version: 66.14
glider: 195
mission: 15
dive: 266
start: 2 9 118 16 46 15
data:
$ID,195
$MISSION,15
$DIVE,266
$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,50
$R_STBD_OVSHOOT,41
$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
$GPS1,090218,164020,4737.5884,-12255.2969,45,1.1,62,16.4,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.8
$GPS2,090218,164525,4737.5938,-12255.3047,7,0.8,19,16.4,0.0,0.0,11,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$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,43.2,1030,-13.4,-10.000,-17.56,3523
$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,-0.80,-236.0,180,1841,555,479,0.0,0.0,0,39,0.00,0.00,-28.23,0.000,16386,0.000,0.000,179,1841,1232,1305,1159,0,0,0,0,0,0,26.62,28.83,26.63,8.30,47.55
$GC,41,-0.80,-236.0,180,1841,1305,1160,2.2,-2.5,4,124,8.93,0.00,-68.40,0.000,18694,0.193,0.000,2545,1841,3212,3283,3142,0,0,0,0,0,0,25.10,24.42,25.29,8.37,47.12
$GC,190,-0.65,-236.0,2544,1841,3284,3143,20.6,-18.8,28,195,0.17,2.20,0.00,0.000,2308,0.130,0.041,2594,3247,3213,3284,3143,0,0,0,0,0,0,25.99,26.06,26.09,8.54,47.32
$GC,226,-0.56,-236.0,2593,3247,3284,3143,25.5,-14.4,31,234,0.10,2.12,0.00,0.000,3078,0.105,0.028,2629,1842,3213,3284,3143,0,0,0,0,0,0,25.95,26.20,26.01,8.55,47.59
$GC,354,-0.56,-236.0,2629,1842,3283,3143,38.9,-9.8,44,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1842,3213,3284,3143,0,0,0,0,0,0,26.72,26.73,26.73,8.55,47.24
$GC,474,-0.56,-236.0,2629,1842,3284,3143,50.4,-9.5,56,478,0.00,2.17,0.00,0.000,260,0.000,0.042,2623,3247,3213,3284,3143,0,0,0,0,0,0,26.74,26.08,26.74,8.55,47.36
$GC,542,-0.61,-236.0,2622,3247,3284,3143,56.2,-9.0,62,550,0.00,2.12,0.00,0.000,1030,0.000,0.029,2622,1848,3213,3284,3143,0,0,0,0,0,0,26.27,26.24,26.30,8.54,47.44
$GC,669,-0.61,-236.0,2622,1848,3284,3143,68.3,-9.1,75,678,0.00,2.17,0.00,0.000,516,0.000,0.041,2623,457,3213,3284,3143,0,0,0,0,0,0,26.74,26.06,26.75,8.55,48.54
$GC,703,-0.61,-236.0,2622,456,3284,3143,71.6,-9.6,78,713,0.00,2.15,0.00,0.000,1030,0.000,0.032,2615,1839,3213,3284,3143,0,0,0,0,0,0,26.25,26.21,26.27,8.55,48.07
$GC,833,-0.61,-236.0,2615,1839,3284,3143,83.9,-9.5,91,842,0.00,2.15,0.00,0.000,260,0.000,0.042,2605,3245,3213,3284,3143,0,0,0,0,0,0,26.74,26.08,26.75,8.56,48.14
$GC,898,-0.67,-236.0,2605,3245,3284,3143,90.1,-9.3,97,907,0.00,2.08,0.00,0.000,1030,0.000,0.029,2605,1848,3213,3283,3143,0,0,0,0,0,0,26.29,26.22,26.29,8.56,48.50
$GC,1028,-0.67,-236.0,2605,1848,3284,3143,102.5,-9.4,110,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1848,3213,3284,3143,0,0,0,0,0,0,26.74,26.76,26.75,8.56,48.18
$GC,1219,-0.67,-236.0,2605,1847,3284,3143,120.2,-9.0,129,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1848,3213,3284,3143,0,0,0,0,0,0,26.72,26.74,26.73,8.56,48.42
$GC,1407,-0.67,-236.0,2605,1848,3284,3143,138.2,-9.6,148,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1848,3213,3284,3143,0,0,0,0,0,0,26.75,26.76,26.76,8.57,48.58
$GC,1587,-0.67,-236.0,2605,1848,3284,3143,155.1,-9.2,166,1597,0.00,2.20,0.00,0.000,260,0.000,0.041,2596,3255,3213,3284,3143,0,0,0,0,0,0,26.75,26.07,26.76,8.57,48.11
$STATE,1609,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1609,begin apogee
$GC,1616,-0.21,0.0,2596,1828,3284,3142,157.5,-9.5,168,1811,0.40,0.00,187.62,0.662,10246,0.088,0.000,2745,1827,2245,2379,2112,0,0,0,0,0,0,25.89,25.00,23.91,8.57,48.66
$STATE,1812,end apogee,CONTROL_FINISHED_OK
$STATE,1812,begin climb
$GC,1814,0.80,236.0,2745,1827,2379,2112,160.8,0.0,188,2022,0.82,2.25,195.02,0.644,10756,0.053,0.043,3067,460,1283,1394,1172,0,0,0,0,0,0,25.46,24.89,23.94,8.49,47.16
$GC,2086,0.69,236.0,3066,460,1392,1171,132.4,14.6,215,2091,0.10,2.15,0.00,0.000,5126,0.131,0.030,3034,1847,1281,1392,1170,0,0,0,0,0,0,25.68,25.88,25.79,8.41,45.90
$GC,2281,0.64,236.0,3033,1847,1392,1169,108.4,12.2,234,2285,0.00,2.20,0.00,0.000,516,0.000,0.043,3041,449,1280,1392,1169,0,0,0,0,0,0,26.60,26.01,26.60,8.41,47.32
$GC,2324,0.57,236.0,3041,449,1391,1169,103.0,12.2,238,2329,0.12,2.15,0.00,0.000,5126,0.119,0.030,2999,1851,1280,1391,1169,0,0,0,0,0,0,25.95,26.18,26.07,8.41,47.44
$GC,2519,0.57,236.0,2998,1851,1391,1168,83.3,9.7,257,2523,0.00,2.20,0.00,0.000,516,0.000,0.043,3006,449,1279,1391,1168,0,0,0,0,0,0,26.70,26.07,26.70,8.41,48.07
$GC,2564,0.57,236.0,3006,449,1390,1168,79.1,9.6,261,2572,0.00,2.15,0.00,0.000,1030,0.000,0.031,3006,1839,1279,1391,1168,0,0,0,0,0,0,26.28,26.25,26.30,8.41,48.38
$GC,2692,0.57,236.0,3006,1839,1391,1168,66.0,9.9,274,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1839,1279,1391,1168,0,0,0,0,0,0,26.72,26.73,26.73,8.41,47.99
$GC,2812,0.57,236.0,3006,1839,1391,1168,54.4,9.7,286,2821,0.00,2.15,0.00,0.000,516,0.000,0.043,3012,457,1279,1391,1168,0,0,0,0,0,0,26.73,26.06,26.74,8.40,48.26
$GC,2867,0.57,236.0,3011,457,1391,1168,49.3,9.7,291,2875,0.00,2.15,0.00,0.000,1030,0.000,0.030,3012,1847,1279,1391,1168,0,0,0,0,0,0,26.29,26.26,26.32,8.40,48.07
$GC,2995,0.57,236.0,3011,1848,1391,1168,36.3,10.0,304,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1848,1279,1391,1168,0,0,0,0,0,0,26.74,26.75,26.74,8.40,48.14
$GC,3116,0.57,236.0,3011,1848,1391,1168,25.1,9.5,316,3125,0.00,2.17,0.00,0.000,516,0.000,0.043,3018,458,1279,1391,1168,0,0,0,0,0,0,26.74,26.06,26.75,8.39,47.79
$GC,3179,0.57,236.0,3018,458,1391,1168,19.1,9.6,323,3186,0.00,2.15,0.00,0.000,1030,0.000,0.031,3018,1849,1279,1391,1168,0,0,0,0,0,0,26.29,26.25,26.31,8.39,48.03
$GC,3250,0.65,315.3,3018,1850,1391,1168,12.8,7.7,336,3300,0.00,2.22,41.88,0.511,8964,0.000,0.041,3020,455,958,1058,859,0,0,0,0,0,0,26.74,24.82,24.34,8.38,48.38
$GC,3324,0.85,442.0,3020,455,1058,857,7.9,6.3,347,3387,0.10,2.17,57.65,0.483,11266,0.047,0.029,3125,1858,511,552,471,0,0,0,0,0,0,25.97,26.02,26.02,8.35,47.16
$STATE,3389,end climb,SURFACE_DEPTH_REACHED
$STATE,3389,begin surface coast
$FINISH,0.8,1.014939
$STATE,3423,end surface coast,CONTROL_FINISHED_OK
$STATE,3423,begin surface
$SM_CCo,3499,0.00,0.000,0,0,497,429.03
$SM_GC,1.82,7.65,0.00,0.00,0.027,0.000,0.000,179,1858,497,-8.07,0.42,429.03,0,0,0,0,0,0,26.01,26.32,26.05
$IRIDIUM_FIX,4738.33,-12256.21,090218,153918
$TT8_MAMPS,0.026964,0.241178
$HUMID,46.57
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,140.2,26.2
$24V_AH,23.91,72.454
$10V_AH,9.78,49.868
$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,18.400,47.700,482.175,0.000,0.000,0.000,0.000,218.475,3.250,0.000,20.535,888.834,1195.907,501.239,1147.940,107.125,0.000,1219.258,0.000,706.122,0.000,25.672,0.000
$DEVICE_MAMPS,192.780,42.840,662.490,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.305,779.078,473.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312148
$DATA_FILE_SIZE,24535,362
$CAP_FILE_SIZE,59328,0
$CFSIZE,2097872896,2068578304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1763.16,0x2367b8,2,24
$CURRENT,0.055,258.59,1
$GPS,090218,174535,4737.795,-12254.682,5,1.0,22,16.4,0.0,0.0,10,4.9