version: 66.14
glider: 195
mission: 15
dive: 310
start: 2 11 118 15 43 56
data:
$ID,195
$MISSION,15
$DIVE,310
$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,52
$R_STBD_OVSHOOT,38
$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
$GPS1,110218,153931,4738.5054,-12253.1416,9,1.2,48,16.4,0.0,177.6,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-68.6
$GPS2,110218,154317,4738.5000,-12253.1592,6,1.2,15,16.4,0.0,0.0,8,4.8
$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,218.7,2130,-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,7,begin dive
$GC,9,-0.79,-244.4,194,1825,548,472,0.0,0.0,0,32,0.00,0.00,-21.27,0.000,16386,0.000,0.000,193,1825,1045,1105,986,0,0,0,0,0,0,26.67,28.83,26.68,8.27,46.10
$GC,35,-0.79,-244.4,194,1825,1105,986,2.0,-2.7,3,126,8.98,2.30,-74.68,0.000,18692,0.194,0.054,2540,3249,3247,3316,3178,0,0,0,0,0,0,24.90,23.86,25.30,8.32,46.37
$GC,403,-0.70,-244.4,2540,3249,3316,3179,55.0,-15.0,49,411,0.12,2.15,0.00,0.000,3078,0.106,0.029,2582,1835,3247,3316,3179,0,0,0,0,0,0,25.87,26.19,25.93,8.53,46.45
$GC,531,-0.70,-244.4,2582,1835,3316,3179,72.3,-12.4,62,540,0.00,2.12,0.00,0.000,516,0.000,0.042,2582,460,3247,3316,3178,0,0,0,0,0,0,26.74,25.99,26.74,8.53,47.08
$GC,566,-0.70,-244.4,2582,460,3316,3179,76.4,-12.6,65,573,0.00,2.15,0.00,0.000,1030,0.000,0.033,2576,1844,3247,3316,3179,0,0,0,0,0,0,26.19,26.15,26.22,8.54,47.20
$GC,694,-0.70,-244.4,2575,1844,3316,3178,92.3,-12.0,78,703,0.00,2.20,0.00,0.000,260,0.000,0.042,2566,3249,3247,3316,3179,0,0,0,0,0,0,26.74,26.01,26.74,8.55,47.40
$GC,749,-0.70,-244.4,2565,3250,3316,3179,98.7,-12.0,83,756,0.00,2.15,0.00,0.000,1030,0.000,0.030,2566,1839,3247,3316,3179,0,0,0,0,0,0,26.22,26.17,26.25,8.55,48.22
$GC,877,-0.70,-244.4,2566,1839,3316,3179,114.9,-12.7,96,887,0.00,2.15,0.00,0.000,516,0.000,0.042,2566,451,3247,3316,3178,0,0,0,0,0,0,26.74,25.98,26.74,8.56,48.50
$GC,914,-0.70,-244.4,2565,450,3316,3178,119.2,-12.9,99,927,0.00,2.17,0.00,0.000,1030,0.000,0.033,2557,1849,3247,3316,3179,0,0,0,0,0,0,26.19,26.15,26.22,8.55,48.18
$GC,1106,-0.70,-244.4,2556,1849,3316,3179,144.5,-12.9,118,1110,0.00,2.20,0.00,0.000,260,0.000,0.042,2547,3254,3247,3316,3179,0,0,0,0,0,0,26.74,26.01,26.74,8.56,47.67
$GC,1148,-0.70,-244.4,2546,3254,3316,3179,149.9,-12.6,122,1153,0.12,2.12,0.00,0.000,3078,0.117,0.029,2589,1842,3247,3316,3178,0,0,0,0,0,0,25.94,26.17,26.04,8.56,47.67
$STATE,1220,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1220,begin apogee
$GC,1225,-0.21,0.0,2589,1842,3316,3178,157.8,-10.1,129,1424,0.40,0.00,195.32,0.661,10246,0.091,0.000,2739,1842,2247,2379,2115,0,0,0,0,0,0,25.81,24.75,23.82,8.56,47.55
$STATE,1425,end apogee,CONTROL_FINISHED_OK
$STATE,1425,begin climb
$GC,1428,0.79,244.4,2739,1841,2379,2114,164.1,0.0,149,1643,0.88,0.00,204.77,0.643,10246,0.065,0.000,3054,1841,1247,1355,1139,0,0,0,0,0,0,25.35,24.38,23.87,8.48,45.94
$GC,1823,0.71,244.4,3053,1841,1355,1137,118.5,13.9,189,1833,0.00,2.20,0.00,0.000,516,0.000,0.043,3064,447,1246,1355,1137,0,0,0,0,0,0,26.51,25.91,26.51,8.40,46.65
$GC,1899,0.62,244.4,3064,446,1352,1137,107.4,14.9,196,1909,0.15,2.12,0.00,0.000,5126,0.103,0.031,3012,1841,1244,1352,1137,0,0,0,0,0,0,25.83,26.12,25.89,8.40,46.92
$GC,2090,0.62,244.4,3012,1841,1353,1135,86.8,10.6,215,2099,0.00,2.17,0.00,0.000,516,0.000,0.043,3020,454,1243,1352,1135,0,0,0,0,0,0,26.67,26.03,26.68,8.40,47.20
$GC,2115,0.62,244.4,3019,454,1352,1135,84.3,10.3,217,2123,0.00,2.15,0.00,0.000,1030,0.000,0.031,3020,1845,1243,1352,1135,0,0,0,0,0,0,26.22,26.20,26.26,8.40,47.28
$GC,2243,0.62,244.4,3019,1846,1352,1135,70.3,10.5,230,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1845,1243,1352,1135,0,0,0,0,0,0,26.70,26.72,26.71,8.40,47.67
$GC,2363,0.62,244.4,3019,1845,1352,1135,57.8,10.7,242,2374,0.00,2.22,0.00,0.000,516,0.000,0.043,3028,444,1243,1352,1135,0,0,0,0,0,0,26.72,26.03,26.72,8.39,48.11
$GC,2418,0.62,244.4,3027,444,1352,1135,52.0,10.9,247,2427,0.00,2.10,0.00,0.000,1030,0.000,0.031,3028,1844,1243,1352,1135,0,0,0,0,0,0,26.26,26.21,26.28,8.40,47.44
$GC,2548,0.62,244.4,3027,1844,1352,1135,38.4,10.4,260,2558,0.00,2.17,0.00,0.000,260,0.000,0.041,3028,3250,1243,1351,1135,0,0,0,0,0,0,26.72,26.08,26.74,8.39,47.59
$GC,2581,0.62,244.4,3027,3250,1352,1135,34.8,10.6,263,2591,0.00,2.10,0.00,0.000,1030,0.000,0.030,3034,1843,1243,1352,1135,0,0,0,0,0,0,26.25,26.20,26.27,8.39,47.36
$GC,2711,0.62,244.4,3034,1843,1352,1135,21.4,10.1,276,2715,0.00,2.20,0.00,0.000,516,0.000,0.044,3044,448,1243,1352,1135,0,0,0,0,0,0,26.73,26.03,26.74,8.38,47.16
$GC,2760,0.62,244.4,3044,447,1352,1135,16.2,10.6,283,2770,0.10,2.15,0.00,0.000,5126,0.099,0.031,3007,1840,1243,1352,1135,0,0,0,0,0,0,25.98,26.22,26.04,8.38,47.59
$GC,2836,0.80,363.0,3007,1840,1352,1135,10.6,6.7,296,2906,0.10,2.22,61.15,0.496,10500,0.075,0.039,3112,3251,762,856,669,0,0,0,0,0,0,26.51,24.79,24.32,8.37,47.36
$GC,2920,0.87,435.3,3112,3251,856,667,3.6,8.0,308,2929,0.00,2.17,4.53,0.322,9218,0.000,0.031,3118,1844,725,818,632,0,0,0,0,0,0,25.94,25.89,25.96,8.33,46.85
$STATE,2930,end climb,SURFACE_DEPTH_REACHED
$STATE,2930,begin surface coast
$FINISH,1.0,1.017923
$STATE,2962,end surface coast,CONTROL_FINISHED_OK
$STATE,2962,begin surface
$SM_CCo,2978,23.92,0.057,0,0,532,420.20
$SM_GC,2.32,7.65,0.00,23.92,0.028,0.000,0.057,181,1844,532,-8.08,0.03,420.20,0,0,0,0,0,0,26.06,26.43,25.78
$IRIDIUM_FIX,4739.67,-12257.95,110218,153512
$TT8_MAMPS,0.026964,0.26215
$HUMID,46.88
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.3
$ALTIM_BOTTOM_PING,120.5,46.7
$24V_AH,23.82,76.242
$10V_AH,9.71,52.551
$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,18.500,47.725,465.775,23.925,0.000,0.000,0.000,0.000,2.000,0.000,16.844,756.597,899.045,537.552,826.716,72.321,0.000,989.412,0.000,634.657,0.000,16.454,0.000
$DEVICE_MAMPS,193.545,53.550,660.960,57.375,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,209.076,677.979,411.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312072
$DATA_FILE_SIZE,21030,315
$CAP_FILE_SIZE,62128,0
$CFSIZE,2097872896,2064220160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.018,63.46,1
$GPS,110218,163526,4738.318,-12253.699,5,1.2,46,16.4,0.0,211.7,8,16.3