version: 66.14
glider: 195
mission: 15
dive: 401
start: 2 15 118 10 21 16
data:
$ID,195
$MISSION,15
$DIVE,401
$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,38
$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
$GPS1,150218,101605,4737.4624,-12255.3896,10,0.9,23,16.4,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-73.6
$GPS2,150218,102037,4737.4834,-12255.3525,7,0.8,16,16.4,0.0,0.0,10,5.0
$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,37.3,1196,-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,-244.4,174,1833,522,440,0.0,0.0,0,18,0.00,0.00,-7.65,0.000,16386,0.000,0.000,174,1833,682,733,632,0,0,0,0,0,0,26.59,28.83,26.60,8.29,47.20
$GC,21,-0.79,-244.4,174,1833,733,631,2.2,0.0,1,120,9.02,2.22,-80.97,0.000,19204,0.192,0.053,2546,450,3245,3313,3178,0,0,0,0,0,0,24.94,23.91,25.13,8.31,47.63
$GC,327,-0.66,-244.4,2545,450,3314,3179,44.8,-16.3,42,338,0.17,2.12,0.00,0.000,3078,0.112,0.031,2595,1849,3246,3314,3179,0,0,0,0,0,0,25.75,26.14,25.82,8.54,47.51
$GC,457,-0.66,-244.4,2595,1849,3314,3179,61.1,-12.2,55,462,0.00,2.17,0.00,0.000,260,0.000,0.042,2588,3252,3246,3314,3179,0,0,0,0,0,0,26.70,26.03,26.71,8.54,48.46
$GC,510,-0.66,-244.4,2587,3252,3314,3179,67.4,-12.1,60,514,0.00,2.10,0.00,0.000,1030,0.000,0.028,2588,1841,3247,3314,3180,0,0,0,0,0,0,26.27,26.18,26.29,8.55,48.14
$GC,642,-0.66,-244.4,2587,1840,3314,3179,83.4,-11.6,73,646,0.00,2.17,0.00,0.000,516,0.000,0.041,2588,447,3246,3313,3179,0,0,0,0,0,0,26.71,26.00,26.72,8.56,48.46
$GC,664,-0.66,-244.4,2587,447,3314,3179,86.2,-11.8,75,669,0.00,2.15,0.00,0.000,1030,0.000,0.031,2580,1849,3246,3313,3179,0,0,0,0,0,0,26.24,26.15,26.27,8.55,48.14
$GC,797,-0.66,-244.4,2579,1849,3314,3179,102.1,-11.9,88,808,0.00,2.20,0.00,0.000,260,0.000,0.042,2569,3254,3246,3314,3179,0,0,0,0,0,0,26.70,26.01,26.71,8.56,48.30
$GC,844,-0.66,-244.4,2569,3254,3313,3179,107.0,-11.2,92,853,0.08,2.15,0.00,0.000,3078,0.110,0.028,2597,1837,3246,3313,3179,0,0,0,0,0,0,25.96,26.19,26.01,8.56,48.93
$GC,1035,-0.66,-244.4,2597,1837,3314,3179,125.4,-9.4,111,1044,0.00,2.15,0.00,0.000,516,0.000,0.041,2597,452,3246,3313,3179,0,0,0,0,0,0,26.67,25.98,26.68,8.56,49.21
$GC,1067,-0.66,-244.4,2597,452,3313,3179,128.9,-9.8,114,1072,0.00,2.15,0.00,0.000,1030,0.000,0.032,2596,1853,3246,3313,3179,0,0,0,0,0,0,26.22,26.13,26.26,8.57,49.40
$GC,1261,-0.66,-244.4,2596,1853,3313,3179,148.4,-10.5,133,1265,0.00,2.17,0.00,0.000,260,0.000,0.041,2587,3248,3246,3313,3179,0,0,0,0,0,0,26.72,26.01,26.72,8.57,49.09
$GC,1304,-0.66,-244.4,2586,3248,3313,3179,152.9,-10.1,137,1309,0.00,2.10,0.00,0.000,1030,0.000,0.028,2587,1839,3246,3313,3179,0,0,0,0,0,0,26.25,26.17,26.29,8.57,49.33
$STATE,1375,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1375,begin apogee
$GC,1380,-0.21,0.0,2586,1839,3313,3179,160.6,-10.9,144,1578,0.43,0.00,194.02,0.666,10246,0.091,0.000,2742,1837,2246,2379,2114,0,0,0,0,0,0,25.79,24.72,23.80,8.57,49.40
$STATE,1579,end apogee,CONTROL_FINISHED_OK
$STATE,1579,begin climb
$GC,1581,0.79,244.4,2742,1837,2379,2113,166.4,0.0,164,1799,0.85,2.28,203.12,0.649,10500,0.062,0.037,3053,3247,1247,1355,1139,0,0,0,0,0,0,25.33,24.37,23.84,8.50,47.08
$GC,1815,0.68,244.4,3052,3247,1355,1139,145.2,13.2,187,1823,0.00,2.20,0.00,0.000,1030,0.000,0.030,3057,1844,1247,1355,1139,0,0,0,0,0,0,25.67,25.63,25.69,8.41,45.90
$GC,2003,0.58,244.4,3057,1844,1355,1139,118.5,13.9,206,2008,0.15,2.20,0.00,0.000,4612,0.123,0.041,3012,447,1247,1355,1139,0,0,0,0,0,0,25.94,25.93,25.98,8.41,47.83
$GC,2078,0.58,244.4,3012,447,1355,1137,110.2,10.6,213,2087,0.00,2.17,0.00,0.000,1030,0.000,0.031,3012,1843,1246,1355,1137,0,0,0,0,0,0,26.15,26.12,26.18,8.41,48.30
$GC,2267,0.58,244.4,3012,1843,1355,1137,90.8,10.0,232,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1843,1245,1355,1136,0,0,0,0,0,0,26.66,26.67,26.67,8.41,48.03
$GC,2387,0.58,244.4,3012,1843,1355,1136,78.1,10.8,244,2396,0.00,2.20,0.00,0.000,516,0.000,0.042,3021,448,1246,1355,1137,0,0,0,0,0,0,26.68,26.01,26.70,8.40,48.38
$GC,2440,0.58,244.4,3020,448,1355,1136,72.1,11.5,249,2444,0.00,2.15,0.00,0.000,1030,0.000,0.031,3021,1853,1246,1355,1137,0,0,0,0,0,0,26.27,26.18,26.29,8.41,48.66
$GC,2572,0.58,244.4,3020,1853,1355,1136,57.5,11.3,262,2582,0.00,2.15,0.00,0.000,260,0.000,0.040,3021,3250,1245,1355,1136,0,0,0,0,0,0,26.70,26.06,26.70,8.40,48.26
$GC,2597,0.58,244.4,3020,3250,1355,1136,54.9,11.4,264,2605,0.00,2.15,0.00,0.000,1030,0.000,0.029,3025,1838,1245,1355,1136,0,0,0,0,0,0,26.20,26.18,26.25,8.41,48.70
$GC,2725,0.58,244.4,3025,1838,1355,1136,40.8,11.0,277,2730,0.00,2.17,0.00,0.000,516,0.000,0.042,3036,446,1245,1355,1136,0,0,0,0,0,0,26.70,26.02,26.71,8.40,48.34
$GC,2799,0.58,244.4,3035,445,1355,1136,32.7,11.1,284,2809,0.10,2.12,0.00,0.000,5126,0.125,0.029,3001,1842,1245,1355,1136,0,0,0,0,0,0,26.00,26.20,26.09,8.40,47.99
$GC,2930,0.67,328.6,3001,1842,1355,1136,21.8,7.6,297,2983,0.00,2.25,47.85,0.545,8452,0.000,0.037,3001,3250,904,1008,801,0,0,0,0,0,0,26.71,25.14,24.24,8.39,48.46
$GC,3042,0.86,427.7,3000,3250,1008,800,13.9,7.2,314,3106,0.15,2.17,54.08,0.504,11270,0.034,0.028,3140,1829,499,541,457,0,0,0,0,0,0,26.03,25.99,24.22,8.35,47.51
$STATE,3138,end climb,SURFACE_DEPTH_REACHED
$STATE,3138,begin surface coast
$FINISH,1.1,1.017014
$STATE,3182,end surface coast,CONTROL_FINISHED_OK
$STATE,3182,begin surface
$SM_CCo,3258,0.00,0.000,0,0,491,430.75
$SM_GC,2.41,7.78,0.00,0.00,0.033,0.000,0.000,181,1829,491,-8.08,-0.42,430.75,0,0,0,0,0,0,26.06,26.44,26.11
$IRIDIUM_FIX,4748.69,-12751.94,150218,091452
$TT8_MAMPS,0.026215,0.267393
$HUMID,47.24
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,135.0,34.8
$24V_AH,23.80,83.718
$10V_AH,9.76,57.280
$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,18.725,52.100,499.075,0.000,0.000,0.000,0.000,186.600,3.000,0.000,17.390,817.040,1054.791,492.018,1086.425,105.503,0.000,1176.579,0.000,692.075,0.000,24.115,0.000
$DEVICE_MAMPS,192.015,52.785,666.315,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.633,725.302,440.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24527,337
$CAP_FILE_SIZE,56576,0
$CFSIZE,2097872896,2055274496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,101.82,0x2367ba,0,24
$CURRENT,0.093,249.66,1
$GPS,150218,111629,4737.699,-12255.021,9,0.9,16,16.4,0.3,230.2,9,4.8