version: 66.14
glider: 195
mission: 15
dive: 400
start: 2 15 118 9 18 42
data:
$ID,195
$MISSION,15
$DIVE,400
$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,45
$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
$GPS1,150218,091320,4737.3662,-12255.8887,8,0.8,41,16.4,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-73.9
$GPS2,150218,091802,4737.3862,-12255.8545,6,0.8,13,16.4,0.0,0.0,10,5.0
$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,41.6,1816,-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,-244.4,188,1853,520,441,0.0,0.0,0,18,0.00,0.00,-7.45,0.000,16386,0.000,0.000,188,1853,676,725,627,0,0,0,0,0,0,26.58,28.83,26.59,8.28,47.51
$GC,21,-0.79,-244.4,188,1853,725,627,2.1,0.0,1,119,8.93,2.25,-82.72,0.000,19204,0.190,0.053,2539,3249,3246,3314,3178,0,0,0,0,0,0,24.94,23.91,25.13,8.30,47.36
$GC,297,-0.66,-244.4,2539,3249,3315,3178,36.1,-15.5,39,305,0.17,2.15,0.00,0.000,3078,0.105,0.029,2610,1836,3247,3315,3179,0,0,0,0,0,0,25.75,26.16,25.89,8.53,48.22
$GC,425,-0.66,-244.4,2609,1835,3315,3179,51.3,-10.9,52,434,0.00,2.17,0.00,0.000,516,0.000,0.043,2610,453,3247,3315,3179,0,0,0,0,0,0,26.70,25.96,26.71,8.54,48.70
$GC,459,-0.66,-244.4,2610,453,3315,3178,55.1,-11.4,55,467,0.00,2.15,0.00,0.000,1030,0.000,0.033,2608,1837,3247,3315,3179,0,0,0,0,0,0,26.17,26.14,26.20,8.54,48.26
$GC,587,-0.66,-244.4,2607,1837,3315,3179,69.8,-11.4,68,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1837,3246,3315,3178,0,0,0,0,0,0,26.71,26.72,26.72,8.55,49.09
$GC,707,-0.66,-244.4,2607,1837,3315,3178,82.9,-10.3,80,717,0.00,2.20,0.00,0.000,260,0.000,0.041,2597,3251,3246,3315,3178,0,0,0,0,0,0,26.71,26.02,26.72,8.55,48.77
$GC,742,-0.66,-244.4,2597,3251,3315,3179,86.1,-9.8,83,750,0.00,2.12,0.00,0.000,1030,0.000,0.029,2597,1848,3246,3315,3178,0,0,0,0,0,0,26.22,26.19,26.25,8.55,49.60
$GC,872,-0.66,-244.4,2596,1848,3315,3178,100.4,-10.6,96,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1848,3246,3315,3178,0,0,0,0,0,0,26.69,26.70,26.70,8.56,48.54
$GC,1061,-0.66,-244.4,2596,1848,3314,3178,119.7,-10.5,115,1073,0.00,2.17,0.00,0.000,260,0.000,0.041,2590,3249,3247,3315,3179,0,0,0,0,0,0,26.72,26.01,26.72,8.57,48.81
$GC,1109,-0.66,-244.4,2589,3249,3315,3179,124.4,-10.0,119,1117,0.00,2.15,0.00,0.000,1030,0.000,0.029,2589,1837,3246,3315,3178,0,0,0,0,0,0,26.20,26.16,26.22,8.57,49.13
$GC,1299,-0.66,-244.4,2589,1838,3315,3178,144.9,-11.0,138,1308,0.00,2.15,0.00,0.000,516,0.000,0.042,2589,449,3246,3315,3178,0,0,0,0,0,0,26.72,25.96,26.72,8.57,49.56
$GC,1344,-0.66,-244.4,2589,448,3315,3178,149.8,-11.2,142,1352,0.00,2.15,0.00,0.000,1030,0.000,0.031,2582,1841,3247,3315,3179,0,0,0,0,0,0,26.17,26.14,26.20,8.57,48.62
$STATE,1401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1401,begin apogee
$GC,1406,-0.21,0.0,2582,1841,3316,3178,156.4,-10.6,148,1604,0.43,0.00,194.12,0.665,10246,0.090,0.000,2738,1842,2246,2379,2114,0,0,0,0,0,0,25.77,24.71,23.78,8.57,48.85
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1608,0.79,244.4,2738,1842,2379,2113,162.6,0.0,168,1824,0.88,2.25,202.77,0.646,10756,0.062,0.041,3068,451,1248,1357,1140,0,0,0,0,0,0,25.34,24.37,23.83,8.50,47.00
$GC,1893,0.68,244.4,3067,451,1356,1139,131.2,14.5,196,1901,0.10,2.17,0.00,0.000,5126,0.118,0.030,3034,1834,1247,1356,1139,0,0,0,0,0,0,25.60,25.86,25.67,8.41,46.85
$GC,2082,0.61,244.4,3033,1834,1356,1137,108.4,12.8,215,2085,0.00,2.20,0.00,0.000,260,0.000,0.040,3034,3255,1246,1356,1137,0,0,0,0,0,0,26.58,26.00,26.58,8.41,48.07
$GC,2107,0.55,244.4,3033,3255,1356,1137,105.1,13.5,217,2115,0.15,2.17,0.00,0.000,5126,0.100,0.030,2986,1836,1246,1356,1137,0,0,0,0,0,0,25.83,26.11,25.89,8.41,47.32
$GC,2296,0.55,244.4,2986,1836,1356,1137,86.8,9.5,236,2299,0.00,2.20,0.00,0.000,516,0.000,0.043,2995,442,1246,1356,1137,0,0,0,0,0,0,26.67,26.00,26.67,8.40,47.71
$GC,2380,0.55,244.4,2994,441,1356,1135,78.8,9.6,244,2389,0.00,2.12,0.00,0.000,1030,0.000,0.030,2995,1840,1245,1356,1135,0,0,0,0,0,0,26.22,26.19,26.25,8.41,48.30
$GC,2509,0.55,244.4,2994,1840,1356,1135,66.9,8.9,257,2520,0.00,2.17,0.00,0.000,260,0.000,0.040,2994,3253,1245,1356,1135,0,0,0,0,0,0,26.70,26.06,26.70,8.40,48.26
$GC,2543,0.55,244.4,2994,3254,1356,1135,63.7,9.6,260,2553,0.00,2.12,0.00,0.000,1030,0.000,0.030,3000,1832,1245,1356,1135,0,0,0,0,0,0,26.20,26.17,26.25,8.40,48.07
$GC,2673,0.55,244.4,3000,1832,1356,1135,52.0,9.5,273,2684,0.00,2.17,0.00,0.000,516,0.000,0.043,3000,448,1245,1356,1135,0,0,0,0,0,0,26.70,26.01,26.71,8.41,47.95
$GC,2749,0.55,244.4,3000,448,1357,1135,45.7,8.3,280,2759,0.00,2.12,0.00,0.000,1030,0.000,0.030,3001,1847,1245,1356,1135,0,0,0,0,0,0,26.22,26.20,26.25,8.40,48.07
$GC,2878,0.55,244.4,3000,1847,1356,1135,34.4,8.2,293,2889,0.00,2.22,0.00,0.000,516,0.000,0.042,3001,443,1245,1356,1135,0,0,0,0,0,0,26.71,26.00,26.72,8.39,48.11
$GC,2902,0.63,325.0,3000,443,1356,1135,32.7,7.7,295,2974,0.00,2.15,61.47,0.582,9222,0.000,0.030,3000,1849,921,1024,818,0,0,0,0,0,0,26.26,26.19,24.15,8.39,47.79
$GC,3095,0.80,429.4,3000,1849,1023,818,17.1,7.1,317,3159,0.12,2.28,57.65,0.515,10500,0.065,0.039,3119,3258,495,537,454,0,0,0,0,0,0,26.27,25.09,24.25,8.35,47.63
$GC,3177,0.72,429.4,3118,3258,535,449,5.9,14.4,329,3186,0.20,2.20,0.00,0.000,5126,0.096,0.028,3041,1835,491,535,448,0,0,0,0,0,0,25.53,25.86,25.68,8.32,47.20
$STATE,3232,end climb,SURFACE_DEPTH_REACHED
$STATE,3232,begin surface coast
$FINISH,1.0,1.016381
$STATE,3305,end surface coast,CONTROL_FINISHED_OK
$STATE,3305,begin surface
$SM_CCo,3381,0.00,0.000,0,0,486,431.97
$SM_GC,3.24,7.38,0.00,0.00,0.023,0.000,0.000,175,1835,486,-8.12,-0.23,431.97,0,0,0,0,0,0,26.12,26.53,26.17
$IRIDIUM_FIX,4736.40,-12251.79,150218,081112
$TT8_MAMPS,0.026964,0.267393
$HUMID,47.83
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.7
$ALTIM_BOTTOM_PING,120.7,44.8
$24V_AH,23.78,83.625
$10V_AH,9.77,57.228
$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,18.350,52.250,516.025,0.000,0.000,0.000,0.000,199.375,1.750,0.000,14.946,836.859,1092.332,514.818,1137.414,107.963,0.000,1250.639,0.000,732.728,0.000,14.632,0.000
$DEVICE_MAMPS,189.720,52.785,664.785,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.624,759.760,461.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312088
$DATA_FILE_SIZE,24519,353
$CAP_FILE_SIZE,57979,0
$CFSIZE,2097872896,2055372800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080,239.45,1
$GPS,150218,101605,4737.462,-12255.390,10,0.9,23,16.4,0.0,0.0,9,4.8