version: 66.14
glider: 195
mission: 15
dive: 250
start: 2 9 118 0 29 24
data:
$ID,195
$MISSION,15
$DIVE,250
$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,47
$R_STBD_OVSHOOT,44
$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
$GPS1,090218,002335,4738.1489,-12254.3086,9,0.7,17,16.4,0.2,58.4,12,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.0
$GPS2,090218,002832,4738.1797,-12254.2705,8,0.8,20,16.4,0.3,39.5,11,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$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,212.8,686,-14.6,-10.000,-18.57,3063
$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,8,-0.81,-204.6,179,1852,559,482,0.0,0.0,0,39,0.00,0.00,-28.38,0.000,16386,0.000,0.000,179,1852,1243,1314,1172,0,0,0,0,0,0,26.61,28.83,26.62,8.29,46.61
$GC,41,-0.81,-204.6,179,1852,1314,1173,2.3,-3.2,4,112,8.98,2.22,-52.20,0.000,18948,0.196,0.050,2538,441,3084,3166,3002,0,0,0,0,0,0,25.06,25.65,25.25,8.37,47.28
$GC,241,-0.65,-204.6,2537,441,3168,3002,35.0,-20.5,31,249,0.22,2.17,0.00,0.000,3078,0.116,0.034,2602,1839,3085,3168,3002,0,0,0,0,0,0,25.71,26.17,25.79,8.53,46.73
$GC,369,-0.65,-204.6,2602,1840,3168,3002,51.7,-11.8,44,380,0.00,2.20,0.00,0.000,260,0.000,0.041,2594,3249,3085,3168,3002,0,0,0,0,0,0,26.72,26.08,26.73,8.53,47.16
$GC,435,-0.65,-204.6,2594,3248,3168,3002,59.0,-10.7,50,439,0.00,2.10,0.00,0.000,1030,0.000,0.029,2594,1836,3085,3168,3002,0,0,0,0,0,0,26.31,26.22,26.34,8.53,47.91
$GC,567,-0.65,-204.6,2594,1836,3168,3002,73.4,-11.0,63,571,0.00,2.17,0.00,0.000,516,0.000,0.042,2594,446,3085,3168,3002,0,0,0,0,0,0,26.74,26.06,26.75,8.53,47.40
$GC,610,-0.65,-204.6,2593,445,3168,3002,78.3,-11.4,67,620,0.00,2.15,0.00,0.000,1030,0.000,0.032,2585,1857,3085,3169,3002,0,0,0,0,0,0,26.29,26.20,26.32,8.53,48.11
$GC,740,-0.65,-204.6,2585,1857,3168,3002,92.3,-10.5,80,750,0.00,2.17,0.00,0.000,260,0.000,0.042,2576,3250,3085,3168,3002,0,0,0,0,0,0,26.74,26.08,26.75,8.54,48.30
$GC,795,-0.65,-204.6,2575,3250,3168,3002,98.1,-10.5,85,804,0.00,2.10,0.00,0.000,1030,0.000,0.029,2575,1843,3085,3168,3002,0,0,0,0,0,0,26.27,26.22,26.29,8.54,48.38
$GC,926,-0.65,-204.6,2575,1843,3168,3002,113.0,-11.4,98,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1843,3085,3168,3002,0,0,0,0,0,0,26.75,26.76,26.75,8.55,48.11
$GC,1114,-0.65,-204.6,2575,1843,3168,3002,134.5,-10.9,117,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1843,3085,3168,3002,0,0,0,0,0,0,26.75,26.77,26.76,8.55,48.03
$GC,1295,-0.65,-204.6,2575,1843,3168,3002,154.7,-10.8,135,1300,0.00,2.20,0.00,0.000,260,0.000,0.042,2567,3256,3085,3168,3002,0,0,0,0,0,0,26.75,26.06,26.77,8.55,48.97
$STATE,1470,end dive,NO_VERTICAL_VELOCITY
$STATE,1470,begin apogee
$GC,1477,-0.21,0.0,2566,1830,3168,3002,156.4,0.0,152,1643,0.47,0.00,162.57,0.673,10246,0.053,0.000,2757,1828,2246,2379,2114,0,0,0,0,0,0,26.16,24.84,23.91,8.55,48.22
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1645,begin climb
$GC,1647,0.81,204.6,2757,1828,2378,2114,156.3,0.0,169,1825,0.82,2.28,168.65,0.656,10756,0.060,0.043,3074,457,1411,1522,1301,0,0,0,0,0,0,25.40,24.88,23.94,8.49,47.59
$GC,1873,0.70,204.6,3073,457,1521,1298,132.8,15.4,191,1881,0.10,2.17,0.00,0.000,5126,0.125,0.031,3040,1841,1409,1521,1298,0,0,0,0,0,0,25.53,25.80,25.60,8.41,46.57
$GC,2063,0.65,204.6,3040,1841,1521,1297,107.1,12.6,210,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1841,1409,1521,1297,0,0,0,0,0,0,26.57,26.58,26.58,8.41,47.20
$GC,2251,0.65,204.6,3040,1840,1521,1296,83.1,12.2,229,2255,0.00,2.17,0.00,0.000,516,0.000,0.043,3049,455,1408,1521,1296,0,0,0,0,0,0,26.67,26.06,26.69,8.41,47.48
$GC,2344,0.59,204.6,3048,455,1518,1296,71.2,12.9,238,2354,0.12,2.10,0.00,0.000,5126,0.106,0.031,3005,1851,1407,1518,1296,0,0,0,0,0,0,25.94,26.22,26.01,8.41,48.22
$GC,2474,0.59,204.6,3004,1851,1518,1295,58.5,9.0,251,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1851,1406,1518,1295,0,0,0,0,0,0,26.72,26.73,26.73,8.41,47.40
$GC,2594,0.59,204.6,3004,1851,1518,1295,48.0,8.2,263,2599,0.00,2.20,0.00,0.000,516,0.000,0.043,3013,455,1406,1518,1295,0,0,0,0,0,0,26.73,26.07,26.74,8.41,47.48
$GC,2649,0.59,204.6,3012,455,1518,1295,43.4,8.6,268,2657,0.00,2.15,0.00,0.000,1030,0.000,0.031,3013,1843,1406,1518,1294,0,0,0,0,0,0,26.28,26.25,26.31,8.40,48.18
$GC,2778,0.59,204.6,3012,1843,1518,1294,31.8,8.9,281,2782,0.00,2.17,0.00,0.000,260,0.000,0.040,3013,3259,1406,1518,1295,0,0,0,0,0,0,26.74,26.13,26.75,8.40,47.59
$GC,2801,0.59,204.6,3012,3259,1518,1294,29.7,8.8,283,2805,0.00,2.12,0.00,0.000,1030,0.000,0.031,3013,1847,1406,1518,1294,0,0,0,0,0,0,26.32,26.22,26.35,8.40,47.67
$GC,2930,0.66,272.7,3012,1847,1518,1294,18.7,7.7,297,2974,0.00,2.28,37.40,0.547,8708,0.000,0.043,3012,449,1133,1241,1025,0,0,0,0,0,0,26.74,25.27,24.36,8.39,47.99
$GC,3167,1.01,478.6,3012,449,1240,1024,6.0,3.1,340,3218,0.22,2.15,44.88,0.498,11266,0.031,0.030,3189,1846,768,864,673,0,0,0,0,0,0,26.21,26.17,26.29,8.36,47.44
$STATE,3219,end climb,SURFACE_DEPTH_REACHED
$STATE,3219,begin surface coast
$FINISH,0.6,1.009812
$STATE,3262,end surface coast,CONTROL_FINISHED_OK
$STATE,3262,begin surface
$SM_CCo,3277,28.95,0.057,0,0,532,420.20
$SM_GC,1.85,7.85,0.00,28.95,0.031,0.000,0.057,171,1847,532,-8.07,0.11,420.20,0,0,0,0,0,0,26.13,26.43,25.84
$IRIDIUM_FIX,4738.72,-12249.11,080218,232544
$TT8_MAMPS,0.026964,0.242676
$HUMID,47.08
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.2
$24V_AH,23.91,71.181
$10V_AH,9.78,49.012
$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,18.800,43.500,413.500,28.950,0.000,0.000,0.000,212.075,4.000,0.000,21.522,899.865,1044.183,448.948,1154.260,99.354,0.000,1136.166,0.000,705.926,0.000,30.173,0.000
$DEVICE_MAMPS,195.840,50.490,673.200,57.375,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.236,764.170,464.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,24537,355
$CAP_FILE_SIZE,56426,0
$CFSIZE,2097872896,2070151168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.061,52.16,1
$GPS,090218,012549,4738.039,-12254.721,14,0.8,37,16.4,0.0,49.8,10,4.7