version: 66.14
glider: 195
mission: 15
dive: 409
start: 2 15 118 18 22 13
data:
$ID,195
$MISSION,15
$DIVE,409
$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,41
$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
$GPS1,150218,181634,4737.9517,-12254.5273,4,0.8,14,16.4,0.0,0.0,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-70.3
$GPS2,150218,182132,4737.9766,-12254.4375,6,0.8,19,16.4,0.4,69.5,10,5.0
$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,216.3,266,-27.2,-10.000,-30.00,969
$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,7,begin dive
$GC,9,-1.20,-63.7,188,1836,551,484,0.0,0.0,0,18,0.00,0.00,-7.32,0.000,16386,0.000,0.000,188,1836,713,764,663,0,0,0,0,0,0,26.59,28.83,26.60,8.28,47.12
$GC,21,-1.20,-63.7,188,1836,764,662,2.4,0.0,1,97,8.48,0.00,-61.95,0.000,18950,0.191,0.000,2416,1836,2508,2593,2424,0,0,0,0,0,0,24.92,24.37,25.11,8.31,47.36
$GC,163,-1.00,-63.7,2415,1836,2593,2425,14.3,-14.6,24,171,0.20,2.20,0.00,0.000,2308,0.161,0.036,2471,3257,2509,2593,2426,0,0,0,0,0,0,25.65,25.82,25.72,8.47,47.32
$GC,201,-0.89,-63.7,2470,3257,2593,2426,20.5,-15.8,30,206,0.17,2.15,0.00,0.000,3078,0.148,0.028,2522,1837,2509,2594,2425,0,0,0,0,0,0,25.63,26.15,25.79,8.47,47.79
$GC,335,-0.89,-63.7,2522,1837,2593,2425,38.3,-11.8,43,345,0.00,2.15,0.00,0.000,516,0.000,0.040,2522,455,2509,2593,2425,0,0,0,0,0,0,26.69,26.01,26.70,8.48,48.30
$GC,475,-0.89,-63.7,2521,455,2593,2426,52.7,-10.4,56,483,0.00,2.15,0.00,0.000,1030,0.000,0.029,2514,1852,2509,2593,2425,0,0,0,0,0,0,26.22,26.18,26.24,8.48,48.22
$GC,603,-0.89,-63.7,2514,1852,2593,2425,65.6,-10.5,69,613,0.00,2.15,0.00,0.000,260,0.000,0.039,2504,3247,2509,2593,2426,0,0,0,0,0,0,26.71,26.08,26.72,8.48,48.03
$GC,701,-0.89,-63.7,2503,3247,2593,2426,75.4,-10.4,78,709,0.00,2.12,0.00,0.000,1030,0.000,0.028,2504,1843,2509,2593,2426,0,0,0,0,0,0,26.22,26.19,26.25,8.49,48.66
$GC,830,-0.89,-63.7,2503,1843,2593,2425,89.3,-10.8,91,840,0.00,2.15,0.00,0.000,516,0.000,0.039,2503,456,2509,2593,2425,0,0,0,0,0,0,26.71,26.00,26.72,8.49,48.74
$GC,894,-0.89,-63.7,2503,455,2593,2426,96.4,-11.0,97,905,0.08,2.10,0.00,0.000,3078,0.179,0.029,2519,1844,2509,2594,2425,0,0,0,0,0,0,25.86,26.18,25.90,8.50,49.09
$GC,1026,-0.95,-63.7,2518,1844,2593,2425,109.1,-9.2,110,1037,0.00,2.17,0.00,0.000,516,0.000,0.039,2519,448,2509,2593,2425,0,0,0,0,0,0,26.72,26.01,26.72,8.50,48.97
$GC,1096,-0.95,-63.7,2518,448,2593,2425,115.6,-9.7,116,1106,0.00,2.10,0.00,0.000,1030,0.000,0.029,2510,1847,2509,2593,2425,0,0,0,0,0,0,26.22,26.17,26.22,8.50,48.62
$GC,1285,-1.00,-63.7,2510,1847,2594,2426,133.7,-9.4,135,1289,0.00,2.15,0.00,0.000,260,0.000,0.039,2500,3245,2509,2593,2425,0,0,0,0,0,0,26.72,26.03,26.72,8.51,49.13
$GC,1452,-1.00,-63.7,2499,3245,2593,2425,150.1,-8.8,151,1461,0.00,2.08,0.00,0.000,1030,0.000,0.027,2500,1840,2509,2593,2425,0,0,0,0,0,0,26.22,26.19,26.25,8.51,48.97
$STATE,1470,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1470,begin apogee
$GC,1475,-0.21,0.0,2499,1840,2593,2426,152.1,-9.3,153,1532,0.73,0.00,52.42,0.666,10246,0.118,0.000,2737,1839,2246,2349,2143,0,0,0,0,0,0,25.37,24.99,24.03,8.51,48.77
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1535,1.20,63.7,2738,1839,2349,2143,154.2,0.0,159,1594,1.23,0.00,54.35,0.663,10246,0.064,0.000,3181,1839,1987,2122,1853,0,0,0,0,0,0,25.59,24.73,23.83,8.49,48.30
$GC,1772,1.10,63.7,3181,1839,2120,1849,124.0,15.6,183,1782,0.00,2.15,0.00,0.000,260,0.000,0.037,3181,3245,1984,2120,1849,0,0,0,0,0,0,26.52,25.95,26.53,8.47,47.99
$GC,1816,0.98,63.7,3180,3245,2119,1849,116.9,16.1,187,1826,0.20,2.08,0.00,0.000,5126,0.145,0.028,3132,1852,1984,2119,1849,0,0,0,0,0,0,25.48,26.08,25.58,8.47,48.46
$GC,2007,0.98,63.7,3132,1852,2119,1848,92.1,12.5,206,2016,0.00,2.20,0.00,0.000,516,0.000,0.040,3141,446,1983,2118,1848,0,0,0,0,0,0,26.66,26.00,26.67,8.47,48.89
$GC,2132,0.98,63.7,3140,446,2117,1847,75.7,13.2,218,2140,0.00,2.15,0.00,0.000,1030,0.000,0.028,3141,1845,1982,2117,1847,0,0,0,0,0,0,26.22,26.20,26.25,8.47,48.70
$GC,2260,0.98,63.7,3140,1845,2117,1847,59.2,12.6,231,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1845,1982,2117,1847,0,0,0,0,0,0,26.70,26.71,26.70,8.46,48.14
$GC,2381,0.98,63.7,3140,1845,2117,1847,44.2,11.8,243,2385,0.00,2.17,0.00,0.000,260,0.000,0.037,3141,3255,1982,2117,1847,0,0,0,0,0,0,26.70,26.06,26.72,8.46,48.93
$GC,2443,0.98,63.7,3140,3255,2117,1847,36.4,12.1,249,2448,0.00,2.10,0.00,0.000,1030,0.000,0.028,3151,1840,1982,2117,1847,0,0,0,0,0,0,26.27,26.19,26.30,8.45,48.42
$GC,2577,1.00,84.1,3151,1840,2117,1847,23.7,7.9,262,2597,0.00,2.20,10.85,0.516,8708,0.000,0.040,3162,455,1902,2041,1764,0,0,0,0,0,0,26.71,25.34,24.40,8.46,49.17
$GC,2602,1.03,111.8,3161,455,2041,1764,22.4,7.1,264,2623,0.00,2.15,15.38,0.522,9222,0.000,0.028,3162,1859,1792,1928,1656,0,0,0,0,0,0,26.20,26.17,24.34,8.44,48.07
$GC,2748,1.06,140.0,3161,1859,1926,1654,10.2,7.0,290,2770,0.00,2.22,14.55,0.478,8708,0.000,0.037,3172,451,1675,1801,1549,0,0,0,0,0,0,26.60,24.88,24.42,8.43,48.07
$GC,2844,1.16,244.9,3172,451,1801,1547,5.6,-1.1,307,2907,0.00,2.15,53.67,0.493,9222,0.000,0.028,3172,1855,1246,1346,1146,0,0,0,0,0,0,26.15,26.13,24.30,8.42,48.46
$GC,2973,1.39,339.7,3172,1855,1346,1145,3.5,-0.0,328,3017,0.15,0.00,40.10,0.475,10498,0.057,0.000,3289,1855,924,1020,829,0,0,0,0,0,0,26.17,28.83,26.19,8.37,47.12
$STATE,3018,end climb,SURFACE_DEPTH_REACHED
$STATE,3018,begin surface coast
$FINISH,2.4,1.017590
$STATE,3194,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3194,begin surface
$SM_CCo,3211,47.70,0.056,0,0,532,420.20
$SM_GC,2.52,8.52,0.00,47.70,0.056,0.000,0.056,186,1855,532,-8.07,0.34,420.20,0,0,0,0,0,0,26.14,26.58,25.81
$IRIDIUM_FIX,4728.23,-11807.91,150218,171651
$TT8_MAMPS,0.026964,0.238182
$HUMID,47.36
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,115.6,46.4
$24V_AH,23.83,84.323
$10V_AH,9.82,57.692
$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,19.750,47.250,241.325,47.700,0.000,0.000,0.000,208.725,1.500,0.000,20.945,967.566,972.584,362.207,1174.649,110.574,0.000,1030.913,0.000,720.871,0.000,12.013,0.000
$DEVICE_MAMPS,191.250,39.780,666.315,55.845,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.181,792.297,482.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24507,368
$CAP_FILE_SIZE,60079,0
$CFSIZE,2097872896,2054488064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,72.51,1
$GPS,150218,191804,4737.890,-12254.591,47,0.9,51,16.4,0.4,180.0,9,4.9