version: 66.14
glider: 195
mission: 15
dive: 246
start: 2 8 118 20 4 13
data:
$ID,195
$MISSION,15
$DIVE,246
$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,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,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,42
$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
$GPS1,080218,195815,4738.4033,-12253.2461,32,0.8,55,16.4,0.7,67.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.6
$GPS2,080218,200301,4738.4243,-12253.1045,6,0.9,33,16.4,0.7,72.4,9,4.4
$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,228.3,2118,-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,-244.4,176,1841,519,451,0.0,0.0,0,37,0.00,0.00,-27.05,0.000,16386,0.000,0.000,176,1841,1171,1230,1112,0,0,0,0,0,0,26.66,28.83,26.67,8.30,47.91
$GC,40,-0.79,-244.4,176,1841,1230,1113,2.2,-3.3,4,120,8.98,2.22,-60.67,0.000,18692,0.193,0.054,2544,3242,3245,3312,3179,0,0,0,0,0,0,24.97,23.91,25.37,8.36,47.95
$GC,133,-0.54,-244.4,2543,3242,3313,3180,10.2,-13.0,18,142,0.28,2.12,0.00,0.000,3078,0.116,0.028,2632,1839,3246,3313,3179,0,0,0,0,0,0,25.62,26.17,25.72,8.55,47.00
$GC,205,-0.54,-244.4,2632,1838,3313,3180,18.7,-11.2,31,212,0.00,2.20,0.00,0.000,516,0.000,0.043,2632,459,3246,3313,3180,0,0,0,0,0,0,26.70,26.00,26.71,8.55,46.65
$GC,272,-0.54,-244.4,2632,459,3312,3180,26.3,-11.3,38,281,0.00,2.15,0.00,0.000,1030,0.000,0.033,2626,1844,3246,3313,3180,0,0,0,0,0,0,26.20,26.17,26.23,8.54,47.36
$GC,401,-0.54,-244.4,2626,1844,3313,3180,40.3,-10.7,51,410,0.00,2.20,0.00,0.000,260,0.000,0.042,2616,3251,3246,3313,3180,0,0,0,0,0,0,26.73,26.06,26.74,8.54,47.00
$GC,453,-0.54,-244.4,2615,3250,3313,3180,45.6,-9.9,56,463,0.00,2.10,0.00,0.000,1030,0.000,0.029,2616,1846,3246,3313,3180,0,0,0,0,0,0,26.29,26.21,26.33,8.54,47.44
$GC,584,-0.54,-244.4,2615,1847,3313,3180,59.3,-10.3,69,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1846,3246,3313,3180,0,0,0,0,0,0,26.74,26.76,26.75,8.54,47.59
$GC,704,-0.54,-244.4,2615,1847,3313,3180,71.2,-9.4,81,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1846,3246,3313,3180,0,0,0,0,0,0,26.75,26.76,26.76,8.54,47.67
$GC,824,-0.54,-244.4,2615,1846,3313,3180,82.9,-9.4,93,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1847,3246,3313,3180,0,0,0,0,0,0,26.75,26.77,26.76,8.55,48.14
$GC,944,-0.54,-244.4,2615,1847,3313,3180,94.3,-9.7,105,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1846,3246,3313,3180,0,0,0,0,0,0,26.75,26.77,26.77,8.55,47.99
$GC,1064,-0.54,-244.4,2615,1846,3313,3180,105.6,-9.4,117,1074,0.00,2.17,0.00,0.000,260,0.000,0.042,2606,3248,3246,3313,3180,0,0,0,0,0,0,26.72,26.06,26.72,8.56,48.54
$GC,1099,-0.54,-244.4,2606,3247,3313,3180,108.6,-9.5,120,1108,0.00,2.12,0.00,0.000,1030,0.000,0.029,2607,1846,3246,3313,3180,0,0,0,0,0,0,26.24,26.22,26.27,8.56,48.30
$GC,1290,-0.54,-244.4,2606,1846,3313,3180,127.0,-9.6,139,1298,0.10,0.00,0.00,0.000,2054,0.129,0.000,2645,1846,3246,3313,3180,0,0,0,0,0,0,26.31,26.35,26.32,8.56,48.62
$GC,1480,-0.63,-244.4,2645,1846,3313,3180,141.4,-7.6,158,1490,0.08,2.17,0.00,0.000,4356,0.094,0.040,2552,3245,3246,3313,3180,0,0,0,0,0,0,26.54,26.05,26.55,8.56,48.30
$GC,1518,-0.63,-244.4,2551,3245,3312,3180,145.1,-9.9,161,1527,0.15,2.12,0.00,0.000,3078,0.099,0.029,2605,1845,3246,3313,3180,0,0,0,0,0,0,25.88,26.20,25.94,8.56,48.30
$GC,1707,-0.63,-244.4,2603,1845,3313,3180,164.0,-9.5,180,1716,0.00,2.17,0.00,0.000,516,0.000,0.042,2605,454,3246,3313,3180,0,0,0,0,0,0,26.76,26.01,26.77,8.57,48.26
$STATE,1889,end dive,NO_VERTICAL_VELOCITY
$STATE,1889,begin apogee
$GC,1896,-0.21,0.0,2604,1851,3312,3180,165.5,0.0,198,2092,0.32,0.00,191.35,0.678,10246,0.056,0.000,2746,1851,2246,2377,2116,0,0,0,0,0,0,26.24,24.79,23.86,8.57,48.62
$STATE,2093,end apogee,CONTROL_FINISHED_OK
$STATE,2094,begin climb
$GC,2096,0.79,244.4,2745,1851,2377,2116,165.4,0.0,218,2313,0.85,2.30,203.20,0.656,10756,0.063,0.042,3066,460,1248,1355,1142,0,0,0,0,0,0,25.37,24.87,23.93,8.49,46.77
$GC,2341,0.67,244.4,3066,460,1355,1141,141.8,15.0,242,2349,0.10,2.17,0.00,0.000,5126,0.116,0.031,3032,1835,1247,1354,1141,0,0,0,0,0,0,25.48,25.72,25.54,8.40,45.31
$GC,2528,0.61,244.4,3032,1834,1354,1139,117.2,12.4,261,2532,0.00,2.20,0.00,0.000,516,0.000,0.043,3040,446,1246,1354,1139,0,0,0,0,0,0,26.55,25.97,26.56,8.40,47.00
$GC,2561,0.55,244.4,3040,445,1353,1139,112.9,12.8,264,2571,0.15,2.12,0.00,0.000,5126,0.100,0.031,2988,1840,1246,1353,1139,0,0,0,0,0,0,25.86,26.13,25.93,8.40,46.81
$GC,2752,0.55,244.4,2987,1839,1353,1138,94.6,9.4,283,2761,0.00,2.20,0.00,0.000,516,0.000,0.043,2988,446,1245,1353,1138,0,0,0,0,0,0,26.68,26.06,26.69,8.40,47.08
$GC,2786,0.55,244.4,2987,446,1353,1138,91.7,9.0,286,2794,0.00,2.17,0.00,0.000,1030,0.000,0.031,2988,1849,1245,1353,1138,0,0,0,0,0,0,26.26,26.22,26.28,8.40,47.55
$GC,2914,0.55,244.4,2987,1850,1353,1138,80.2,8.8,299,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1850,1245,1353,1138,0,0,0,0,0,0,26.72,26.72,26.72,8.40,47.36
$GC,3035,0.55,244.4,2988,1850,1353,1138,70.0,8.3,311,3044,0.00,2.20,0.00,0.000,516,0.000,0.043,2988,449,1245,1353,1138,0,0,0,0,0,0,26.73,26.07,26.74,8.40,47.44
$GC,3087,0.55,244.4,2987,449,1353,1138,65.5,8.7,316,3097,0.00,2.12,0.00,0.000,1030,0.000,0.030,2988,1848,1245,1353,1138,0,0,0,0,0,0,26.33,26.25,26.36,8.40,47.16
$GC,3217,0.55,244.4,2987,1848,1353,1138,54.7,8.2,329,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1848,1245,1353,1138,0,0,0,0,0,0,26.74,26.75,26.74,8.39,47.48
$GC,3338,0.55,244.4,2987,1848,1353,1138,44.4,8.5,341,3347,0.00,2.17,0.00,0.000,516,0.000,0.043,2988,457,1245,1353,1138,0,0,0,0,0,0,26.74,26.06,26.75,8.39,47.91
$GC,3370,0.55,244.4,2988,457,1353,1138,41.6,8.2,344,3380,0.00,2.12,0.00,0.000,1030,0.000,0.030,2988,1852,1245,1353,1138,0,0,0,0,0,0,26.33,26.25,26.36,8.39,47.99
$GC,3501,0.63,332.1,2987,1853,1353,1138,31.5,7.5,357,3570,0.00,0.00,63.92,0.593,8454,0.000,0.000,2988,1852,890,1000,781,0,0,0,0,0,0,26.74,25.05,24.24,8.38,47.40
$GC,3692,0.79,422.1,2987,1852,1000,780,17.9,7.5,378,3753,0.15,2.28,49.67,0.532,10756,0.057,0.043,3125,454,519,568,471,0,0,0,0,0,0,26.27,25.20,24.35,8.34,47.32
$STATE,3801,end climb,SURFACE_DEPTH_REACHED
$STATE,3801,begin surface coast
$FINISH,0.6,1.009083
$STATE,3837,end surface coast,CONTROL_FINISHED_OK
$STATE,3837,begin surface
$SM_CCo,3915,0.00,0.000,0,0,511,425.84
$SM_GC,2.05,7.60,2.22,0.00,0.028,0.034,0.000,186,1855,511,-8.05,-1.02,425.84,0,0,0,0,0,0,26.12,25.99,26.16
$IRIDIUM_FIX,4740.06,-12250.84,080218,190100
$TT8_MAMPS,0.026215,0.271138
$HUMID,47.12
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.8
$ALTIM_BOTTOM_PING,145.1,30.7
$24V_AH,23.86,70.842
$10V_AH,9.78,48.786
$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,18.750,52.275,508.150,0.000,0.000,0.000,0.000,194.350,3.000,0.000,35.742,921.163,1425.503,546.895,1228.609,109.807,33.438,1275.044,0.000,771.928,0.000,21.576,0.000
$DEVICE_MAMPS,192.780,53.550,677.790,0.000,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,268.973,867.517,527.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312176
$DATA_FILE_SIZE,28034,403
$CAP_FILE_SIZE,63590,0
$CFSIZE,2097872896,2070544384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080218,211023,4738.273,-12253.592,5,0.9,16,16.4,0.6,79.8,10,4.8