version: 66.14
glider: 195
mission: 15
dive: 402
start: 2 15 118 11 22 20
data:
$ID,195
$MISSION,15
$DIVE,402
$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,39
$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
$GPS1,150218,111629,4737.6987,-12255.0215,9,0.9,16,16.4,0.3,230.2,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-72.8
$GPS2,150218,112137,4737.7217,-12254.9795,7,0.9,17,16.4,0.2,247.9,9,4.8
$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,45.8,560,-18.5,-10.000,-22.05,2010
$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,8,-0.91,-133.3,179,1826,525,444,0.0,0.0,0,18,0.00,0.00,-8.05,0.000,16386,0.000,0.000,179,1826,696,747,646,0,0,0,0,0,0,26.59,28.83,26.60,8.29,47.40
$GC,21,-0.91,-133.3,179,1826,747,645,2.1,0.0,1,111,8.80,2.17,-72.50,0.000,19204,0.189,0.050,2512,447,2792,2881,2703,0,0,0,0,0,0,24.96,25.58,25.14,8.31,47.36
$GC,407,-0.75,-133.3,2512,447,2883,2703,57.0,-16.1,50,416,0.20,2.15,0.00,0.000,3078,0.126,0.030,2566,1847,2792,2882,2703,0,0,0,0,0,0,25.65,26.19,25.73,8.50,48.07
$GC,535,-0.75,-133.3,2565,1847,2883,2703,72.9,-10.7,63,540,0.00,2.17,0.00,0.000,260,0.000,0.040,2558,3247,2793,2883,2703,0,0,0,0,0,0,26.70,26.06,26.72,8.51,47.71
$GC,610,-0.75,-133.3,2557,3247,2883,2703,81.1,-11.2,70,618,0.00,2.12,0.00,0.000,1030,0.000,0.027,2557,1833,2793,2883,2703,0,0,0,0,0,0,26.25,26.21,26.27,8.51,48.66
$GC,738,-0.75,-133.3,2557,1833,2882,2703,95.3,-10.7,83,743,0.00,2.17,0.00,0.000,516,0.000,0.040,2558,448,2792,2882,2703,0,0,0,0,0,0,26.71,26.01,26.72,8.52,48.93
$GC,803,-0.75,-133.3,2557,448,2883,2703,102.7,-12.2,89,807,0.00,2.12,0.00,0.000,1030,0.000,0.029,2549,1854,2793,2883,2703,0,0,0,0,0,0,26.27,26.17,26.29,8.52,49.01
$GC,997,-0.75,-133.3,2548,1853,2883,2703,124.7,-11.5,108,1001,0.00,2.15,0.00,0.000,260,0.000,0.039,2538,3252,2793,2883,2703,0,0,0,0,0,0,26.72,26.05,26.72,8.53,48.62
$GC,1056,-0.75,-133.3,2538,3252,2883,2703,131.9,-12.1,113,1066,0.10,2.10,0.00,0.000,3078,0.137,0.026,2570,1842,2793,2883,2703,0,0,0,0,0,0,25.94,26.20,26.05,8.53,49.33
$GC,1246,-0.75,-133.3,2569,1842,2882,2703,151.6,-9.3,132,1256,0.00,2.15,0.00,0.000,516,0.000,0.039,2570,455,2793,2883,2703,0,0,0,0,0,0,26.72,26.01,26.72,8.53,48.93
$GC,1279,-0.75,-133.3,2569,455,2883,2703,154.9,-10.0,135,1283,0.00,2.12,0.00,0.000,1030,0.000,0.029,2563,1856,2793,2883,2703,0,0,0,0,0,0,26.26,26.17,26.29,8.53,48.89
$STATE,1340,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1340,begin apogee
$GC,1345,-0.21,0.0,2563,1856,2883,2703,161.1,-9.9,141,1461,0.50,0.00,107.00,0.671,10246,0.101,0.000,2739,1857,2247,2374,2120,0,0,0,0,0,0,25.65,24.79,23.84,8.54,49.25
$STATE,1462,end apogee,CONTROL_FINISHED_OK
$STATE,1463,begin climb
$GC,1464,0.91,133.3,2739,1856,2374,2120,164.8,0.0,153,1586,0.95,2.30,111.82,0.662,10756,0.063,0.039,3099,457,1701,1827,1576,0,0,0,0,0,0,25.46,24.78,23.79,8.50,47.99
$GC,1608,0.79,133.3,3098,457,1827,1574,152.2,12.8,167,1616,0.00,2.17,0.00,0.000,1030,0.000,0.028,3099,1836,1700,1827,1574,0,0,0,0,0,0,25.71,25.68,25.74,8.44,46.49
$GC,1796,0.69,133.3,3098,1836,1826,1573,122.9,15.3,186,1798,0.20,0.00,0.00,0.000,4102,0.125,0.000,3035,1836,1699,1827,1572,0,0,0,0,0,0,25.81,25.99,25.93,8.44,48.30
$GC,1977,0.69,133.3,3034,1835,1826,1571,102.1,10.7,204,1986,0.00,2.12,0.00,0.000,516,0.000,0.040,3043,460,1697,1824,1571,0,0,0,0,0,0,26.65,25.99,26.66,8.45,47.95
$GC,2084,0.69,133.3,3043,460,1823,1569,90.1,11.9,214,2091,0.00,2.12,0.00,0.000,1030,0.000,0.028,3044,1836,1696,1823,1569,0,0,0,0,0,0,26.22,26.19,26.25,8.44,47.95
$GC,2211,0.69,133.3,3043,1836,1823,1569,75.7,11.0,227,2215,0.00,2.20,0.00,0.000,260,0.000,0.038,3043,3256,1696,1824,1569,0,0,0,0,0,0,26.70,26.07,26.70,8.43,48.22
$GC,2263,0.69,133.3,3043,3256,1823,1569,69.6,11.4,232,2273,0.00,2.12,0.00,0.000,1030,0.000,0.028,3052,1835,1696,1823,1569,0,0,0,0,0,0,26.27,26.20,26.30,8.44,48.14
$GC,2393,0.69,133.3,3052,1836,1823,1569,55.8,10.3,245,2397,0.00,2.17,0.00,0.000,516,0.000,0.041,3062,451,1696,1823,1569,0,0,0,0,0,0,26.70,26.02,26.72,8.44,48.46
$GC,2438,0.69,133.3,3060,451,1823,1568,50.9,11.4,249,2446,0.00,2.15,0.00,0.000,1030,0.000,0.029,3062,1845,1696,1823,1569,0,0,0,0,0,0,26.24,26.21,26.29,8.44,47.99
$GC,2566,0.69,133.3,3061,1845,1823,1568,35.7,11.4,262,2575,0.00,2.20,0.00,0.000,516,0.000,0.041,3070,450,1695,1823,1568,0,0,0,0,0,0,26.71,26.02,26.72,8.44,48.26
$GC,2630,0.69,133.3,3069,450,1822,1568,28.6,11.8,268,2639,0.10,2.15,0.00,0.000,5126,0.119,0.028,3036,1845,1694,1821,1568,0,0,0,0,0,0,25.90,26.21,25.96,8.43,48.34
$GC,2761,0.75,195.5,3035,1845,1822,1567,18.1,6.8,283,2803,0.00,2.22,33.00,0.528,8452,0.000,0.037,3036,3255,1448,1561,1336,0,0,0,0,0,0,26.71,25.20,24.30,8.43,48.34
$GC,3009,1.06,394.2,3035,3255,1560,1336,3.9,-0.1,329,3087,0.20,2.15,71.40,0.483,11266,0.031,0.028,3200,1834,877,973,782,0,0,0,0,0,0,26.20,26.16,26.26,8.39,47.32
$STATE,3088,end climb,SURFACE_DEPTH_REACHED
$STATE,3088,begin surface coast
$FINISH,1.8,1.019087
$STATE,3127,end surface coast,CONTROL_FINISHED_OK
$STATE,3127,begin surface
$SM_CCo,3143,41.62,0.054,0,0,531,420.20
$SM_GC,2.80,8.20,0.00,41.62,0.049,0.000,0.054,192,1834,531,-8.06,-0.25,420.20,0,0,0,0,0,0,25.97,26.34,25.75
$IRIDIUM_FIX,4735.54,-12254.47,150218,101725
$TT8_MAMPS,0.026964,0.265895
$HUMID,46.88
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.1
$ALTIM_BOTTOM_PING,130.3,40.7
$24V_AH,23.79,83.779
$10V_AH,9.77,57.333
$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,19.250,47.550,323.225,41.625,0.000,0.000,0.000,221.925,2.750,0.000,18.556,889.730,979.916,405.965,1147.411,103.027,0.000,1086.630,0.000,700.202,0.000,22.535,0.000
$DEVICE_MAMPS,188.955,50.490,670.905,54.315,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.670,746.942,454.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24600,347
$CAP_FILE_SIZE,55867,0
$CFSIZE,2097872896,2055176192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,254.89,1
$GPS,150218,121733,4737.854,-12254.709,51,0.9,86,16.4,0.2,172.8,9,4.9