version: 66.14
glider: 195
mission: 15
dive: 407
start: 2 15 118 16 13 54
data:
$ID,195
$MISSION,15
$DIVE,407
$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,49
$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
$GPS1,150218,160835,4738.2783,-12253.7783,11,1.0,24,16.4,0.4,63.2,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-73.2
$GPS2,150218,161315,4738.3018,-12253.7051,6,1.0,23,16.4,0.4,63.9,10,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$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,218.1,1359,-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,-244.4,189,1846,554,487,0.0,0.0,0,18,0.00,0.00,-7.78,0.000,16386,0.000,0.000,188,1845,728,777,680,0,0,0,0,0,0,26.58,28.83,26.59,8.29,47.12
$GC,21,-0.79,-244.4,189,1845,777,680,2.5,0.0,1,118,8.90,2.25,-81.43,0.000,19204,0.190,0.050,2536,3250,3246,3313,3180,0,0,0,0,0,0,25.01,23.91,25.20,8.32,47.95
$GC,126,-0.50,-244.4,2535,3250,3313,3180,8.4,-11.9,16,135,0.30,2.12,0.00,0.000,3078,0.115,0.026,2644,1834,3246,3313,3179,0,0,0,0,0,0,25.53,26.16,25.72,8.54,47.16
$GC,200,-0.50,-244.4,2644,1834,3315,3180,18.8,-11.8,29,208,0.00,2.25,0.00,0.000,260,0.000,0.041,2636,3253,3247,3314,3180,0,0,0,0,0,0,26.66,26.01,26.67,8.53,47.67
$GC,238,-0.50,-244.4,2636,3254,3315,3180,23.4,-12.8,33,248,0.00,2.08,0.00,0.000,1030,0.000,0.027,2636,1852,3247,3315,3180,0,0,0,0,0,0,26.20,26.17,26.22,8.54,47.51
$GC,367,-0.50,-244.4,2635,1852,3315,3180,37.6,-11.2,46,371,0.00,2.20,0.00,0.000,260,0.000,0.041,2633,3256,3247,3314,3180,0,0,0,0,0,0,26.69,26.02,26.70,8.54,48.11
$GC,410,-0.50,-244.4,2632,3256,3315,3180,41.9,-9.9,50,414,0.00,2.12,0.00,0.000,1030,0.000,0.028,2633,1836,3247,3315,3180,0,0,0,0,0,0,26.27,26.18,26.29,8.54,47.83
$GC,542,-0.50,-244.4,2632,1835,3314,3180,55.4,-10.0,63,552,0.00,2.17,0.00,0.000,516,0.000,0.041,2633,451,3247,3314,3180,0,0,0,0,0,0,26.70,26.00,26.71,8.54,48.46
$GC,595,-0.50,-244.4,2632,451,3315,3180,60.7,-9.5,68,600,0.00,2.12,0.00,0.000,1030,0.000,0.031,2625,1847,3247,3314,3180,0,0,0,0,0,0,26.25,26.16,26.28,8.54,48.50
$GC,728,-0.50,-244.4,2624,1847,3314,3180,73.6,-9.2,81,738,0.00,2.20,0.00,0.000,260,0.000,0.041,2616,3255,3247,3314,3180,0,0,0,0,0,0,26.71,26.02,26.72,8.55,48.50
$GC,791,-0.56,-244.4,2615,3255,3314,3180,79.3,-8.9,87,801,0.00,2.10,0.00,0.000,1030,0.000,0.028,2616,1843,3247,3314,3180,0,0,0,0,0,0,26.22,26.19,26.25,8.55,48.54
$GC,921,-0.56,-244.4,2615,1842,3314,3180,91.6,-9.6,100,926,0.00,2.17,0.00,0.000,516,0.000,0.040,2616,453,3247,3314,3180,0,0,0,0,0,0,26.71,26.00,26.72,8.55,48.42
$GC,954,-0.56,-244.4,2615,452,3314,3180,94.9,-9.6,103,964,0.00,2.12,0.00,0.000,1030,0.000,0.031,2609,1844,3247,3314,3180,0,0,0,0,0,0,26.25,26.15,26.27,8.55,49.25
$GC,1086,-0.56,-244.4,2608,1844,3314,3180,107.7,-9.9,116,1090,0.00,2.20,0.00,0.000,260,0.000,0.041,2598,3255,3247,3314,3180,0,0,0,0,0,0,26.71,26.02,26.72,8.57,48.70
$GC,1132,-0.56,-244.4,2597,3255,3314,3180,112.1,-9.7,120,1140,0.08,2.12,0.00,0.000,3078,0.110,0.028,2628,1850,3247,3314,3180,0,0,0,0,0,0,25.96,26.17,26.01,8.56,48.77
$GC,1321,-0.62,-244.4,2627,1851,3313,3180,128.3,-8.5,139,1325,0.00,2.20,0.00,0.000,516,0.000,0.039,2627,448,3247,3314,3180,0,0,0,0,0,0,26.71,25.99,26.72,8.56,49.21
$GC,1377,-0.68,-244.4,2627,448,3314,3180,133.4,-9.0,144,1381,0.00,2.12,0.00,0.000,1030,0.000,0.031,2623,1848,3247,3314,3180,0,0,0,0,0,0,26.24,26.15,26.27,8.57,49.01
$GC,1571,-0.68,-244.4,2622,1848,3314,3180,150.9,-8.9,163,1581,0.00,2.17,0.00,0.000,260,0.000,0.041,2615,3249,3247,3314,3180,0,0,0,0,0,0,26.67,26.01,26.68,8.57,48.70
$GC,1641,-0.75,-244.4,2614,3249,3314,3179,156.9,-8.5,169,1649,0.08,2.12,0.00,0.000,5126,0.054,0.027,2525,1835,3247,3314,3180,0,0,0,0,0,0,26.10,26.18,26.15,8.57,48.93
$STATE,1671,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1671,begin apogee
$GC,1676,-0.21,0.0,2524,1834,3314,3180,160.1,-10.0,172,1879,0.57,0.00,194.30,0.666,10246,0.057,0.000,2758,1834,2245,2378,2113,0,0,0,0,0,0,26.06,24.31,23.77,8.57,49.64
$STATE,1880,end apogee,CONTROL_FINISHED_OK
$STATE,1880,begin climb
$GC,1883,0.79,244.4,2758,1834,2378,2113,161.5,0.0,193,2092,0.80,0.00,203.00,0.649,10502,0.065,0.000,3050,1834,1249,1356,1143,0,0,0,0,0,0,25.36,24.68,23.82,8.49,47.44
$GC,2271,0.72,244.4,3049,1834,1355,1139,123.6,11.8,232,2281,0.00,2.15,0.00,0.000,516,0.000,0.041,3059,462,1246,1354,1138,0,0,0,0,0,0,26.49,25.90,26.50,8.40,47.95
$GC,2335,0.64,244.4,3059,461,1353,1138,115.0,13.5,238,2345,0.10,2.08,0.00,0.000,5126,0.109,0.028,3024,1838,1245,1352,1138,0,0,0,0,0,0,25.86,26.12,25.92,8.40,48.03
$GC,2526,0.64,244.4,3024,1838,1352,1137,94.4,10.2,257,2536,0.00,2.15,0.00,0.000,516,0.000,0.041,3032,460,1244,1352,1137,0,0,0,0,0,0,26.65,26.01,26.66,8.40,48.70
$GC,2559,0.64,244.4,3031,458,1352,1137,90.6,10.9,260,2563,0.00,2.10,0.00,0.000,1030,0.000,0.028,3032,1843,1244,1352,1137,0,0,0,0,0,0,26.27,26.19,26.29,8.40,48.54
$GC,2691,0.64,244.4,3031,1843,1353,1137,75.5,11.3,273,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1843,1245,1353,1137,0,0,0,0,0,0,26.68,26.70,26.69,8.41,48.34
$GC,2811,0.64,244.4,3031,1843,1353,1137,62.2,10.7,285,2815,0.00,2.17,0.00,0.000,516,0.000,0.040,3041,450,1244,1352,1137,0,0,0,0,0,0,26.70,26.03,26.70,8.40,48.07
$GC,2835,0.64,244.4,3041,449,1352,1137,59.9,10.4,287,2844,0.00,2.10,0.00,0.000,1030,0.000,0.028,3041,1844,1245,1353,1137,0,0,0,0,0,0,26.25,26.22,26.27,8.40,48.54
$GC,2963,0.64,244.4,3040,1844,1352,1137,45.5,10.9,300,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1844,1245,1353,1137,0,0,0,0,0,0,26.70,26.71,26.71,8.40,48.66
$GC,3084,0.64,244.4,3041,1844,1353,1137,33.2,9.6,312,3088,0.00,2.20,0.00,0.000,516,0.000,0.041,3049,448,1244,1352,1137,0,0,0,0,0,0,26.71,26.03,26.72,8.40,48.66
$GC,3130,0.64,244.4,3049,448,1353,1137,28.6,10.7,316,3137,0.00,2.15,0.00,0.000,1030,0.000,0.029,3049,1840,1244,1352,1137,0,0,0,0,0,0,26.24,26.21,26.26,8.40,48.93
$GC,3259,0.64,244.4,3048,1841,1352,1136,16.2,8.1,333,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1841,1244,1352,1137,0,0,0,0,0,0,26.71,26.72,26.71,8.39,48.70
$GC,3330,0.73,333.9,3049,1841,1353,1136,10.5,7.5,346,3385,0.00,2.20,47.20,0.503,8964,0.000,0.039,3056,457,882,981,783,0,0,0,0,0,0,26.71,24.75,24.28,8.39,48.42
$STATE,3459,end climb,SURFACE_DEPTH_REACHED
$STATE,3459,begin surface coast
$FINISH,1.7,1.017433
$STATE,3556,end surface coast,CONTROL_FINISHED_OK
$STATE,3556,begin surface
$SM_CCo,3574,41.90,0.055,0,0,532,420.20
$SM_GC,2.57,7.47,2.17,41.90,0.031,0.027,0.055,191,1855,532,-8.07,-1.22,420.20,0,0,0,0,0,0,26.15,26.14,25.87
$IRIDIUM_FIX,4741.04,-12246.42,150218,150810
$TT8_MAMPS,0.026964,0.240429
$HUMID,46.96
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,160.1,9.8
$24V_AH,23.77,84.210
$10V_AH,9.82,57.584
$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,18.300,60.350,444.500,41.900,0.000,0.000,0.000,186.925,5.000,0.000,25.176,970.550,1110.779,521.410,1203.134,119.609,0.000,1232.747,0.000,751.853,0.000,40.308,0.000
$DEVICE_MAMPS,190.485,50.490,666.315,55.080,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.711,833.253,506.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312048
$DATA_FILE_SIZE,27955,387
$CAP_FILE_SIZE,64971,0
$CFSIZE,2097872896,2054684672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,61.69,1
$GPS,150218,171531,4738.097,-12254.217,4,0.9,38,16.4,0.4,72.5,10,4.4