version: 66.14
glider: 195
mission: 15
dive: 580
start: 2 22 118 12 27 6
data:
$ID,195
$MISSION,15
$DIVE,580
$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,46
$R_STBD_OVSHOOT,40
$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
$GPS1,220218,122129,4737.5996,-12255.2900,38,0.9,64,16.4,0.3,188.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.5
$GPS2,220218,122625,4737.5830,-12255.3477,8,0.9,16,16.4,0.0,240.9,9,4.7
$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,45.1,1086,-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,-244.4,163,1840,553,481,0.0,0.0,0,59,0.00,0.00,-47.60,0.000,16386,0.000,0.000,163,1840,1659,1718,1600,0,0,0,0,0,0,26.50,28.83,26.51,8.29,48.22
$GC,62,-0.79,-244.4,163,1840,1719,1600,2.1,-1.7,7,132,9.18,2.25,-50.78,0.000,18948,0.194,0.050,2552,448,3246,3312,3180,0,0,0,0,0,0,24.90,23.67,25.28,8.40,48.18
$GC,151,-0.61,-244.4,2551,448,3312,3180,10.4,-18.1,20,159,0.17,2.17,0.00,0.000,3078,0.112,0.031,2615,1839,3246,3312,3180,0,0,0,0,0,0,25.39,25.90,25.53,8.54,48.03
$GC,229,-0.61,-244.4,2614,1839,3313,3180,21.6,-12.5,33,234,0.00,2.22,0.00,0.000,260,0.000,0.040,2607,3253,3246,3313,3180,0,0,0,0,0,0,26.56,25.71,26.57,8.54,48.14
$GC,293,-0.61,-244.4,2606,3253,3313,3180,29.1,-11.3,39,297,0.00,2.15,0.00,0.000,1030,0.000,0.027,2607,1829,3246,3313,3180,0,0,0,0,0,0,26.01,25.93,26.04,8.54,48.50
$GC,426,-0.61,-244.4,2606,1829,3313,3180,43.5,-10.5,52,435,0.00,2.25,0.00,0.000,260,0.000,0.039,2598,3257,3246,3313,3180,0,0,0,0,0,0,26.59,25.72,26.60,8.54,49.13
$GC,459,-0.61,-244.4,2597,3257,3313,3180,47.1,-10.7,55,464,0.00,2.12,0.00,0.000,1030,0.000,0.027,2598,1845,3246,3312,3180,0,0,0,0,0,0,26.01,25.92,26.04,8.54,49.21
$GC,592,-0.61,-244.4,2597,1844,3312,3180,62.1,-11.4,68,602,0.00,2.20,0.00,0.000,516,0.000,0.040,2598,451,3246,3313,3180,0,0,0,0,0,0,26.60,25.65,26.61,8.55,50.00
$GC,628,-0.61,-244.4,2597,450,3313,3180,65.8,-11.0,71,636,0.00,2.17,0.00,0.000,1030,0.000,0.030,2589,1847,3246,3312,3180,0,0,0,0,0,0,25.92,25.89,25.96,8.55,49.76
$GC,756,-0.61,-244.4,2589,1847,3313,3180,80.9,-11.9,84,765,0.00,2.20,0.00,0.000,260,0.000,0.040,2579,3248,3246,3313,3180,0,0,0,0,0,0,26.60,25.67,26.61,8.56,49.40
$GC,809,-0.61,-244.4,2579,3248,3313,3180,86.8,-11.4,89,814,0.10,2.12,0.00,0.000,3078,0.125,0.027,2613,1836,3246,3313,3180,0,0,0,0,0,0,25.70,25.92,25.78,8.56,49.33
$GC,942,-0.61,-244.4,2612,1836,3313,3180,99.9,-9.5,102,955,0.00,2.17,0.00,0.000,516,0.000,0.041,2613,456,3246,3312,3180,0,0,0,0,0,0,26.61,25.61,26.61,8.57,50.03
$GC,981,-0.61,-244.4,2612,455,3313,3180,103.6,-10.1,105,989,0.00,2.17,0.00,0.000,1030,0.000,0.030,2608,1849,3246,3313,3180,0,0,0,0,0,0,25.91,25.88,25.94,8.57,49.44
$GC,1172,-0.61,-244.4,2608,1849,3313,3180,122.3,-9.7,124,1177,0.00,2.20,0.00,0.000,260,0.000,0.039,2598,3248,3246,3312,3180,0,0,0,0,0,0,26.60,25.67,26.61,8.57,50.15
$GC,1232,-0.61,-244.4,2597,3248,3312,3180,128.1,-9.6,129,1239,0.00,2.15,0.00,0.000,1030,0.000,0.027,2598,1839,3246,3312,3180,0,0,0,0,0,0,25.94,25.91,25.98,8.57,50.27
$GC,1420,-0.61,-244.4,2598,1839,3312,3180,147.2,-9.6,148,1424,0.00,2.20,0.00,0.000,516,0.000,0.041,2598,454,3246,3312,3180,0,0,0,0,0,0,26.61,25.60,26.62,8.58,50.47
$GC,1444,-0.61,-244.4,2597,453,3312,3180,149.3,-9.7,150,1452,0.00,2.15,0.00,0.000,1030,0.000,0.030,2590,1838,3246,3312,3180,0,0,0,0,0,0,25.91,25.87,25.93,8.58,50.39
$STATE,1501,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1501,begin apogee
$GC,1506,-0.21,0.0,2589,1838,3312,3180,155.6,-10.3,156,1704,0.43,0.00,193.90,0.656,10246,0.091,0.000,2743,1838,2246,2375,2118,0,0,0,0,0,0,25.46,24.85,24.03,8.58,50.03
$STATE,1705,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1709,0.79,244.4,2743,1838,2375,2117,160.6,0.0,176,1924,0.85,2.30,201.68,0.638,10756,0.061,0.041,3063,453,1248,1352,1144,0,0,0,0,0,0,25.19,24.86,24.01,8.50,48.62
$GC,1981,0.70,244.4,3062,452,1351,1140,132.9,15.2,203,1989,0.00,2.17,0.00,0.000,1030,0.000,0.028,3063,1838,1245,1351,1140,0,0,0,0,0,0,25.70,25.67,25.74,8.41,47.12
$GC,2170,0.59,244.4,3063,1838,1351,1138,104.8,14.6,222,2177,0.17,0.00,0.00,0.000,4102,0.116,0.000,3006,1838,1244,1351,1138,0,0,0,0,0,0,25.80,25.92,25.88,8.41,48.50
$GC,2359,0.59,244.4,3005,1838,1351,1137,85.0,9.8,241,2362,0.00,2.20,0.00,0.000,516,0.000,0.042,3013,451,1244,1351,1137,0,0,0,0,0,0,26.55,25.70,26.56,8.41,49.76
$GC,2421,0.59,244.4,3013,451,1350,1137,78.7,10.0,247,2431,0.00,2.15,0.00,0.000,1030,0.000,0.029,3014,1852,1243,1350,1137,0,0,0,0,0,0,25.98,25.94,26.01,8.41,49.13
$GC,2551,0.59,244.4,3013,1852,1350,1137,64.6,11.2,260,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1852,1243,1350,1137,0,0,0,0,0,0,26.58,26.59,26.59,8.41,49.05
$GC,2671,0.59,244.4,3013,1853,1350,1137,52.5,9.9,272,2676,0.00,2.22,0.00,0.000,516,0.000,0.041,3021,449,1243,1350,1137,0,0,0,0,0,0,26.59,25.68,26.60,8.40,48.93
$GC,2707,0.59,244.4,3020,448,1350,1137,49.2,9.6,275,2715,0.00,2.17,0.00,0.000,1030,0.000,0.030,3021,1847,1243,1350,1137,0,0,0,0,0,0,25.98,25.94,25.99,8.40,49.25
$GC,2835,0.59,244.4,3021,1847,1350,1137,36.1,9.9,288,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1847,1243,1350,1137,0,0,0,0,0,0,26.60,26.60,26.60,8.40,49.84
$GC,2955,0.59,244.4,3021,1847,1350,1137,24.8,9.3,300,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1847,1243,1350,1137,0,0,0,0,0,0,26.60,26.61,26.61,8.39,49.21
$GC,3077,0.70,353.7,3021,1847,1350,1137,15.3,6.9,318,3140,0.00,2.30,57.55,0.516,8708,0.000,0.041,3028,449,803,886,721,0,0,0,0,0,0,26.60,25.24,24.46,8.39,48.97
$GC,3186,0.84,434.4,3028,448,886,717,7.4,7.7,335,3230,0.08,2.17,38.60,0.471,11266,0.051,0.027,3122,1850,505,540,471,0,0,0,0,0,0,25.76,25.82,25.79,8.34,48.81
$STATE,3231,end climb,SURFACE_DEPTH_REACHED
$STATE,3231,begin surface coast
$FINISH,1.1,1.021487
$STATE,3238,end surface coast,CONTROL_FINISHED_OK
$STATE,3238,begin surface
$SM_CCo,3314,0.00,0.000,0,0,496,429.52
$SM_GC,1.51,7.53,0.00,0.00,0.017,0.000,0.000,184,1851,496,-8.06,0.20,429.52,0,0,0,0,0,0,25.86,26.17,25.91
$IRIDIUM_FIX,4735.54,-12254.47,220218,111944
$TT8_MAMPS,0.026964,0.241178
$HUMID,48.11
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,125.8,39.6
$24V_AH,23.67,98.461
$10V_AH,9.85,65.985
$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,18.500,52.625,491.725,0.000,0.000,0.000,0.000,200.350,2.000,0.000,18.093,824.940,1099.107,489.483,1087.257,135.041,0.000,1197.062,0.000,686.881,0.000,15.168,0.000
$DEVICE_MAMPS,194.310,50.490,655.605,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.579,736.149,447.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,24548,342
$CAP_FILE_SIZE,57680,0
$CFSIZE,2097872896,2037678080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.081,256.89,1
$GPS,220218,132313,4737.728,-12254.823,7,0.9,13,16.4,0.0,236.7,8,5.0