version: 66.14
glider: 195
mission: 15
dive: 276
start: 2 10 118 2 58 16
data:
$ID,195
$MISSION,15
$DIVE,276
$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,47
$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
$GPS1,100218,025032,4737.4546,-12255.9053,16,0.8,22,16.4,0.7,240.7,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.5
$GPS2,100218,025736,4737.3931,-12256.0771,6,0.8,15,16.4,0.6,239.7,10,4.6
$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,49.9,2055,-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,-244.4,184,1846,555,477,0.0,0.0,0,38,0.00,0.00,-27.55,0.000,16386,0.000,0.000,184,1846,1220,1294,1147,0,0,0,0,0,0,26.59,28.83,26.60,8.30,46.45
$GC,41,-0.79,-244.4,184,1846,1295,1147,2.4,-3.5,4,119,8.95,2.20,-61.95,0.000,19204,0.194,0.053,2540,3252,3246,3314,3178,0,0,0,0,0,0,25.07,23.91,25.58,8.37,46.49
$GC,132,-0.53,-244.4,2539,3252,3315,3178,9.5,-13.9,17,142,0.30,2.15,0.00,0.000,3078,0.109,0.029,2638,1836,3246,3315,3178,0,0,0,0,0,0,25.65,26.16,25.75,8.55,47.36
$GC,206,-0.53,-244.4,2637,1836,3316,3179,18.8,-9.7,30,214,0.00,2.20,0.00,0.000,516,0.000,0.042,2638,456,3247,3316,3179,0,0,0,0,0,0,26.67,26.01,26.68,8.55,46.49
$GC,265,-0.53,-244.4,2637,455,3316,3179,24.9,-10.6,36,274,0.00,2.15,0.00,0.000,1030,0.000,0.033,2633,1844,3247,3316,3178,0,0,0,0,0,0,26.23,26.17,26.25,8.54,46.41
$GC,395,-0.53,-244.4,2631,1844,3316,3179,37.9,-9.7,49,404,0.00,2.17,0.00,0.000,260,0.000,0.042,2622,3246,3247,3316,3179,0,0,0,0,0,0,26.72,26.07,26.73,8.55,46.57
$GC,438,-0.53,-244.4,2621,3246,3316,3179,41.9,-9.0,53,448,0.00,2.08,0.00,0.000,1030,0.000,0.028,2622,1848,3246,3315,3178,0,0,0,0,0,0,26.26,26.22,26.29,8.55,47.20
$GC,568,-0.53,-244.4,2621,1848,3316,3178,55.0,-9.9,66,578,0.00,2.17,0.00,0.000,516,0.000,0.041,2622,456,3247,3316,3178,0,0,0,0,0,0,26.74,26.06,26.74,8.54,47.36
$GC,593,-0.53,-244.4,2621,455,3316,3178,57.4,-10.3,68,602,0.00,2.15,0.00,0.000,1030,0.000,0.032,2613,1841,3247,3316,3178,0,0,0,0,0,0,26.24,26.20,26.27,8.55,47.40
$GC,722,-0.53,-244.4,2613,1841,3316,3179,70.6,-10.1,81,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1841,3247,3316,3179,0,0,0,0,0,0,26.74,26.75,26.74,8.55,47.28
$GC,842,-0.53,-244.4,2613,1841,3316,3179,82.5,-9.8,93,852,0.00,2.17,0.00,0.000,260,0.000,0.042,2604,3240,3247,3316,3179,0,0,0,0,0,0,26.74,26.08,26.75,8.56,48.07
$GC,888,-0.53,-244.4,2603,3240,3316,3179,86.7,-9.7,97,897,0.10,2.10,0.00,0.000,3078,0.098,0.029,2642,1849,3247,3316,3178,0,0,0,0,0,0,26.01,26.22,26.05,8.56,48.66
$GC,1020,-0.61,-244.4,2641,1849,3316,3179,98.0,-8.6,110,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1849,3247,3316,3179,0,0,0,0,0,0,26.70,26.71,26.71,8.57,47.95
$GC,1152,-0.69,-244.4,2641,1849,3316,3178,108.6,-7.8,123,1164,0.10,0.00,0.00,0.000,4102,0.075,0.000,2540,1849,3247,3316,3178,0,0,0,0,0,0,26.48,26.51,26.49,8.56,48.74
$GC,1349,-0.62,-244.4,2539,1849,3317,3178,134.5,-13.6,142,1364,0.20,2.17,0.00,0.000,2308,0.113,0.040,2602,3249,3247,3316,3178,0,0,0,0,0,0,26.00,26.06,26.04,8.57,48.26
$GC,1397,-0.62,-244.4,2601,3249,3315,3179,139.4,-11.2,145,1409,0.00,2.12,0.00,0.000,1030,0.000,0.028,2602,1846,3247,3316,3179,0,0,0,0,0,0,26.25,26.21,26.27,8.57,48.34
$GC,1593,-0.62,-244.4,2602,1846,3316,3179,157.8,-9.2,164,1605,0.00,2.17,0.00,0.000,516,0.000,0.041,2602,453,3247,3316,3179,0,0,0,0,0,0,26.70,26.01,26.70,8.58,47.75
$GC,1626,-0.62,-244.4,2601,453,3316,3179,160.8,-9.9,166,1638,0.00,2.15,0.00,0.000,1030,0.000,0.032,2596,1840,3247,3315,3179,0,0,0,0,0,0,26.21,26.17,26.25,8.58,47.79
$STATE,1798,end dive,NO_VERTICAL_VELOCITY
$STATE,1798,begin apogee
$GC,1803,-0.21,0.0,2596,1841,3316,3179,162.4,0.0,183,2006,0.38,0.00,193.32,0.663,10246,0.054,0.000,2754,1841,2246,2378,2114,0,0,0,0,0,0,26.20,24.41,23.86,8.57,48.42
$STATE,2009,end apogee,CONTROL_FINISHED_OK
$STATE,2009,begin climb
$GC,2010,0.79,244.4,2754,1841,2378,2114,162.3,0.0,204,2227,0.82,2.28,201.30,0.648,10756,0.070,0.043,3060,451,1248,1358,1139,0,0,0,0,0,0,25.37,24.89,23.94,8.49,46.41
$GC,2281,0.73,244.4,3059,451,1357,1137,141.1,11.7,231,2290,0.00,2.15,0.00,0.000,1030,0.000,0.031,3060,1845,1247,1357,1137,0,0,0,0,0,0,25.86,25.82,25.89,8.41,45.23
$GC,2471,0.64,244.4,3060,1845,1357,1135,116.5,13.2,250,2481,0.10,2.17,0.00,0.000,4612,0.133,0.041,3030,455,1245,1356,1135,0,0,0,0,0,0,26.13,26.00,26.17,8.41,46.81
$GC,2507,0.58,244.4,3030,455,1356,1134,112.6,11.9,253,2515,0.08,2.15,0.00,0.000,5126,0.111,0.031,3002,1839,1245,1356,1134,0,0,0,0,0,0,25.96,26.17,26.03,8.41,47.48
$GC,2696,0.58,244.4,3001,1839,1356,1134,96.3,8.3,272,2701,0.00,2.20,0.00,0.000,516,0.000,0.043,3009,449,1245,1356,1134,0,0,0,0,0,0,26.69,26.07,26.70,8.41,47.91
$GC,2730,0.58,244.4,3008,448,1356,1134,93.3,8.7,275,2739,0.00,2.15,0.00,0.000,1030,0.000,0.030,3009,1847,1244,1355,1134,0,0,0,0,0,0,26.27,26.24,26.30,8.41,47.16
$GC,2859,0.58,244.4,3008,1847,1356,1134,82.0,8.9,288,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1847,1245,1356,1134,0,0,0,0,0,0,26.72,26.73,26.72,8.41,47.48
$GC,2979,0.58,244.4,3009,1847,1356,1133,71.8,8.3,300,2983,0.00,2.20,0.00,0.000,516,0.000,0.043,3016,443,1245,1356,1134,0,0,0,0,0,0,26.72,26.08,26.73,8.41,47.36
$GC,3032,0.58,244.4,3015,443,1356,1134,67.3,8.5,305,3036,0.00,2.12,0.00,0.000,1030,0.000,0.031,3016,1844,1245,1356,1134,0,0,0,0,0,0,26.34,26.25,26.36,8.41,47.75
$GC,3164,0.58,244.4,3015,1844,1355,1133,56.1,8.6,318,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1844,1244,1355,1133,0,0,0,0,0,0,26.74,26.74,26.74,8.40,48.07
$GC,3284,0.58,244.4,3015,1844,1355,1133,45.8,8.3,330,3289,0.00,2.20,0.00,0.000,516,0.000,0.043,3023,449,1244,1356,1133,0,0,0,0,0,0,26.74,26.08,26.74,8.40,47.67
$GC,3338,0.58,244.4,3022,449,1355,1133,41.1,8.9,335,3348,0.00,2.12,0.00,0.000,1030,0.000,0.030,3023,1844,1244,1355,1133,0,0,0,0,0,0,26.34,26.25,26.36,8.40,47.99
$GC,3472,0.58,244.4,3022,1844,1355,1133,29.6,9.1,348,3476,0.00,2.20,0.00,0.000,260,0.000,0.040,3023,3259,1244,1356,1133,0,0,0,0,0,0,26.70,26.12,26.72,8.39,47.91
$GC,3489,0.58,244.4,3022,3259,1355,1133,28.1,9.2,349,3500,0.00,2.17,0.00,0.000,1030,0.000,0.030,3028,1835,1244,1355,1133,0,0,0,0,0,0,26.27,26.23,26.29,8.39,48.03
$GC,3648,0.58,244.4,3027,1835,1355,1133,13.7,8.0,366,3659,0.00,2.22,0.00,0.000,516,0.000,0.044,3034,445,1244,1355,1133,0,0,0,0,0,0,26.70,26.06,26.71,8.40,47.51
$GC,3792,0.84,421.4,3033,444,1355,1133,5.3,5.0,383,3846,0.08,2.15,48.05,0.489,11266,0.055,0.029,3126,1849,858,960,757,0,0,0,0,0,0,26.15,26.25,26.20,8.39,48.50
$STATE,3848,end climb,SURFACE_DEPTH_REACHED
$STATE,3848,begin surface coast
$FINISH,1.8,1.018622
$STATE,3871,end surface coast,CONTROL_FINISHED_OK
$STATE,3871,begin surface
$SM_CCo,3887,38.67,0.054,0,0,533,420.20
$SM_GC,1.75,7.82,0.00,38.67,0.040,0.000,0.054,192,1849,533,-8.06,0.17,420.20,0,0,0,0,0,0,26.03,26.41,25.85
$IRIDIUM_FIX,4739.20,-12253.53,100218,014530
$TT8_MAMPS,0.027713,0.247919
$HUMID,46.18
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.86,73.385
$10V_AH,9.80,50.450
$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,18.925,60.675,442.675,38.675,0.000,0.000,0.000,342.650,66.500,0.000,17.112,973.212,994.229,520.475,1662.157,228.407,0.000,1448.263,0.000,758.391,0.000,677.383,0.000
$DEVICE_MAMPS,194.310,52.785,663.255,54.315,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.601,841.501,511.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27978,391
$CAP_FILE_SIZE,87771,0
$CFSIZE,2097872896,2067464192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,255.54,1
$GPS,100218,040532,4737.493,-12255.585,40,0.8,69,16.4,0.7,252.6,10,4.9