version: 66.14
glider: 195
mission: 15
dive: 399
start: 2 15 118 8 15 31
data:
$ID,195
$MISSION,15
$DIVE,399
$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,48
$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
$GPS1,150218,080742,4737.7104,-12255.3457,16,0.9,28,16.4,0.2,33.9,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-74.2
$GPS2,150218,081440,4737.7368,-12255.2969,7,0.9,15,16.4,0.0,0.0,9,5.0
$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,208.4,1130,-17.3,-10.000,-20.98,2268
$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,-0.87,-150.7,182,1850,518,441,0.0,0.0,0,18,0.00,0.00,-7.78,0.000,16386,0.000,0.000,182,1850,684,732,636,0,0,0,0,0,0,26.59,28.83,26.60,8.29,47.04
$GC,21,-0.87,-150.7,182,1850,733,636,2.3,0.0,1,113,8.98,2.20,-73.05,0.000,19204,0.194,0.051,2513,3257,2864,2949,2779,0,0,0,0,0,0,24.91,25.60,25.10,8.30,47.20
$GC,121,-0.66,-150.7,2512,3257,2948,2779,6.9,-8.6,15,129,0.25,2.15,0.00,0.000,3078,0.132,0.028,2600,1830,2864,2949,2779,0,0,0,0,0,0,25.45,26.13,25.66,8.50,47.75
$GC,195,-0.61,-150.7,2600,1830,2949,2779,17.2,-13.6,28,202,0.00,2.25,0.00,0.000,260,0.000,0.041,2592,3248,2864,2949,2779,0,0,0,0,0,0,26.66,26.00,26.67,8.50,46.96
$GC,232,-0.55,-150.7,2592,3247,2949,2779,22.2,-14.3,33,242,0.12,2.08,0.00,0.000,3078,0.114,0.028,2633,1846,2864,2949,2779,0,0,0,0,0,0,25.82,26.15,25.87,8.50,47.40
$GC,361,-0.55,-150.7,2633,1846,2950,2779,36.6,-9.5,46,371,0.00,2.17,0.00,0.000,516,0.000,0.041,2634,454,2864,2950,2779,0,0,0,0,0,0,26.70,26.00,26.70,8.50,47.91
$GC,488,-0.55,-150.7,2633,454,2950,2779,49.2,-9.6,58,498,0.00,2.12,0.00,0.000,1030,0.000,0.031,2627,1844,2864,2950,2779,0,0,0,0,0,0,26.25,26.15,26.27,8.51,47.59
$GC,619,-0.61,-150.7,2626,1844,2950,2779,60.7,-8.7,71,622,0.00,2.17,0.00,0.000,260,0.000,0.042,2616,3245,2864,2950,2779,0,0,0,0,0,0,26.71,26.03,26.72,8.52,47.71
$GC,683,-0.69,-150.7,2616,3246,2950,2779,66.1,-8.4,77,692,0.00,2.08,0.00,0.000,1030,0.000,0.028,2616,1852,2864,2950,2779,0,0,0,0,0,0,26.22,26.18,26.24,8.51,48.30
$GC,812,-0.76,-150.7,2616,1852,2950,2779,77.8,-9.0,90,823,0.10,2.20,0.00,0.000,4612,0.077,0.041,2520,452,2864,2950,2779,0,0,0,0,0,0,26.48,25.98,26.48,8.52,48.26
$GC,879,-0.66,-150.7,2519,453,2951,2779,87.3,-15.3,96,890,0.25,2.12,0.00,0.000,3078,0.125,0.031,2592,1853,2864,2950,2779,0,0,0,0,0,0,25.63,26.15,25.72,8.52,48.50
$GC,1011,-0.66,-150.7,2592,1853,2950,2779,101.2,-9.9,109,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1853,2864,2950,2779,0,0,0,0,0,0,26.71,26.72,26.72,8.53,48.81
$GC,1199,-0.71,-150.7,2592,1853,2950,2779,119.9,-9.8,128,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1853,2865,2950,2780,0,0,0,0,0,0,26.72,26.73,26.72,8.53,48.62
$GC,1380,-0.76,-204.9,2591,1853,2951,2779,134.6,-7.6,146,1384,0.00,2.17,0.00,0.000,260,0.000,0.041,2584,3254,2864,2950,2779,0,0,0,0,0,0,26.72,26.01,26.73,8.54,49.25
$GC,1443,-0.82,-204.9,2584,3254,2950,2779,140.3,-8.7,152,1453,0.05,2.10,0.00,0.000,5126,0.072,0.028,2512,1842,2864,2950,2779,0,0,0,0,0,0,26.09,26.17,26.12,8.54,48.81
$STATE,1571,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1571,begin apogee
$GC,1576,-0.21,0.0,2512,1842,2950,2779,158.5,-14.7,165,1703,0.68,0.00,121.38,0.671,10246,0.109,0.000,2740,1842,2246,2375,2117,0,0,0,0,0,0,25.48,24.76,23.80,8.54,48.42
$STATE,1704,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1707,0.93,204.9,2738,1841,2376,2118,163.2,0.0,178,1887,0.98,2.30,170.15,0.656,10500,0.063,0.038,3094,3245,1409,1515,1304,0,0,0,0,0,0,25.41,24.77,23.80,8.50,47.67
$GC,1932,0.82,204.9,3093,3245,1515,1303,136.1,18.6,200,1941,0.00,2.12,0.00,0.000,1030,0.000,0.029,3102,1852,1409,1515,1303,0,0,0,0,0,0,25.80,25.75,25.82,8.42,46.77
$GC,2122,0.72,204.9,3102,1852,1515,1302,102.2,17.2,219,2132,0.15,2.20,0.00,0.000,4612,0.131,0.040,3060,447,1408,1515,1302,0,0,0,0,0,0,25.92,25.93,25.96,8.42,47.71
$GC,2209,0.72,204.9,3059,447,1513,1299,89.7,13.7,227,2218,0.00,2.08,0.00,0.000,1030,0.000,0.030,3060,1832,1406,1514,1299,0,0,0,0,0,0,26.17,26.14,26.20,8.42,48.34
$GC,2338,0.72,204.9,3059,1833,1514,1299,71.9,13.5,240,2349,0.00,2.20,0.00,0.000,260,0.000,0.040,3060,3257,1406,1514,1299,0,0,0,0,0,0,26.66,26.04,26.67,8.41,47.63
$GC,2362,0.72,204.9,3059,3257,1514,1299,68.5,13.9,242,2373,0.00,2.15,0.00,0.000,1030,0.000,0.029,3068,1814,1406,1514,1299,0,0,0,0,0,0,26.19,26.15,26.22,8.42,48.07
$GC,2492,0.72,204.9,3068,1814,1514,1299,50.1,13.7,255,2496,0.00,2.12,0.00,0.000,516,0.000,0.042,3079,451,1406,1514,1299,0,0,0,0,0,0,26.69,26.01,26.70,8.41,47.87
$GC,2536,0.72,204.9,3078,451,1514,1298,44.2,13.4,259,2546,0.10,2.12,0.00,0.000,5126,0.136,0.030,3046,1852,1406,1514,1298,0,0,0,0,0,0,25.94,26.18,26.05,8.41,48.07
$GC,2665,0.72,204.9,3046,1852,1514,1298,29.2,10.9,272,2676,0.00,2.22,0.00,0.000,516,0.000,0.041,3054,446,1406,1514,1298,0,0,0,0,0,0,26.70,26.01,26.71,8.41,48.30
$GC,2699,0.72,204.9,3053,445,1514,1298,25.4,11.2,275,2709,0.00,2.12,0.00,0.000,1030,0.000,0.030,3053,1848,1406,1514,1298,0,0,0,0,0,0,26.22,26.20,26.26,8.41,48.22
$GC,2834,0.72,204.9,3054,1848,1514,1298,13.0,9.0,295,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1848,1406,1514,1298,0,0,0,0,0,0,26.71,26.72,26.72,8.40,47.63
$GC,2905,0.80,285.2,3053,1848,1514,1298,8.0,6.4,308,2955,0.00,2.25,41.75,0.486,8708,0.000,0.041,3057,445,1082,1181,984,0,0,0,0,0,0,26.71,24.79,24.34,8.39,48.26
$STATE,3202,end climb,NO_VERTICAL_VELOCITY
$STATE,3202,begin surface
$SM_CCo,3205,74.18,0.478,0,0,497,428.54
$SM_GC,2.87,7.43,2.22,0.00,0.023,0.029,0.000,190,1852,488,-8.05,-1.22,431.48,0,0,0,0,0,0,25.98,25.89,26.02
$IRIDIUM_FIX,4736.87,-12256.21,150218,080903
$TT8_MAMPS,0.025466,0.265146
$HUMID,47.08
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,130.3,37.6
$24V_AH,23.80,83.529
$10V_AH,9.76,57.173
$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,19.075,51.950,333.275,74.175,0.000,0.000,0.000,274.250,2.250,0.000,16.374,931.741,1117.840,466.853,1221.505,106.360,0.000,1234.160,0.000,714.549,0.000,16.782,0.000
$DEVICE_MAMPS,194.310,51.255,670.905,478.125,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.033,783.598,476.744,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312112
$DATA_FILE_SIZE,24522,364
$CAP_FILE_SIZE,61327,0
$CFSIZE,2097872896,2055471104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,232.11,1
$GPS,150218,091320,4737.366,-12255.889,8,0.8,41,16.4,0.0,0.0,10,4.7