version: 66.14
glider: 195
mission: 15
dive: 252
start: 2 9 118 2 29 40
data:
$ID,195
$MISSION,15
$DIVE,252
$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,37
$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
$GPS1,090218,022434,4737.8940,-12254.6260,5,0.8,16,16.4,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.4
$GPS2,090218,022901,4737.9189,-12254.6426,6,0.8,17,16.4,0.0,352.4,10,4.6
$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,217.1,1990,-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,-244.4,182,1847,550,478,0.0,0.0,0,39,0.00,0.00,-28.45,0.000,16386,0.000,0.000,182,1847,1246,1316,1176,0,0,0,0,0,0,26.61,28.83,26.62,8.30,46.45
$GC,41,-0.79,-244.4,182,1847,1316,1177,2.3,-3.5,4,119,8.98,2.20,-60.00,0.000,18948,0.194,0.052,2547,453,3245,3312,3178,0,0,0,0,0,0,25.04,25.63,25.23,8.37,47.00
$GC,169,-0.65,-244.4,2547,452,3313,3179,17.8,-17.1,24,177,0.15,2.17,0.00,0.000,3078,0.118,0.032,2603,1852,3245,3313,3178,0,0,0,0,0,0,25.71,26.14,25.87,8.55,47.00
$GC,245,-0.65,-244.4,2602,1851,3314,3179,28.5,-12.9,32,256,0.00,2.17,0.00,0.000,260,0.000,0.042,2595,3251,3246,3314,3178,0,0,0,0,0,0,26.70,26.03,26.70,8.54,46.96
$GC,302,-0.65,-244.4,2595,3250,3314,3178,35.3,-12.3,37,310,0.00,2.15,0.00,0.000,1030,0.000,0.029,2596,1838,3246,3314,3179,0,0,0,0,0,0,26.22,26.22,26.25,8.54,46.96
$GC,430,-0.65,-244.4,2595,1838,3314,3179,51.5,-12.3,50,441,0.00,2.17,0.00,0.000,516,0.000,0.042,2595,447,3246,3314,3179,0,0,0,0,0,0,26.73,26.03,26.74,8.54,47.55
$GC,497,-0.65,-244.4,2594,447,3313,3178,59.9,-13.0,56,506,0.00,2.17,0.00,0.000,1030,0.000,0.032,2586,1850,3246,3314,3179,0,0,0,0,0,0,26.22,26.19,26.26,8.54,47.48
$GC,626,-0.65,-244.4,2585,1850,3313,3178,76.4,-12.6,69,635,0.00,2.15,0.00,0.000,260,0.000,0.042,2576,3240,3246,3314,3179,0,0,0,0,0,0,26.74,26.08,26.75,8.55,47.71
$GC,680,-0.65,-244.4,2576,3240,3313,3179,83.2,-12.2,74,690,0.00,2.10,0.00,0.000,1030,0.000,0.030,2576,1842,3246,3314,3178,0,0,0,0,0,0,26.29,26.21,26.33,8.55,47.71
$GC,810,-0.65,-244.4,2576,1842,3314,3178,99.6,-12.4,87,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1842,3246,3313,3179,0,0,0,0,0,0,26.75,26.76,26.76,8.55,48.30
$GC,930,-0.65,-244.4,2576,1842,3314,3178,114.4,-12.2,99,943,0.00,2.17,0.00,0.000,260,0.000,0.041,2567,3245,3246,3313,3179,0,0,0,0,0,0,26.75,26.06,26.76,8.56,48.42
$GC,956,-0.65,-244.4,2567,3245,3314,3179,117.6,-12.2,101,966,0.10,2.08,0.00,0.000,3078,0.105,0.029,2602,1846,3246,3313,3179,0,0,0,0,0,0,25.96,26.22,26.02,8.56,48.89
$GC,1147,-0.65,-244.4,2602,1847,3313,3179,137.2,-10.9,120,1156,0.00,2.17,0.00,0.000,516,0.000,0.042,2602,456,3246,3313,3179,0,0,0,0,0,0,26.75,26.01,26.76,8.56,48.22
$GC,1172,-0.65,-244.4,2602,455,3314,3179,139.8,-10.9,122,1180,0.00,2.15,0.00,0.000,1030,0.000,0.033,2597,1846,3246,3313,3179,0,0,0,0,0,0,26.22,26.18,26.29,8.57,48.34
$GC,1360,-0.65,-244.4,2596,1845,3314,3178,159.8,-10.1,141,1364,0.00,2.17,0.00,0.000,260,0.000,0.041,2587,3248,3246,3313,3179,0,0,0,0,0,0,26.75,26.06,26.76,8.57,48.34
$STATE,1370,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1370,begin apogee
$GC,1377,-0.21,0.0,2586,1835,3313,3179,160.8,-9.9,142,1574,0.43,0.00,193.05,0.672,10246,0.088,0.000,2743,1836,2246,2378,2115,0,0,0,0,0,0,25.86,24.81,23.90,8.57,48.46
$STATE,1575,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1578,0.79,244.4,2743,1836,2378,2114,162.7,0.0,162,1794,0.85,2.28,201.90,0.653,10756,0.044,0.043,3084,457,1248,1354,1142,0,0,0,0,0,0,25.46,24.88,23.94,8.49,46.88
$GC,1841,0.66,244.4,3084,457,1353,1141,135.1,16.3,188,1850,0.17,2.17,0.00,0.000,5126,0.108,0.031,3026,1836,1247,1353,1141,0,0,0,0,0,0,25.51,25.80,25.59,8.41,45.82
$GC,2031,0.61,244.4,3026,1836,1352,1139,111.5,11.6,207,2035,0.00,2.20,0.00,0.000,516,0.000,0.043,3034,451,1246,1353,1139,0,0,0,0,0,0,26.58,25.98,26.58,8.41,46.69
$GC,2084,0.55,244.4,3034,451,1352,1138,104.9,12.0,212,2095,0.12,2.12,0.00,0.000,5126,0.102,0.031,2990,1844,1245,1353,1138,0,0,0,0,0,0,25.90,26.16,25.96,8.40,46.92
$GC,2276,0.55,244.4,2989,1844,1352,1137,87.3,9.0,231,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1844,1244,1352,1137,0,0,0,0,0,0,26.70,26.70,26.70,8.40,47.44
$GC,2404,0.55,244.4,2989,1844,1352,1137,75.4,9.0,244,2409,0.00,2.20,0.00,0.000,516,0.000,0.044,2998,454,1244,1352,1137,0,0,0,0,0,0,26.72,26.06,26.72,8.40,48.30
$GC,2438,0.55,244.4,2997,454,1352,1137,72.1,9.6,247,2447,0.00,2.15,0.00,0.000,1030,0.000,0.030,2999,1850,1244,1352,1137,0,0,0,0,0,0,26.28,26.25,26.31,8.39,48.07
$GC,2567,0.55,244.4,2997,1849,1353,1137,59.5,8.9,260,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1849,1244,1352,1137,0,0,0,0,0,0,26.73,26.74,26.74,8.40,47.28
$GC,2687,0.55,244.4,2997,1850,1352,1137,48.9,8.6,272,2691,0.00,2.22,0.00,0.000,516,0.000,0.044,3005,448,1244,1352,1137,0,0,0,0,0,0,26.74,26.06,26.74,8.40,47.95
$GC,2749,0.55,244.4,3004,448,1352,1137,43.2,9.0,278,2754,0.00,2.15,0.00,0.000,1030,0.000,0.031,3005,1854,1244,1352,1137,0,0,0,0,0,0,26.33,26.25,26.36,8.39,48.03
$GC,2882,0.55,244.4,3004,1854,1352,1137,31.6,8.5,291,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1854,1244,1352,1137,0,0,0,0,0,0,26.74,26.76,26.75,8.39,47.67
$GC,3002,0.55,244.4,3004,1854,1352,1137,22.0,8.1,303,3012,0.00,2.22,0.00,0.000,516,0.000,0.043,3012,451,1244,1352,1137,0,0,0,0,0,0,26.74,26.06,26.76,8.38,47.32
$GC,3047,0.55,244.4,3011,451,1352,1137,18.4,8.4,308,3055,0.00,2.15,0.00,0.000,1030,0.000,0.031,3012,1845,1244,1352,1137,0,0,0,0,0,0,26.28,26.25,26.31,8.38,47.75
$GC,3119,0.68,377.3,3011,1845,1352,1137,12.9,6.3,321,3196,0.00,2.25,69.25,0.522,8964,0.000,0.042,3012,452,707,807,608,0,0,0,0,0,0,26.74,24.77,24.32,8.38,47.99
$GC,3225,1.06,595.7,3011,452,808,605,7.9,3.9,337,3261,0.28,2.17,28.83,0.490,11270,0.018,0.030,3189,1852,496,537,455,0,0,0,0,0,0,25.95,25.91,24.33,8.33,47.00
$STATE,3271,end climb,SURFACE_DEPTH_REACHED
$STATE,3271,begin surface coast
$FINISH,0.5,1.003835
$STATE,3294,end surface coast,CONTROL_FINISHED_OK
$STATE,3294,begin surface
$SM_CCo,3370,0.00,0.000,0,0,486,431.97
$SM_GC,1.65,7.80,0.00,0.00,0.027,0.000,0.000,188,1852,486,-8.05,0.25,431.97,0,0,0,0,0,0,26.01,26.34,26.06
$IRIDIUM_FIX,4736.87,-12256.21,090218,012704
$TT8_MAMPS,0.026964,0.241927
$HUMID,46.77
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.6
$ALTIM_BOTTOM_PING,155.7,14.4
$24V_AH,23.90,71.324
$10V_AH,9.79,49.120
$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,18.875,56.525,493.025,0.000,0.000,0.000,0.000,185.225,4.250,0.000,18.761,841.937,1109.802,502.941,1100.948,108.995,0.000,1207.928,0.000,700.666,0.000,33.215,0.000
$DEVICE_MAMPS,193.545,52.020,671.670,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.270,749.036,454.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312144
$DATA_FILE_SIZE,24566,348
$CAP_FILE_SIZE,60391,0
$CFSIZE,2097872896,2069954560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.025,251.96,1
$GPS,090218,032729,4737.630,-12255.388,46,0.8,59,16.4,0.0,0.0,10,5.0