version: 66.14
glider: 195
mission: 15
dive: 425
start: 2 16 118 11 13 20
data:
$ID,195
$MISSION,15
$DIVE,425
$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,53
$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
$GPS1,160218,110753,4737.6973,-12255.0566,27,0.9,62,16.4,0.2,246.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-70.7
$GPS2,160218,111230,4737.7168,-12255.0195,6,0.9,16,16.4,0.2,50.3,9,4.8
$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,43.6,608,-16.6,-10.000,-20.33,2452
$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,-0.85,-163.1,192,1831,556,483,0.0,0.0,0,18,0.00,0.00,-7.45,0.000,16386,0.000,0.000,192,1831,718,772,664,0,0,0,0,0,0,26.59,28.83,26.60,8.30,47.08
$GC,21,-0.85,-163.1,192,1831,772,664,2.4,0.0,1,112,8.85,2.28,-74.72,0.000,19204,0.190,0.050,2521,3254,2915,2993,2837,0,0,0,0,0,0,24.98,23.91,25.18,8.32,47.24
$GC,327,-0.71,-163.1,2521,3254,2993,2838,41.9,-16.4,42,335,0.17,2.15,0.00,0.000,3078,0.117,0.028,2589,1837,2915,2993,2838,0,0,0,0,0,0,25.67,26.16,25.83,8.52,48.34
$GC,454,-0.71,-163.1,2589,1837,2993,2838,58.5,-11.6,55,458,0.00,2.17,0.00,0.000,516,0.000,0.041,2589,456,2915,2993,2838,0,0,0,0,0,0,26.70,25.97,26.70,8.52,48.11
$GC,488,-0.71,-163.1,2588,455,2993,2838,62.3,-12.0,58,496,0.00,2.15,0.00,0.000,1030,0.000,0.030,2582,1846,2915,2994,2837,0,0,0,0,0,0,26.17,26.15,26.22,8.52,48.77
$GC,617,-0.71,-163.1,2582,1846,2993,2838,77.0,-10.9,71,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1846,2915,2993,2838,0,0,0,0,0,0,26.70,26.71,26.71,8.53,48.77
$GC,736,-0.71,-163.1,2582,1846,2993,2838,89.8,-10.6,83,741,0.00,2.20,0.00,0.000,260,0.000,0.040,2572,3255,2915,2993,2838,0,0,0,0,0,0,26.70,26.01,26.71,8.53,49.09
$GC,770,-0.71,-163.1,2572,3255,2993,2838,93.3,-10.7,86,780,0.00,2.10,0.00,0.000,1030,0.000,0.028,2572,1847,2915,2993,2838,0,0,0,0,0,0,26.20,26.16,26.23,8.54,49.44
$GC,899,-0.71,-163.1,2571,1846,2993,2838,107.5,-10.9,99,903,0.00,2.17,0.00,0.000,516,0.000,0.041,2572,453,2915,2993,2838,0,0,0,0,0,0,26.70,25.96,26.71,8.54,48.81
$GC,946,-0.71,-163.1,2571,453,2993,2838,112.5,-11.4,103,954,0.00,2.15,0.00,0.000,1030,0.000,0.031,2563,1842,2915,2993,2838,0,0,0,0,0,0,26.18,26.15,26.20,8.54,48.74
$GC,1135,-0.71,-163.1,2562,1842,2993,2838,132.8,-10.2,122,1140,0.00,2.20,0.00,0.000,260,0.000,0.041,2553,3251,2915,2993,2838,0,0,0,0,0,0,26.71,26.00,26.71,8.54,48.93
$GC,1226,-0.71,-163.1,2552,3251,2993,2838,142.0,-10.4,130,1234,0.00,2.15,0.00,0.000,1030,0.000,0.028,2553,1835,2915,2993,2838,0,0,0,0,0,0,26.19,26.16,26.22,8.54,48.97
$STATE,1352,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1352,begin apogee
$GC,1357,-0.21,0.0,2553,1835,2993,2838,156.7,-11.5,143,1494,0.55,0.00,131.32,0.664,10246,0.101,0.000,2744,1835,2246,2375,2118,0,0,0,0,0,0,25.60,24.77,23.84,8.54,49.01
$STATE,1495,end apogee,CONTROL_FINISHED_OK
$STATE,1495,begin climb
$GC,1498,0.85,163.1,2744,1834,2375,2118,161.0,0.0,157,1637,0.90,0.00,135.80,0.653,10246,0.061,0.000,3075,1835,1582,1698,1466,0,0,0,0,0,0,25.39,24.68,23.80,8.50,47.71
$GC,1816,0.76,163.1,3075,1835,1694,1461,123.5,13.5,189,1826,0.00,2.17,0.00,0.000,516,0.000,0.042,3085,457,1577,1693,1461,0,0,0,0,0,0,26.49,25.86,26.50,8.44,47.63
$GC,1851,0.66,163.1,3085,456,1692,1461,118.4,14.6,192,1861,0.17,2.10,0.00,0.000,5126,0.121,0.030,3029,1841,1575,1691,1460,0,0,0,0,0,0,25.70,26.06,25.87,8.44,48.03
$GC,2041,0.66,163.1,3028,1841,1691,1459,95.7,11.2,211,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1841,1575,1691,1459,0,0,0,0,0,0,26.65,26.65,26.65,8.44,48.26
$GC,2170,0.66,163.1,3028,1841,1692,1458,82.7,9.5,224,2179,0.00,2.20,0.00,0.000,516,0.000,0.042,3036,453,1575,1692,1459,0,0,0,0,0,0,26.67,25.98,26.68,8.44,48.34
$GC,2225,0.66,163.1,3036,452,1690,1458,77.0,10.9,229,2232,0.00,2.15,0.00,0.000,1030,0.000,0.030,3036,1844,1573,1689,1458,0,0,0,0,0,0,26.21,26.17,26.24,8.43,48.42
$GC,2353,0.66,163.1,3036,1844,1690,1458,62.8,11.0,242,2356,0.00,2.17,0.00,0.000,260,0.000,0.039,3036,3252,1574,1690,1458,0,0,0,0,0,0,26.69,26.04,26.70,8.43,48.26
$GC,2398,0.66,163.1,3036,3253,1690,1458,58.3,10.8,246,2406,0.00,2.15,0.00,0.000,1030,0.000,0.029,3044,1843,1574,1690,1458,0,0,0,0,0,0,26.20,26.17,26.23,8.43,47.99
$GC,2525,0.66,163.1,3044,1843,1690,1458,44.0,11.2,259,2529,0.00,2.20,0.00,0.000,516,0.000,0.042,3055,445,1574,1690,1458,0,0,0,0,0,0,26.70,25.98,26.71,8.43,48.62
$GC,2600,0.66,163.1,3055,444,1689,1457,35.8,11.7,266,2608,0.00,2.15,0.00,0.000,1030,0.000,0.030,3055,1839,1573,1689,1457,0,0,0,0,0,0,26.22,26.19,26.25,8.43,48.62
$GC,2728,0.66,163.1,3055,1839,1689,1457,22.4,10.7,279,2733,0.00,2.20,0.00,0.000,516,0.000,0.042,3057,451,1573,1690,1457,0,0,0,0,0,0,26.70,25.97,26.72,8.42,48.46
$GC,2803,0.66,163.1,3056,451,1689,1457,14.4,9.9,291,2811,0.00,2.15,0.00,0.000,1030,0.000,0.030,3057,1839,1573,1689,1457,0,0,0,0,0,0,26.21,26.18,26.23,8.42,48.89
$GC,2875,0.75,255.2,3056,1838,1689,1456,9.3,6.2,304,2930,0.00,2.22,47.53,0.493,8452,0.000,0.038,3057,3254,1204,1311,1097,0,0,0,0,0,0,26.70,24.77,24.32,8.41,47.99
$GC,2953,0.89,392.8,3056,3254,1311,1097,4.6,4.3,316,2998,0.05,2.17,38.83,0.467,11266,0.073,0.029,3126,1835,891,988,795,0,0,0,0,0,0,25.86,25.95,25.90,8.38,47.51
$STATE,2999,end climb,SURFACE_DEPTH_REACHED
$STATE,2999,begin surface coast
$FINISH,2.4,1.019863
$STATE,3005,end surface coast,CONTROL_FINISHED_OK
$STATE,3006,begin surface
$SM_CCo,3022,43.20,0.055,0,0,533,420.20
$SM_GC,2.52,7.90,0.00,43.20,0.041,0.000,0.055,184,1835,533,-8.07,-0.23,420.20,0,0,0,0,0,0,25.93,26.23,25.72
$IRIDIUM_FIX,4736.40,-12251.79,160218,100957
$TT8_MAMPS,0.026964,0.245672
$HUMID,46.57
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,140.7,25.0
$24V_AH,23.80,85.667
$10V_AH,9.82,58.568
$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,18.600,47.775,353.475,43.200,0.000,0.000,0.000,190.900,3.750,0.000,17.911,832.954,967.632,449.496,1026.755,105.310,0.000,1063.819,0.000,626.564,0.000,31.377,0.000
$DEVICE_MAMPS,189.720,50.490,664.020,55.080,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.449,695.217,422.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312124
$DATA_FILE_SIZE,21035,323
$CAP_FILE_SIZE,54593,0
$CFSIZE,2097872896,2052915200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,267.33,1
$GPS,160218,120554,4737.854,-12254.661,8,0.8,47,16.4,0.3,66.7,10,4.9