version: 66.14
glider: 195
mission: 15
dive: 255
start: 2 9 118 5 21 6
data:
$ID,195
$MISSION,15
$DIVE,255
$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,34
$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
$GPS1,090218,051516,4737.6133,-12255.2891,9,1.2,21,16.4,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.2
$GPS2,090218,052027,4737.6309,-12255.2949,5,1.0,22,16.4,0.0,0.0,9,5.0
$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,47.6,985,-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,-244.4,175,1838,518,438,0.0,0.0,0,39,0.00,0.00,-28.12,0.000,16386,0.000,0.000,175,1838,1185,1261,1110,0,0,0,0,0,0,26.60,28.83,26.61,8.30,46.77
$GC,41,-0.79,-244.4,175,1838,1261,1111,2.0,-1.8,4,124,8.98,2.22,-65.30,0.000,18692,0.195,0.053,2540,3254,3243,3312,3175,0,0,0,0,0,0,25.06,25.56,25.45,8.37,47.08
$GC,222,-0.68,-244.4,2540,3254,3314,3176,28.0,-16.2,30,231,0.15,2.15,0.00,0.000,3078,0.110,0.030,2590,1836,3245,3314,3176,0,0,0,0,0,0,25.85,26.18,25.92,8.54,47.12
$GC,351,-0.68,-244.4,2590,1835,3315,3176,44.7,-12.5,43,362,0.00,2.17,0.00,0.000,260,0.000,0.041,2582,3246,3245,3315,3176,0,0,0,0,0,0,26.72,26.09,26.72,8.54,47.67
$GC,397,-0.68,-244.4,2582,3246,3315,3176,50.0,-12.0,47,406,0.00,2.12,0.00,0.000,1030,0.000,0.029,2582,1850,3245,3314,3176,0,0,0,0,0,0,26.27,26.22,26.28,8.55,47.75
$GC,526,-0.68,-244.4,2582,1849,3314,3176,65.8,-11.8,60,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1849,3245,3315,3176,0,0,0,0,0,0,26.74,26.74,26.74,8.55,47.67
$GC,646,-0.68,-244.4,2581,1849,3315,3176,79.8,-11.4,72,655,0.00,2.20,0.00,0.000,516,0.000,0.042,2582,448,3245,3315,3176,0,0,0,0,0,0,26.74,26.06,26.75,8.56,48.07
$GC,679,-0.68,-244.4,2582,448,3315,3176,83.9,-12.1,75,683,0.00,2.12,0.00,0.000,1030,0.000,0.033,2574,1850,3245,3314,3176,0,0,0,0,0,0,26.29,26.20,26.33,8.55,48.03
$GC,811,-0.68,-244.4,2574,1850,3313,3176,99.8,-11.8,88,822,0.00,2.15,0.00,0.000,260,0.000,0.042,2565,3250,3245,3314,3176,0,0,0,0,0,0,26.74,26.10,26.75,8.56,48.26
$GC,871,-0.68,-244.4,2564,3251,3314,3176,106.4,-11.0,93,881,0.00,2.15,0.00,0.000,1030,0.000,0.029,2565,1837,3245,3314,3176,0,0,0,0,0,0,26.27,26.23,26.29,8.56,48.34
$GC,1061,-0.68,-244.4,2564,1836,3314,3176,129.7,-12.0,112,1065,0.00,2.17,0.00,0.000,516,0.000,0.043,2565,447,3245,3314,3176,0,0,0,0,0,0,26.75,26.03,26.76,8.57,48.14
$GC,1086,-0.68,-244.4,2564,447,3314,3176,132.7,-12.3,114,1095,0.10,2.15,0.00,0.000,3078,0.118,0.031,2590,1837,3245,3314,3176,0,0,0,0,0,0,25.93,26.20,26.01,8.56,48.30
$STATE,1273,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1273,begin apogee
$GC,1277,-0.21,0.0,2590,1837,3314,3176,152.8,-10.2,133,1475,0.40,0.00,192.73,0.672,10246,0.090,0.000,2742,1837,2246,2379,2113,0,0,0,0,0,0,25.89,24.83,23.92,8.57,48.26
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1478,0.79,244.4,2741,1836,2379,2113,158.8,0.0,153,1695,0.85,2.25,201.62,0.654,10756,0.063,0.041,3064,454,1248,1359,1137,0,0,0,0,0,0,25.39,24.49,23.96,8.49,46.69
$GC,1784,0.69,244.4,3064,453,1358,1136,124.4,14.7,183,1793,0.10,2.17,0.00,0.000,5126,0.113,0.031,3030,1838,1247,1358,1136,0,0,0,0,0,0,25.72,25.96,25.79,8.40,46.45
$GC,1973,0.63,244.4,3029,1838,1358,1135,100.6,11.7,202,1983,0.00,2.15,0.00,0.000,516,0.000,0.043,3038,456,1246,1358,1135,0,0,0,0,0,0,26.61,26.03,26.61,8.41,47.48
$GC,2020,0.57,244.4,3037,455,1357,1135,95.2,11.8,206,2029,0.10,2.15,0.00,0.000,5126,0.108,0.031,3001,1845,1245,1357,1134,0,0,0,0,0,0,25.96,26.20,26.02,8.40,47.32
$GC,2148,0.57,244.4,3001,1845,1357,1134,81.7,9.8,219,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1845,1245,1357,1134,0,0,0,0,0,0,26.68,26.70,26.69,8.40,47.12
$GC,2268,0.57,244.4,3001,1845,1357,1134,69.9,9.5,231,2278,0.00,2.20,0.00,0.000,516,0.000,0.043,3009,452,1245,1357,1134,0,0,0,0,0,0,26.71,26.08,26.72,8.40,47.55
$GC,2325,0.57,244.4,3008,453,1357,1134,64.8,9.5,236,2333,0.00,2.15,0.00,0.000,1030,0.000,0.031,3009,1844,1245,1357,1134,0,0,0,0,0,0,26.28,26.25,26.32,8.40,47.71
$GC,2453,0.57,244.4,3008,1844,1357,1134,51.9,10.0,249,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1844,1245,1357,1134,0,0,0,0,0,0,26.73,26.74,26.74,8.40,47.87
$GC,2573,0.57,244.4,3008,1844,1357,1134,40.5,9.5,261,2583,0.00,2.20,0.00,0.000,516,0.000,0.044,3016,452,1245,1357,1134,0,0,0,0,0,0,26.74,26.08,26.74,8.39,47.79
$GC,2610,0.57,244.4,3015,452,1357,1134,37.4,9.3,264,2618,0.00,2.15,0.00,0.000,1030,0.000,0.031,3016,1846,1245,1357,1134,0,0,0,0,0,0,26.29,26.25,26.33,8.39,47.67
$GC,2737,0.57,244.4,3015,1845,1356,1134,24.5,9.8,277,2748,0.00,2.15,0.00,0.000,260,0.000,0.040,3016,3251,1245,1357,1133,0,0,0,0,0,0,26.74,26.14,26.75,8.39,47.91
$GC,2771,0.57,244.4,3015,3251,1357,1134,21.1,10.3,280,2781,0.00,2.10,0.00,0.000,1030,0.000,0.030,3016,1847,1245,1357,1134,0,0,0,0,0,0,26.27,26.23,26.30,8.38,47.59
$GC,2907,0.70,374.8,3016,1847,1357,1134,10.1,6.3,304,2982,0.00,0.00,67.50,0.511,8710,0.000,0.000,3016,1847,715,817,613,0,0,0,0,0,0,26.74,24.78,24.36,8.37,47.16
$GC,3047,1.06,535.3,3016,1847,817,608,3.0,5.5,327,3057,0.30,0.00,6.70,0.383,10754,0.041,0.000,3174,1847,666,760,572,0,0,0,0,0,0,26.13,28.83,26.15,8.32,47.16
$STATE,3058,end climb,SURFACE_DEPTH_REACHED
$STATE,3058,begin surface coast
$FINISH,0.8,1.008146
$STATE,3121,end surface coast,CONTROL_FINISHED_OK
$STATE,3121,begin surface
$SM_CCo,3137,15.90,0.056,0,0,532,420.20
$SM_GC,3.03,7.72,0.00,15.90,0.029,0.000,0.056,189,1847,532,-8.06,0.11,420.20,0,0,0,0,0,0,26.15,26.54,25.86
$IRIDIUM_FIX,4738.33,-12256.21,090218,041434
$TT8_MAMPS,0.026964,0.267393
$HUMID,47.67
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,18.1
$ALTIM_BOTTOM_PING,140.5,22.1
$24V_AH,23.92,71.580
$10V_AH,9.74,49.269
$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,18.700,43.300,468.550,15.900,0.000,0.000,0.000,221.650,3.500,0.000,24.051,814.304,952.147,497.799,1124.075,104.960,0.000,1219.435,0.000,686.314,0.000,28.509,0.000
$DEVICE_MAMPS,195.075,52.785,671.670,55.845,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.215,731.837,444.478,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,24629,340
$CAP_FILE_SIZE,56365,0
$CFSIZE,2097872896,2069659648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096,276.90,1
$GPS,090218,061459,4737.716,-12254.781,10,1.2,38,16.4,0.2,177.2,8,4.7