version: 66.14
glider: 195
mission: 15
dive: 316
start: 2 11 118 21 45 3
data:
$ID,195
$MISSION,15
$DIVE,316
$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,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
$GPS1,110218,213929,4737.6421,-12255.1758,8,1.1,41,16.4,0.4,243.4,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-65.7
$GPS2,110218,214413,4737.6221,-12255.2227,10,0.9,16,16.4,0.0,231.2,9,4.7
$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,45.8,915,-15.9,-10.000,-19.71,2646
$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,-0.84,-176.2,168,1860,556,479,0.0,0.0,0,38,0.00,0.00,-27.40,0.000,16386,0.000,0.000,167,1860,1200,1272,1129,0,0,0,0,0,0,26.61,28.83,26.62,8.29,47.16
$GC,41,-0.84,-176.2,167,1860,1272,1129,2.0,-2.2,4,113,9.00,2.30,-56.33,0.000,18948,0.194,0.052,2534,445,2968,3044,2892,0,0,0,0,0,0,24.94,23.89,25.35,8.35,47.71
$GC,137,-0.59,-176.2,2534,445,3044,2893,11.7,-18.5,18,145,0.25,2.17,0.00,0.000,3078,0.122,0.033,2619,1840,2969,3045,2893,0,0,0,0,0,0,25.55,26.11,25.74,8.52,46.85
$GC,209,-0.59,-176.2,2619,1840,3045,2893,22.7,-11.5,29,213,0.00,2.20,0.00,0.000,260,0.000,0.041,2611,3259,2969,3045,2893,0,0,0,0,0,0,26.68,26.02,26.69,8.51,47.04
$GC,274,-0.59,-176.2,2611,3259,3045,2893,29.5,-10.8,35,281,0.00,2.15,0.00,0.000,1030,0.000,0.029,2611,1843,2969,3045,2893,0,0,0,0,0,0,26.22,26.18,26.25,8.52,47.16
$GC,402,-0.59,-176.2,2611,1843,3045,2893,42.5,-10.3,48,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1843,2969,3045,2893,0,0,0,0,0,0,26.72,26.72,26.72,8.52,47.48
$GC,522,-0.59,-176.2,2611,1843,3045,2893,54.7,-10.0,60,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1843,2969,3045,2893,0,0,0,0,0,0,26.73,26.74,26.74,8.52,47.87
$GC,642,-0.59,-176.2,2611,1843,3045,2893,66.7,-9.6,72,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1843,2969,3045,2893,0,0,0,0,0,0,26.73,26.74,26.74,8.52,47.75
$GC,762,-0.59,-176.2,2610,1843,3045,2892,78.2,-9.4,84,771,0.00,2.17,0.00,0.000,516,0.000,0.042,2611,451,2969,3045,2893,0,0,0,0,0,0,26.74,26.00,26.74,8.53,47.91
$GC,794,-0.59,-176.2,2610,451,3045,2893,81.6,-10.1,87,799,0.00,2.15,0.00,0.000,1030,0.000,0.032,2602,1854,2969,3045,2893,0,0,0,0,0,0,26.27,26.17,26.30,8.53,48.03
$GC,927,-0.59,-176.2,2602,1854,3045,2893,94.7,-9.8,100,937,0.00,2.17,0.00,0.000,260,0.000,0.042,2592,3247,2969,3045,2893,0,0,0,0,0,0,26.74,26.05,26.74,8.53,48.07
$GC,1001,-0.64,-176.2,2592,3247,3045,2893,101.7,-9.2,107,1006,0.00,2.10,0.00,0.000,1030,0.000,0.029,2593,1840,2969,3045,2893,0,0,0,0,0,0,26.28,26.20,26.32,8.54,48.89
$GC,1199,-0.64,-176.2,2592,1839,3045,2893,120.7,-9.7,126,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1839,2969,3045,2893,0,0,0,0,0,0,26.72,26.73,26.73,8.54,48.62
$GC,1385,-0.64,-176.2,2592,1839,3045,2893,139.3,-9.7,145,1396,0.00,2.20,0.00,0.000,516,0.000,0.042,2593,448,2969,3045,2893,0,0,0,0,0,0,26.74,25.99,26.75,8.54,48.77
$GC,1411,-0.64,-176.2,2592,448,3045,2893,141.8,-9.9,147,1419,0.00,2.15,0.00,0.000,1030,0.000,0.031,2583,1838,2969,3045,2893,0,0,0,0,0,0,26.20,26.17,26.23,8.54,48.14
$STATE,1517,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1517,begin apogee
$GC,1522,-0.21,0.0,2583,1838,3045,2893,152.7,-9.8,158,1669,0.43,0.00,142.35,0.659,10246,0.096,0.000,2738,1838,2246,2377,2116,0,0,0,0,0,0,25.77,24.77,23.83,8.55,48.58
$STATE,1670,end apogee,CONTROL_FINISHED_OK
$STATE,1671,begin climb
$GC,1672,0.84,176.2,2737,1838,2376,2116,157.5,0.0,173,1832,0.90,2.28,146.12,0.649,10756,0.066,0.041,3076,448,1527,1641,1413,0,0,0,0,0,0,25.39,24.72,23.85,8.49,47.00
$GC,1867,0.74,176.2,3075,447,1639,1410,137.9,14.2,192,1877,0.00,2.15,0.00,0.000,1030,0.000,0.031,3076,1837,1524,1639,1410,0,0,0,0,0,0,25.78,25.75,25.80,8.43,46.22
$GC,2057,0.65,176.2,3075,1837,1638,1406,110.1,15.1,211,2068,0.15,2.17,0.00,0.000,4612,0.129,0.041,3032,451,1521,1637,1406,0,0,0,0,0,0,25.94,25.96,25.99,8.42,47.12
$GC,2082,0.57,176.2,3032,451,1635,1406,106.9,13.7,213,2092,0.10,2.12,0.00,0.000,5126,0.109,0.031,2997,1845,1521,1636,1406,0,0,0,0,0,0,25.85,26.12,25.93,8.43,47.20
$GC,2273,0.57,176.2,2997,1845,1636,1406,89.2,8.6,232,2283,0.00,2.20,0.00,0.000,516,0.000,0.043,3005,454,1520,1635,1406,0,0,0,0,0,0,26.67,26.03,26.69,8.42,47.71
$GC,2310,0.57,176.2,3004,454,1635,1405,85.8,9.4,235,2317,0.00,2.15,0.00,0.000,1030,0.000,0.031,3005,1844,1520,1635,1405,0,0,0,0,0,0,26.24,26.20,26.26,8.42,47.63
$GC,2437,0.57,176.2,3004,1844,1636,1406,73.6,9.5,248,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1844,1520,1635,1405,0,0,0,0,0,0,26.71,26.72,26.72,8.42,48.22
$GC,2557,0.57,176.2,3004,1844,1635,1405,62.6,9.2,260,2567,0.00,2.17,0.00,0.000,516,0.000,0.043,3012,452,1520,1635,1405,0,0,0,0,0,0,26.72,26.04,26.73,8.42,47.95
$GC,2611,0.57,176.2,3011,452,1635,1405,57.5,9.3,265,2621,0.00,2.10,0.00,0.000,1030,0.000,0.031,3012,1842,1520,1635,1405,0,0,0,0,0,0,26.25,26.22,26.28,8.42,48.18
$GC,2741,0.57,176.2,3012,1842,1635,1405,45.5,8.9,278,2751,0.00,2.20,0.00,0.000,260,0.000,0.041,3012,3257,1520,1635,1406,0,0,0,0,0,0,26.73,26.09,26.74,8.42,48.30
$GC,2777,0.57,176.2,3012,3257,1635,1405,42.4,9.6,281,2785,0.00,2.15,0.00,0.000,1030,0.000,0.029,3015,1847,1520,1635,1405,0,0,0,0,0,0,26.25,26.20,26.27,8.41,47.24
$GC,2905,0.57,176.2,3014,1847,1635,1405,30.7,8.7,294,2916,0.00,2.20,0.00,0.000,516,0.000,0.044,3025,448,1520,1635,1405,0,0,0,0,0,0,26.73,26.03,26.74,8.41,47.67
$GC,2983,0.57,176.2,3024,447,1635,1405,24.2,8.5,301,2991,0.00,2.15,0.00,0.000,1030,0.000,0.031,3025,1841,1520,1635,1405,0,0,0,0,0,0,26.25,26.22,26.29,8.41,47.75
$GC,3115,0.66,265.6,3024,1841,1635,1405,13.1,6.5,322,3170,0.00,0.00,47.20,0.513,8454,0.000,0.000,3025,1841,1161,1269,1053,0,0,0,0,0,0,26.74,24.75,24.30,8.40,47.51
$GC,3235,0.97,430.3,3024,1841,1269,1051,7.3,3.6,342,3298,0.20,0.00,59.88,0.482,10754,0.045,0.000,3177,1842,682,760,604,0,0,0,0,0,0,26.25,28.83,26.25,8.37,47.28
$STATE,3299,end climb,SURFACE_DEPTH_REACHED
$STATE,3299,begin surface coast
$FINISH,0.6,1.010818
$STATE,3341,end surface coast,CONTROL_FINISHED_OK
$STATE,3343,begin surface
$SM_CCo,3358,17.83,0.057,0,0,532,420.20
$SM_GC,2.83,7.88,0.00,17.83,0.033,0.000,0.057,190,1842,532,-8.06,-0.03,420.20,0,0,0,0,0,0,26.01,26.35,25.75
$IRIDIUM_FIX,4738.80,-12300.63,110218,203831
$TT8_MAMPS,0.026964,0.240429
$HUMID,46.18
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,120.7,41.9
$24V_AH,23.83,76.678
$10V_AH,9.76,52.873
$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,18.900,47.825,395.550,17.825,0.000,0.000,0.000,200.525,1.750,0.000,17.899,891.559,1124.534,455.633,1121.578,106.894,0.000,1149.940,0.000,698.983,0.000,14.611,0.000
$DEVICE_MAMPS,194.310,52.020,658.665,56.610,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,240.203,772.663,469.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,24510,359
$CAP_FILE_SIZE,59271,0
$CFSIZE,2097872896,2063630336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.013,43.59,1
$GPS,110218,224215,4737.804,-12254.555,5,0.9,14,16.4,0.6,239.7,9,4.7