24.84,25.06,8.42,49.40
$GC,2353,0.63,244.4,3027,454,1349,1140,89.2,11.3,241,2361,0.00,2.22,0.00,0.000,1030,0.000,0.028,3028,1848,1244,1349,1139,0,0,0,0,0,0,25.34,25.32,25.37,8.41,49.60
$GC,2482,0.63,244.4,3027,1849,1349,1140,74.9,11.0,254,2492,0.00,2.20,0.00,0.000,260,0.000,0.037,3027,3254,1243,1348,1139,0,0,0,0,0,0,26.13,25.36,26.13,8.41,49.96
$GC,2516,0.63,244.4,3027,3254,1348,1139,71.0,11.3,257,2527,0.00,2.17,0.00,0.000,1030,0.000,0.027,3035,1833,1244,1349,1140,0,0,0,0,0,0,25.62,25.54,25.65,8.41,49.80
$GC,2647,0.63,244.4,3034,1832,1348,1139,57.0,10.5,270,2650,0.00,2.20,0.00,0.000,516,0.000,0.040,3046,451,1244,1349,1139,0,0,0,0,0,0,26.29,25.43,26.31,8.41,49.96
$GC,2713,0.63,244.4,3045,450,1349,1139,50.0,11.1,276,2721,0.10,2.17,0.00,0.000,5126,0.104,0.028,3011,1843,1243,1348,1139,0,0,0,0,0,0,25.44,25.74,25.48,8.40,49.48
$GC,2842,0.63,244.4,3011,1843,1349,1139,38.4,8.2,289,2852,0.00,2.22,0.00,0.000,516,0.000,0.040,3018,445,1243,1348,1139,0,0,0,0,0,0,26.39,25.49,26.39,8.40,50.11
$GC,2879,0.63,244.4,3017,445,1349,1139,35.4,8.3,292,2886,0.00,2.17,0.00,0.000,1030,0.000,0.027,3018,1839,1243,1348,1139,0,0,0,0,0,0,25.80,25.77,25.82,8.40,49.48
$GC,3007,0.63,244.4,3018,1839,1349,1139,24.0,8.9,305,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1839,1244,1349,1139,0,0,0,0,0,0,26.41,26.41,26.41,8.40,50.19
$GC,3131,0.75,373.1,3018,1839,1349,1139,14.9,6.4,323,3207,0.05,2.28,67.00,0.513,10756,0.131,0.039,3116,452,722,803,641,0,0,0,0,0,0,26.22,24.96,24.36,8.38,50.39
$STATE,3223,end climb,SURFACE_DEPTH_REACHED
$STATE,3224,begin surface coast
$FINISH,0.4,1.010667
$STATE,3241,end surface coast,CONTROL_FINISHED_OK
$STATE,3241,begin surface
$SM_CCo,3262,24.42,0.053,0,0,532,420.20
$SM_GC,1.50,7.80,2.28,24.42,0.027,0.029,0.053,187,1848,532,-8.06,-1.13,420.20,0,0,0,0,0,0,25.42,25.32,25.22
$IRIDIUM_FIX,4738.72,-12249.11,020318,034650
$TT8_MAMPS,0.027713,0.298102
$HUMID,48.46
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.7
$24V_AH,22.43,114.706
$10V_AH,9.74,75.441
$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,18.775,53.175,473.375,24.425,0.000,0.000,0.000,196.625,4.000,0.000,25.711,827.902,988.201,517.126,1125.296,163.637,0.000,1237.405,0.000,725.275,0.000,30.489,0.000
$DEVICE_MAMPS,198.900,48.960,661.725,52.785,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.918,732.073,444.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312100
$DATA_FILE_SIZE,24502,340
$CAP_FILE_SIZE,57487,0
$CFSIZE,2097872896,2017918976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,56.89,1
$GPS,020318,054826,4738.093,-12254.363,4,0.9,13,16.4,0.0,161.4,9,4.8