version: 66.14
glider: 195
mission: 15
dive: 359
start: 2 13 118 14 12 0
data:
$ID,195
$MISSION,15
$DIVE,359
$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,39
$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
$GPS1,130218,140625,4737.7832,-12254.6553,47,0.9,62,16.4,0.0,90.7,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.1
$GPS2,130218,141121,4737.7837,-12254.6357,5,0.9,21,16.4,0.0,0.0,8,4.9
$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,40.8,2135,-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,-244.4,178,1842,564,486,0.0,0.0,0,37,0.00,0.00,-25.95,0.000,16386,0.000,0.000,178,1843,1184,1256,1113,0,0,0,0,0,0,26.59,28.83,26.60,8.29,47.04
$GC,40,-0.79,-244.4,178,1842,1256,1114,2.1,-1.7,3,124,9.00,2.20,-66.85,0.000,18948,0.193,0.054,2556,450,3245,3313,3177,0,0,0,0,0,0,25.01,25.57,25.39,8.35,47.16
$GC,250,-0.71,-244.4,2556,450,3315,3178,29.8,-14.1,33,260,0.10,2.12,0.00,0.000,3078,0.124,0.031,2582,1849,3246,3315,3178,0,0,0,0,0,0,25.86,26.16,25.93,8.54,46.96
$GC,379,-0.71,-244.4,2581,1850,3315,3178,47.1,-12.9,46,384,0.00,2.17,0.00,0.000,260,0.000,0.042,2574,3247,3246,3315,3178,0,0,0,0,0,0,26.70,26.05,26.71,8.54,47.87
$GC,405,-0.71,-244.4,2573,3248,3315,3178,49.9,-12.9,48,412,0.00,2.15,0.00,0.000,1030,0.000,0.029,2574,1833,3246,3315,3178,0,0,0,0,0,0,26.23,26.20,26.26,8.54,48.11
$GC,532,-0.71,-244.4,2573,1832,3315,3178,67.1,-13.6,61,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1833,3246,3315,3178,0,0,0,0,0,0,26.72,26.72,26.72,8.55,48.11
$GC,652,-0.71,-244.4,2573,1833,3315,3178,82.8,-13.0,73,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1833,3246,3315,3178,0,0,0,0,0,0,26.72,26.74,26.73,8.55,48.26
$GC,772,-0.71,-244.4,2573,1833,3315,3178,98.4,-12.4,85,782,0.00,2.22,0.00,0.000,260,0.000,0.042,2565,3252,3246,3314,3178,0,0,0,0,0,0,26.72,26.05,26.74,8.56,49.29
$GC,816,-0.71,-244.4,2563,3252,3314,3178,104.1,-12.7,89,828,0.00,2.12,0.00,0.000,1030,0.000,0.029,2564,1836,3246,3314,3178,0,0,0,0,0,0,26.28,26.20,26.32,8.56,49.37
$GC,1008,-0.71,-244.4,2564,1835,3314,3178,128.3,-12.6,108,1012,0.00,2.17,0.00,0.000,516,0.000,0.042,2564,450,3246,3314,3178,0,0,0,0,0,0,26.73,26.01,26.74,8.57,48.74
$GC,1046,-0.71,-244.4,2563,448,3314,3178,133.3,-13.4,111,1054,0.00,2.15,0.00,0.000,1030,0.000,0.032,2555,1840,3246,3314,3178,0,0,0,0,0,0,26.21,26.17,26.25,8.57,48.70
$STATE,1193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1193,begin apogee
$GC,1198,-0.21,0.0,2555,1839,3314,3178,153.8,-13.3,126,1395,0.52,0.00,191.23,0.659,10246,0.094,0.000,2743,1839,2246,2379,2113,0,0,0,0,0,0,25.75,24.75,23.83,8.57,48.42
$STATE,1396,end apogee,CONTROL_FINISHED_OK
$STATE,1396,begin climb
$GC,1398,0.79,244.4,2743,1840,2380,2113,159.2,0.0,146,1616,0.85,2.25,203.32,0.645,10756,0.058,0.041,3067,454,1248,1357,1140,0,0,0,0,0,0,25.43,24.42,23.89,8.49,46.85
$GC,1652,0.68,244.4,3067,454,1357,1140,135.7,14.6,171,1660,0.10,2.20,0.00,0.000,5126,0.112,0.031,3033,1843,1248,1357,1140,0,0,0,0,0,0,25.53,25.76,25.60,8.40,46.06
$GC,1842,0.62,244.4,3033,1844,1357,1140,112.9,11.9,190,1851,0.00,2.17,0.00,0.000,516,0.000,0.043,3041,454,1248,1357,1140,0,0,0,0,0,0,26.56,26.00,26.57,8.41,47.04
$GC,1885,0.55,244.4,3040,454,1357,1140,107.5,12.4,194,1894,0.15,2.12,0.00,0.000,5126,0.102,0.030,2988,1846,1248,1357,1140,0,0,0,0,0,0,25.86,26.14,25.92,8.41,47.08
$GC,2075,0.55,244.4,2988,1846,1357,1140,90.9,8.5,213,2085,0.00,2.20,0.00,0.000,516,0.000,0.044,2989,452,1248,1357,1140,0,0,0,0,0,0,26.67,26.03,26.68,8.41,48.07
$GC,2098,0.55,244.4,2988,452,1356,1140,89.0,8.1,215,2108,0.00,2.15,0.00,0.000,1030,0.000,0.030,2988,1855,1248,1356,1141,0,0,0,0,0,0,26.29,26.20,26.32,8.41,48.26
$GC,2228,0.55,244.4,2988,1855,1357,1140,78.1,8.3,228,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1855,1248,1357,1140,0,0,0,0,0,0,26.70,26.71,26.71,8.40,48.38
$GC,2348,0.55,244.4,2988,1855,1357,1140,68.3,8.2,240,2352,0.00,2.22,0.00,0.000,516,0.000,0.043,2988,452,1248,1357,1140,0,0,0,0,0,0,26.71,26.04,26.72,8.40,48.18
$GC,2401,0.55,244.4,2988,451,1356,1140,64.1,8.1,245,2405,0.00,2.12,0.00,0.000,1030,0.000,0.031,2988,1855,1248,1357,1140,0,0,0,0,0,0,26.30,26.22,26.34,8.40,48.46
$GC,2533,0.55,244.4,2988,1855,1356,1140,53.5,8.2,258,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1855,1248,1357,1139,0,0,0,0,0,0,26.72,26.73,26.72,8.40,47.95
$GC,2653,0.65,339.3,2988,1855,1357,1139,44.1,7.3,270,2744,0.00,2.30,79.78,0.587,8708,0.000,0.043,2988,454,862,963,761,0,0,0,0,0,0,26.72,25.03,24.10,8.40,48.81
$GC,2789,0.82,426.6,2988,454,963,761,33.9,7.6,283,2862,0.15,2.15,64.53,0.570,11270,0.053,0.030,3116,1850,505,549,461,0,0,0,0,0,0,25.96,25.91,24.10,8.36,47.28
$GC,2992,0.82,426.6,3115,1849,544,451,3.3,11.3,313,3000,0.10,2.22,0.00,0.000,4612,0.124,0.041,3083,451,497,544,451,0,0,0,0,0,0,26.06,25.89,26.09,8.32,46.73
$STATE,3006,end climb,SURFACE_DEPTH_REACHED
$STATE,3007,begin surface coast
$FINISH,0.7,1.001305
$STATE,3039,end surface coast,CONTROL_FINISHED_OK
$STATE,3039,begin surface
$SM_CCo,3117,0.00,0.000,0,0,495,429.77
$SM_GC,1.98,7.50,2.20,0.00,0.027,0.028,0.000,181,1857,495,-8.08,-1.05,429.77,0,0,0,0,0,0,26.20,26.11,26.23
$IRIDIUM_FIX,4738.33,-12256.21,130218,130304
$TT8_MAMPS,0.026964,0.245672
$HUMID,47.20
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,17.4
$ALTIM_BOTTOM_PING,131.3,32.0
$24V_AH,23.83,80.355
$10V_AH,9.79,54.980
$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,18.475,43.650,538.850,0.000,0.000,0.000,0.000,205.550,2.500,0.000,22.664,765.317,996.871,507.681,1065.272,103.560,0.000,1209.660,0.000,661.416,0.000,20.630,0.000
$DEVICE_MAMPS,192.780,53.550,659.430,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.254,690.856,419.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21015,321
$CAP_FILE_SIZE,53494,0
$CFSIZE,2097872896,2059403264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3896.21,0x2139aa,7,24
$CURRENT,0.071,44.52,1
$GPS,130218,150502,4738.092,-12253.883,8,0.9,26,16.4,0.2,0.0,9,4.4