version: 66.14
glider: 195
mission: 15
dive: 416
start: 2 16 118 1 39 0
data:
$ID,195
$MISSION,15
$DIVE,416
$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,50
$R_STBD_OVSHOOT,36
$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
$GPS1,160218,013357,4738.0786,-12253.9980,5,1.0,14,16.4,0.0,99.5,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-72.6
$GPS2,160218,013811,4738.0957,-12253.9336,7,0.9,15,16.4,0.0,0.0,10,4.6
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$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,40.6,1086,-19.4,-10.000,-22.82,1850
$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,-0.93,-122.5,174,1835,517,441,0.0,0.0,0,18,0.00,0.00,-7.80,0.000,16386,0.000,0.000,174,1835,678,727,629,0,0,0,0,0,0,26.59,28.83,26.60,8.29,47.55
$GC,21,-0.93,-122.5,174,1835,727,628,2.1,0.0,1,112,8.77,2.20,-72.93,0.000,18948,0.188,0.051,2502,444,2747,2832,2663,0,0,0,0,0,0,24.95,25.60,25.13,8.31,47.51
$GC,387,-0.77,-122.5,2501,444,2834,2663,51.5,-15.9,48,395,0.22,2.17,0.00,0.000,3078,0.130,0.031,2562,1855,2748,2834,2663,0,0,0,0,0,0,25.56,26.15,25.65,8.50,47.83
$GC,515,-0.77,-122.5,2562,1854,2835,2663,67.8,-12.0,61,519,0.00,2.17,0.00,0.000,260,0.000,0.040,2554,3251,2748,2834,2663,0,0,0,0,0,0,26.70,26.03,26.71,8.50,48.18
$GC,578,-0.77,-122.5,2554,3250,2834,2663,75.1,-11.4,67,583,0.00,2.12,0.00,0.000,1030,0.000,0.028,2554,1833,2748,2834,2663,0,0,0,0,0,0,26.25,26.17,26.28,8.50,48.30
$GC,711,-0.77,-122.5,2554,1833,2834,2663,89.9,-11.4,80,720,0.00,2.12,0.00,0.000,516,0.000,0.041,2554,458,2748,2834,2663,0,0,0,0,0,0,26.71,25.98,26.72,8.51,48.93
$GC,755,-0.77,-122.5,2554,459,2834,2663,95.1,-12.2,84,763,0.00,2.15,0.00,0.000,1030,0.000,0.031,2545,1850,2748,2834,2663,0,0,0,0,0,0,26.19,26.16,26.22,8.51,48.50
$GC,884,-0.77,-122.5,2544,1850,2834,2663,109.7,-11.4,97,888,0.00,2.15,0.00,0.000,260,0.000,0.040,2534,3246,2748,2834,2663,0,0,0,0,0,0,26.71,26.02,26.72,8.52,48.85
$GC,968,-0.77,-122.5,2534,3247,2834,2663,119.7,-11.6,105,973,0.10,2.10,0.00,0.000,3078,0.136,0.028,2566,1840,2748,2834,2663,0,0,0,0,0,0,25.92,26.17,26.02,8.52,48.85
$GC,1163,-0.77,-122.5,2565,1839,2834,2663,140.1,-10.2,124,1168,0.00,2.17,0.00,0.000,516,0.000,0.041,2566,454,2748,2834,2663,0,0,0,0,0,0,26.68,25.96,26.69,8.52,49.09
$GC,1241,-0.77,-122.5,2565,453,2834,2663,148.4,-10.6,131,1249,0.00,2.15,0.00,0.000,1030,0.000,0.030,2558,1845,2748,2834,2663,0,0,0,0,0,0,26.19,26.15,26.22,8.53,48.97
$STATE,1419,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1419,begin apogee
$GC,1424,-0.21,0.0,2558,1845,2835,2663,166.6,-10.0,149,1530,0.47,0.00,99.10,0.670,10246,0.060,0.000,2752,1845,2245,2370,2121,0,0,0,0,0,0,26.05,24.80,23.86,8.53,49.37
$STATE,1531,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1533,0.93,122.5,2752,1845,2370,2121,167.2,0.0,160,1640,0.93,0.00,103.38,0.659,10758,0.050,0.000,3104,1845,1746,1874,1618,0,0,0,0,0,0,25.51,24.67,23.78,8.49,48.14
$GC,1820,0.82,122.5,3104,1845,1871,1616,136.9,16.3,189,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1844,1743,1871,1615,0,0,0,0,0,0,26.50,26.51,26.51,8.45,48.34
$GC,2010,0.72,122.5,3104,1845,1869,1613,107.3,16.0,208,2015,0.17,2.20,0.00,0.000,4612,0.135,0.040,3055,454,1741,1869,1613,0,0,0,0,0,0,25.89,25.95,25.94,8.45,48.62
$GC,2078,0.72,122.5,3054,454,1868,1610,98.4,13.1,214,2085,0.00,2.15,0.00,0.000,1030,0.000,0.030,3055,1840,1739,1868,1611,0,0,0,0,0,0,26.22,26.16,26.22,8.44,48.46
$GC,2204,0.72,122.5,3054,1839,1868,1611,83.2,11.4,227,2208,0.00,2.20,0.00,0.000,260,0.000,0.039,3055,3256,1739,1867,1611,0,0,0,0,0,0,26.68,26.04,26.70,8.44,48.18
$GC,2228,0.72,122.5,3054,3256,1868,1610,80.5,11.6,229,2236,0.00,2.15,0.00,0.000,1030,0.000,0.029,3064,1843,1739,1868,1611,0,0,0,0,0,0,26.20,26.16,26.22,8.44,49.33
$GC,2356,0.72,122.5,3063,1843,1867,1610,65.3,11.4,242,2361,0.00,2.20,0.00,0.000,516,0.000,0.042,3074,448,1738,1867,1610,0,0,0,0,0,0,26.70,25.98,26.70,8.44,48.58
$GC,2431,0.72,122.5,3074,448,1867,1609,56.5,12.5,249,2440,0.00,2.12,0.00,0.000,1030,0.000,0.030,3074,1849,1737,1867,1608,0,0,0,0,0,0,26.22,26.18,26.24,8.44,48.54
$GC,2559,0.72,122.5,3074,1848,1867,1608,41.2,11.5,262,2564,0.00,2.17,0.00,0.000,260,0.000,0.039,3074,3256,1737,1867,1608,0,0,0,0,0,0,26.70,26.04,26.72,8.43,48.93
$GC,2594,0.72,122.5,3074,3255,1867,1608,37.0,12.2,265,2603,0.10,2.15,0.00,0.000,5126,0.128,0.029,3050,1840,1737,1867,1608,0,0,0,0,0,0,25.84,26.16,25.91,8.43,48.62
$GC,2722,0.72,122.5,3050,1840,1867,1608,23.7,9.6,278,2727,0.00,2.20,0.00,0.000,516,0.000,0.042,3059,448,1737,1867,1608,0,0,0,0,0,0,26.70,25.98,26.72,8.43,48.42
$GC,2783,0.72,122.5,3058,448,1867,1606,18.2,9.3,285,2791,0.00,2.15,0.00,0.000,1030,0.000,0.030,3059,1839,1736,1867,1605,0,0,0,0,0,0,26.22,26.18,26.25,8.43,48.38
$GC,2854,0.76,162.3,3058,1839,1867,1605,11.8,7.8,298,2876,0.00,0.00,19.73,0.492,8198,0.000,0.000,3059,1839,1584,1705,1463,0,0,0,0,0,0,26.71,25.13,24.34,8.42,48.50
$GC,2941,0.88,277.3,3058,1839,1704,1462,7.2,3.6,313,3003,0.05,0.00,59.15,0.487,10502,0.133,0.000,3131,1839,1114,1211,1018,0,0,0,0,0,0,26.39,24.96,24.24,8.40,48.14
$GC,3069,1.07,465.2,3131,1839,1210,1015,3.5,-0.4,334,3112,0.00,0.00,40.90,0.467,8194,0.000,0.000,3131,1839,779,874,685,0,0,0,0,0,0,26.40,28.83,26.41,8.36,47.08
$STATE,3113,end climb,SURFACE_DEPTH_REACHED
$STATE,3113,begin surface coast
$FINISH,0.7,1.008367
$STATE,3259,end surface coast,CONTROL_FINISHED_OK
$STATE,3259,begin surface
$SM_CCo,3275,30.50,0.057,0,0,533,420.20
$SM_GC,2.03,7.70,0.00,30.50,0.032,0.000,0.057,186,1839,533,-8.05,-0.11,420.20,0,0,0,0,0,0,26.17,26.54,25.82
$IRIDIUM_FIX,4735.82,-12235.86,160218,003553
$TT8_MAMPS,0.026964,0.266644
$HUMID,47.51
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,160.6,15.3
$24V_AH,23.78,84.876
$10V_AH,9.77,58.074
$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,18.525,43.225,322.250,30.500,0.000,0.000,0.000,171.950,4.000,0.000,16.918,958.777,1011.853,380.597,1141.135,107.789,0.000,1020.119,0.000,721.632,0.000,29.101,0.000
$DEVICE_MAMPS,188.190,51.255,670.140,56.610,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.598,792.364,482.311,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24478,368
$CAP_FILE_SIZE,57704,0
$CFSIZE,2097872896,2053799936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.092,56.27,1
$GPS,160218,023510,4738.356,-12253.305,14,0.8,22,16.4,0.0,85.3,10,4.6