version: 66.14
glider: 195
mission: 15
dive: 413
start: 2 15 118 22 37 0
data:
$ID,195
$MISSION,15
$DIVE,413
$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,57
$R_STBD_OVSHOOT,48
$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
$GPS1,150218,223052,4737.2090,-12256.1299,8,0.9,18,16.4,0.3,60.4,9,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-70.4
$GPS2,150218,223621,4737.2397,-12256.0615,6,0.9,21,16.4,0.4,57.9,9,4.8
$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,38.3,2179,-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,-244.4,193,1835,549,480,0.0,0.0,0,18,0.00,0.00,-7.57,0.000,16386,0.000,0.000,193,1835,711,761,661,0,0,0,0,0,0,26.58,28.83,26.58,8.29,47.24
$GC,21,-0.79,-244.4,193,1835,760,660,2.1,0.0,1,124,8.88,2.25,-83.47,0.000,19204,0.187,0.052,2538,3240,3246,3313,3179,0,0,0,0,0,0,24.91,23.89,25.10,8.31,47.55
$GC,348,-0.68,-244.4,2538,3241,3314,3179,46.1,-16.1,44,358,0.15,2.08,0.00,0.000,3078,0.106,0.028,2588,1845,3246,3314,3179,0,0,0,0,0,0,25.80,26.17,25.86,8.54,47.95
$GC,477,-0.68,-244.4,2588,1845,3314,3179,62.8,-12.2,57,481,0.00,2.20,0.00,0.000,516,0.000,0.041,2589,452,3246,3314,3179,0,0,0,0,0,0,26.70,25.96,26.71,8.54,48.34
$GC,511,-0.68,-244.4,2588,451,3314,3179,67.1,-12.9,60,520,0.00,2.15,0.00,0.000,1030,0.000,0.031,2582,1840,3246,3313,3179,0,0,0,0,0,0,26.17,26.13,26.20,8.54,47.99
$GC,640,-0.68,-244.4,2582,1840,3314,3179,82.2,-11.3,73,645,0.00,2.20,0.00,0.000,260,0.000,0.041,2573,3249,3246,3314,3179,0,0,0,0,0,0,26.71,25.99,26.72,8.55,48.22
$GC,707,-0.68,-244.4,2572,3249,3313,3179,89.5,-11.3,79,714,0.00,2.12,0.00,0.000,1030,0.000,0.028,2573,1852,3246,3313,3179,0,0,0,0,0,0,26.19,26.15,26.22,8.55,48.89
$GC,834,-0.68,-244.4,2572,1851,3314,3179,105.2,-12.2,92,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1851,3246,3313,3179,0,0,0,0,0,0,26.67,26.68,26.68,8.56,48.62
$GC,1015,-0.68,-244.4,2573,1851,3313,3179,125.1,-10.7,110,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1851,3246,3313,3179,0,0,0,0,0,0,26.67,26.68,26.68,8.56,49.48
$GC,1194,-0.68,-244.4,2573,1851,3314,3179,145.4,-11.9,128,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1851,3246,3313,3179,0,0,0,0,0,0,26.72,26.72,26.72,8.57,49.80
$STATE,1373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1373,begin apogee
$GC,1377,-0.21,0.0,2572,1851,3313,3179,166.0,-11.4,146,1576,0.47,0.00,194.40,0.665,10246,0.093,0.000,2744,1851,2246,2379,2114,0,0,0,0,0,0,25.70,24.71,23.78,8.58,48.93
$STATE,1577,end apogee,CONTROL_FINISHED_OK
$STATE,1577,begin climb
$GC,1580,0.79,244.4,2744,1850,2379,2114,168.1,0.0,166,1796,0.85,2.28,204.05,0.643,10756,0.056,0.041,3069,453,1248,1356,1141,0,0,0,0,0,0,25.37,24.36,23.82,8.50,47.12
$GC,1840,0.69,244.4,3069,452,1355,1140,141.2,14.7,192,1845,0.12,2.17,0.00,0.000,5126,0.121,0.029,3029,1846,1247,1355,1140,0,0,0,0,0,0,25.53,25.76,25.65,8.41,46.14
$GC,2035,0.69,244.4,3028,1847,1355,1138,117.5,11.5,211,2039,0.00,2.22,0.00,0.000,516,0.000,0.042,3037,448,1246,1355,1138,0,0,0,0,0,0,26.55,25.92,26.56,8.41,47.48
$GC,2078,0.63,244.4,3036,448,1354,1137,112.3,11.8,215,2082,0.00,2.15,0.00,0.000,1030,0.000,0.029,3037,1849,1245,1354,1137,0,0,0,0,0,0,26.19,26.10,26.22,8.41,48.03
$GC,2273,0.57,244.4,3036,1849,1354,1137,88.4,12.4,234,2281,0.10,0.00,0.00,0.000,4102,0.129,0.000,2999,1849,1245,1354,1137,0,0,0,0,0,0,26.21,26.26,26.23,8.41,48.66
$GC,2401,0.57,244.4,2998,1849,1355,1137,75.5,9.7,247,2410,0.00,2.22,0.00,0.000,516,0.000,0.042,3007,447,1245,1354,1137,0,0,0,0,0,0,26.68,25.98,26.70,8.40,47.99
$GC,2455,0.57,244.4,3007,446,1354,1137,70.5,9.1,252,2465,0.00,2.12,0.00,0.000,1030,0.000,0.029,3007,1854,1245,1354,1136,0,0,0,0,0,0,26.26,26.17,26.29,8.40,48.34
$GC,2586,0.57,244.4,3007,1854,1354,1136,58.1,9.3,265,2595,0.00,2.12,0.00,0.000,260,0.000,0.039,3007,3250,1245,1354,1136,0,0,0,0,0,0,26.70,26.05,26.70,8.40,48.22
$GC,2611,0.57,244.4,3006,3250,1354,1136,55.8,9.5,267,2619,0.00,2.15,0.00,0.000,1030,0.000,0.028,3012,1839,1245,1354,1136,0,0,0,0,0,0,26.20,26.17,26.23,8.40,48.11
$GC,2740,0.57,244.4,3012,1839,1354,1136,43.4,9.5,280,2750,0.00,2.17,0.00,0.000,516,0.000,0.042,3021,453,1245,1354,1136,0,0,0,0,0,0,26.70,25.98,26.71,8.40,48.81
$GC,2815,0.57,244.4,3021,452,1354,1136,35.9,10.2,287,2825,0.00,2.10,0.00,0.000,1030,0.000,0.029,3021,1840,1245,1354,1136,0,0,0,0,0,0,26.22,26.18,26.25,8.40,47.91
$GC,2945,0.57,244.4,3021,1840,1354,1136,23.6,9.1,300,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1840,1245,1354,1136,0,0,0,0,0,0,26.71,26.72,26.71,8.39,48.66
$GC,3067,0.67,337.8,3021,1841,1354,1136,13.2,7.4,320,3123,0.00,2.22,49.75,0.503,8452,0.000,0.037,3021,3254,866,964,768,0,0,0,0,0,0,26.71,24.72,24.27,8.38,48.74
$GC,3148,0.84,446.1,3021,3254,964,766,7.4,7.0,332,3204,0.10,2.17,48.20,0.474,11270,0.044,0.029,3128,1842,496,535,458,0,0,0,0,0,0,25.90,25.93,24.21,8.35,47.20
$STATE,3216,end climb,SURFACE_DEPTH_REACHED
$STATE,3216,begin surface coast
$FINISH,0.7,1.009013
$STATE,3285,end surface coast,CONTROL_FINISHED_OK
$STATE,3285,begin surface
$SM_CCo,3361,0.00,0.000,0,0,485,432.22
$SM_GC,3.39,7.65,0.00,0.00,0.028,0.000,0.000,181,1842,485,-8.06,-0.03,432.22,0,0,0,0,0,0,26.10,26.44,26.13
$IRIDIUM_FIX,4735.54,-12254.47,150218,212758
$TT8_MAMPS,0.025466,0.23968
$HUMID,47.28
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,140.6,34.6
$24V_AH,23.78,84.638
$10V_AH,9.82,57.915
$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,18.325,39.125,496.400,0.000,0.000,0.000,0.000,236.425,2.750,0.000,22.946,847.926,1115.033,493.274,1151.253,107.204,0.000,1212.603,0.000,695.183,0.000,19.976,0.000
$DEVICE_MAMPS,187.425,52.020,664.785,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.995,764.114,464.372,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312144
$DATA_FILE_SIZE,24559,355
$CAP_FILE_SIZE,54133,0
$CFSIZE,2097872896,2054094848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.013,0.15,1
$GPS,150218,233421,4737.496,-12255.454,19,0.8,41,16.4,0.3,43.3,10,4.7