version: 66.14
glider: 195
mission: 15
dive: 599
start: 2 23 118 6 15 15
data:
$ID,195
$MISSION,15
$DIVE,599
$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,45
$R_STBD_OVSHOOT,35
$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
$GPS1,230218,060920,4738.1763,-12253.8242,4,0.9,39,16.4,0.0,0.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.2
$GPS2,230218,061426,4738.1685,-12253.8350,9,0.9,14,16.4,0.0,0.0,9,4.9
$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,45.4,909,-16.2,-10.000,-20.01,2547
$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,-169.5,172,1845,520,444,0.0,0.0,0,60,0.00,0.00,-48.42,0.000,16386,0.000,0.000,172,1845,1663,1721,1605,0,0,0,0,0,0,26.48,28.83,26.48,8.28,48.62
$GC,64,-0.92,-244.4,171,1845,1721,1605,2.3,-1.7,7,134,8.98,2.22,-52.03,0.000,18948,0.194,0.050,2518,448,3243,3307,3179,0,0,0,0,0,0,24.91,25.44,25.29,8.39,49.09
$GC,243,-0.86,-244.4,2518,448,3309,3180,27.5,-18.7,34,250,0.00,2.20,0.00,0.000,1030,0.000,0.031,2511,1855,3244,3309,3180,0,0,0,0,0,0,25.89,25.86,25.92,8.53,48.85
$GC,371,-0.78,-244.4,2511,1855,3309,3179,53.0,-19.5,47,381,0.12,2.17,0.00,0.000,2308,0.139,0.037,2545,3246,3244,3309,3180,0,0,0,0,0,0,25.93,25.69,25.94,8.54,49.01
$GC,416,-0.78,-244.4,2545,3246,3308,3180,60.3,-16.8,51,424,0.00,2.15,0.00,0.000,1030,0.000,0.027,2545,1842,3244,3309,3180,0,0,0,0,0,0,25.93,25.90,25.96,8.53,49.52
$GC,545,-0.78,-244.4,2544,1841,3309,3180,80.4,-15.2,64,549,0.00,2.22,0.00,0.000,516,0.000,0.040,2545,445,3244,3309,3180,0,0,0,0,0,0,26.58,25.60,26.58,8.54,49.88
$GC,590,-0.78,-244.4,2545,445,3309,3179,86.9,-15.0,68,594,0.00,2.17,0.00,0.000,1030,0.000,0.030,2536,1855,3244,3309,3180,0,0,0,0,0,0,25.94,25.84,25.96,8.55,50.15
$GC,723,-0.78,-244.4,2536,1855,3308,3180,106.6,-15.2,81,732,0.00,2.15,0.00,0.000,260,0.000,0.039,2526,3245,3243,3308,3179,0,0,0,0,0,0,26.58,25.64,26.58,8.55,50.55
$GC,780,-0.78,-244.4,2526,3245,3309,3179,114.7,-14.8,86,785,0.10,2.12,0.00,0.000,3078,0.132,0.027,2559,1837,3244,3309,3179,0,0,0,0,0,0,25.62,25.87,25.70,8.56,50.27
$GC,977,-0.78,-244.4,2558,1836,3309,3179,140.2,-12.4,105,981,0.00,2.20,0.00,0.000,516,0.000,0.041,2559,447,3243,3308,3179,0,0,0,0,0,0,26.53,25.56,26.54,8.57,50.35
$GC,1047,-0.78,-244.4,2558,447,3308,3180,149.3,-13.0,111,1054,0.00,2.17,0.00,0.000,1030,0.000,0.030,2552,1843,3244,3309,3180,0,0,0,0,0,0,25.88,25.84,25.91,8.57,50.86
$STATE,1132,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1132,begin apogee
$GC,1138,-0.21,0.0,2552,1843,3308,3180,160.9,-13.3,120,1335,0.52,0.00,192.48,0.653,10246,0.097,0.000,2736,1844,2246,2370,2122,0,0,0,0,0,0,25.23,24.84,24.08,8.57,50.03
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1339,0.92,244.4,2736,1844,2370,2122,167.0,0.0,140,1549,1.00,2.30,201.75,0.638,10756,0.064,0.041,3104,455,1248,1350,1147,0,0,0,0,0,0,25.17,24.84,24.01,8.49,48.54
$GC,1601,0.81,244.4,3103,455,1350,1146,135.4,18.6,166,1609,0.08,2.20,0.00,0.000,5126,0.123,0.028,3079,1845,1248,1350,1146,0,0,0,0,0,0,25.36,25.62,25.41,8.41,47.83
$GC,1792,0.74,244.4,3078,1845,1350,1144,104.3,15.9,185,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1845,1247,1350,1144,0,0,0,0,0,0,26.44,26.45,26.45,8.41,48.81
$GC,1980,0.68,244.4,3078,1845,1350,1143,73.9,15.5,204,1982,0.15,0.00,0.00,0.000,4102,0.127,0.000,3028,1845,1246,1350,1143,0,0,0,0,0,0,25.89,25.98,25.94,8.41,49.29
$GC,2100,0.68,244.4,3028,1845,1350,1142,59.9,11.0,216,2105,0.00,2.20,0.00,0.000,516,0.000,0.040,3036,454,1246,1350,1142,0,0,0,0,0,0,26.55,25.67,26.56,8.41,49.40
$GC,2134,0.68,244.4,3035,454,1350,1142,56.4,9.9,219,2143,0.00,2.12,0.00,0.000,1030,0.000,0.028,3036,1850,1246,1350,1142,0,0,0,0,0,0,25.96,25.93,25.98,8.40,49.52
$GC,2264,0.68,244.4,3036,1850,1349,1142,42.2,10.9,232,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1850,1246,1350,1142,0,0,0,0,0,0,26.56,26.58,26.57,8.40,49.09
$GC,2384,0.68,244.4,3036,1850,1350,1142,29.7,9.1,244,2388,0.00,2.22,0.00,0.000,516,0.000,0.041,3045,448,1246,1350,1142,0,0,0,0,0,0,26.57,25.63,26.58,8.40,49.56
$GC,2409,0.68,244.4,3043,447,1349,1142,27.6,9.3,246,2417,0.00,2.17,0.00,0.000,1030,0.000,0.029,3045,1850,1246,1350,1142,0,0,0,0,0,0,25.94,25.92,25.98,8.39,49.64
$GC,2539,0.68,244.4,3044,1849,1350,1141,15.8,8.2,263,2546,0.00,2.22,0.00,0.000,260,0.000,0.039,3045,3249,1245,1350,1141,0,0,0,0,0,0,26.58,25.70,26.58,8.38,49.80
$GC,2600,0.68,244.4,3044,3249,1350,1142,10.5,8.9,274,2607,0.00,2.15,0.00,0.000,1030,0.000,0.028,3052,1848,1246,1350,1142,0,0,0,0,0,0,25.92,25.89,25.95,8.38,49.52
$GC,2671,0.68,244.4,3051,1848,1349,1142,4.3,9.0,287,2679,0.00,2.25,0.00,0.000,516,0.000,0.041,3057,452,1246,1350,1142,0,0,0,0,0,0,26.58,25.60,26.58,8.38,48.89
$STATE,2684,end climb,SURFACE_DEPTH_REACHED
$STATE,2684,begin surface coast
$FINISH,0.8,1.021377
$STATE,2717,end surface coast,CONTROL_FINISHED_OK
$STATE,2717,begin surface
$SM_CCo,2736,85.93,0.051,0,0,532,420.20
$SM_GC,1.79,7.53,2.17,85.93,0.030,0.025,0.051,185,1852,532,-8.06,-1.39,420.20,0,0,0,0,0,0,26.04,25.97,25.53
$IRIDIUM_FIX,4738.72,-12249.11,230218,050852
$TT8_MAMPS,0.026964,0.265895
$HUMID,48.50
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.4
$ALTIM_BOTTOM_PING,146.2,24.6
$24V_AH,24.01,100.086
$10V_AH,9.84,66.889
$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,18.475,43.825,394.225,85.925,0.000,0.000,0.000,212.850,3.500,0.000,15.279,744.895,818.849,499.067,978.577,124.295,0.000,1139.959,0.000,588.243,0.000,27.108,0.000
$DEVICE_MAMPS,193.545,50.490,653.310,51.255,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.076,635.101,385.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312152
$DATA_FILE_SIZE,21098,295
$CAP_FILE_SIZE,51768,0
$CFSIZE,2097872896,2035810304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.033,304.61,1
$GPS,230218,070315,4738.406,-12253.324,5,0.9,14,16.4,0.0,0.0,8,5.0