version: 66.14
glider: 195
mission: 15
dive: 540
start: 2 20 118 22 27 1
data:
$ID,195
$MISSION,15
$DIVE,540
$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,48
$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
$GPS1,200218,222113,4737.8252,-12254.9980,8,0.9,21,16.4,0.2,199.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.9
$GPS2,200218,222622,4737.8320,-12254.9473,7,0.9,44,16.4,0.0,64.6,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE3
$TGT_LATLONG,4737.343,-12255.988
$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,220.1,1584,-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,-244.4,179,1857,558,487,0.0,0.0,0,59,0.00,0.00,-47.15,0.000,16386,0.000,0.000,179,1857,1672,1735,1609,0,0,0,0,0,0,26.53,28.83,26.54,8.31,48.07
$GC,62,-0.79,-244.4,179,1857,1735,1610,2.3,-2.4,7,126,9.07,2.22,-48.90,0.000,19204,0.193,0.050,2544,3242,3245,3310,3180,0,0,0,0,0,0,24.89,23.72,25.28,8.41,48.42
$GC,258,-0.73,-244.4,2543,3242,3311,3181,29.1,-15.5,36,263,0.10,2.12,0.00,0.000,3078,0.135,0.027,2575,1827,3246,3312,3181,0,0,0,0,0,0,25.77,26.02,25.86,8.55,48.03
$GC,392,-0.66,-244.4,2575,1826,3311,3181,48.6,-14.0,49,402,0.00,2.20,0.00,0.000,260,0.000,0.039,2568,3236,3246,3312,3181,0,0,0,0,0,0,26.63,25.84,26.64,8.55,49.29
$GC,438,-0.60,-244.4,2567,3236,3312,3181,55.4,-15.5,53,446,0.12,2.12,0.00,0.000,3078,0.099,0.028,2611,1845,3246,3311,3181,0,0,0,0,0,0,25.71,26.01,25.76,8.55,48.46
$GC,566,-0.60,-244.4,2611,1843,3312,3181,69.1,-10.1,66,570,0.00,2.20,0.00,0.000,516,0.000,0.040,2611,442,3246,3311,3181,0,0,0,0,0,0,26.64,25.77,26.65,8.55,49.64
$GC,639,-0.60,-244.4,2610,441,3311,3181,77.4,-11.6,73,649,0.00,2.15,0.00,0.000,1030,0.000,0.030,2606,1840,3246,3311,3181,0,0,0,0,0,0,26.07,25.98,26.10,8.55,48.97
$GC,770,-0.60,-244.4,2606,1840,3311,3181,91.2,-10.5,86,774,0.00,2.20,0.00,0.000,260,0.000,0.039,2596,3256,3246,3311,3181,0,0,0,0,0,0,26.64,25.82,26.65,8.57,49.40
$GC,867,-0.60,-244.4,2595,3255,3311,3181,101.0,-10.2,95,874,0.00,2.17,0.00,0.000,1030,0.000,0.028,2596,1834,3246,3311,3181,0,0,0,0,0,0,26.03,26.00,26.07,8.57,49.56
$GC,1056,-0.60,-244.4,2595,1834,3311,3181,121.9,-10.9,114,1066,0.00,2.17,0.00,0.000,516,0.000,0.041,2596,449,3246,3311,3181,0,0,0,0,0,0,26.64,25.75,26.65,8.57,49.37
$GC,1123,-0.60,-244.4,2595,448,3311,3181,129.9,-11.9,120,1132,0.00,2.15,0.00,0.000,1030,0.000,0.030,2588,1837,3246,3311,3181,0,0,0,0,0,0,26.02,25.98,26.05,8.57,49.37
$GC,1313,-0.60,-244.4,2587,1837,3311,3181,152.5,-12.0,139,1322,0.00,2.20,0.00,0.000,260,0.000,0.039,2580,3251,3246,3311,3181,0,0,0,0,0,0,26.65,25.80,26.65,8.58,49.92
$STATE,1364,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1364,begin apogee
$GC,1372,-0.21,0.0,2579,1831,3311,3181,158.7,-11.3,144,1577,0.45,0.00,194.85,0.645,10246,0.093,0.000,2741,1830,2246,2373,2120,0,0,0,0,0,0,25.53,24.51,24.01,8.58,50.15
$STATE,1578,end apogee,CONTROL_FINISHED_OK
$STATE,1578,begin climb
$GC,1581,0.79,244.4,2741,1830,2373,2119,164.9,0.0,165,1799,0.85,2.30,203.45,0.634,10500,0.059,0.038,3054,3244,1248,1353,1144,0,0,0,0,0,0,25.31,24.86,24.00,8.50,47.87
$GC,1834,0.71,244.4,3053,3244,1353,1144,142.5,13.6,190,1842,0.00,2.17,0.00,0.000,1030,0.000,0.028,3063,1848,1248,1353,1144,0,0,0,0,0,0,25.70,25.66,25.72,8.42,47.71
$GC,2023,0.61,244.4,3062,1847,1353,1140,117.0,13.5,209,2033,0.15,2.22,0.00,0.000,4612,0.124,0.040,3018,444,1246,1353,1140,0,0,0,0,0,0,25.87,25.77,25.89,8.42,48.26
$GC,2117,0.61,244.4,3018,444,1352,1137,107.0,10.1,218,2122,0.00,2.15,0.00,0.000,1030,0.000,0.028,3018,1849,1244,1352,1137,0,0,0,0,0,0,26.10,26.01,26.12,8.42,48.97
$GC,2311,0.61,244.4,3017,1849,1352,1137,87.2,10.0,237,2315,0.00,2.22,0.00,0.000,516,0.000,0.041,3027,448,1244,1352,1137,0,0,0,0,0,0,26.60,25.82,26.61,8.41,49.05
$GC,2365,0.61,244.4,3026,448,1351,1137,81.6,10.5,242,2373,0.00,2.15,0.00,0.000,1030,0.000,0.028,3027,1838,1244,1352,1137,0,0,0,0,0,0,26.08,26.05,26.10,8.41,48.70
$GC,2494,0.61,244.4,3026,1839,1352,1137,68.0,10.0,255,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1838,1244,1352,1137,0,0,0,0,0,0,26.62,26.63,26.63,8.41,48.85
$GC,2614,0.61,244.4,3026,1839,1352,1137,55.5,10.7,267,2619,0.00,2.20,0.00,0.000,260,0.000,0.037,3027,3264,1244,1352,1137,0,0,0,0,0,0,26.63,25.88,26.64,8.41,49.05
$GC,2649,0.61,244.4,3026,3264,1353,1137,52.2,10.3,270,2658,0.00,2.12,0.00,0.000,1030,0.000,0.028,3032,1841,1244,1352,1136,0,0,0,0,0,0,26.08,26.02,26.08,8.40,49.21
$GC,2777,0.61,244.4,3032,1842,1352,1137,38.9,10.2,283,2782,0.00,2.17,0.00,0.000,516,0.000,0.041,3043,453,1244,1352,1137,0,0,0,0,0,0,26.63,25.79,26.64,8.39,48.89
$GC,2903,0.61,244.4,3043,452,1351,1136,26.0,9.9,295,2912,0.10,2.17,0.00,0.000,5126,0.096,0.028,3007,1856,1244,1352,1136,0,0,0,0,0,0,25.78,26.03,25.83,8.39,49.25
$GC,3036,0.82,398.9,3006,1856,1352,1136,16.8,5.7,312,3127,0.12,2.28,82.30,0.503,11012,0.062,0.040,3138,451,616,684,549,0,0,0,0,0,0,26.41,24.82,24.41,8.39,48.93
$GC,3136,0.72,398.9,3138,450,683,547,4.3,14.2,326,3145,0.25,2.20,0.00,0.000,5126,0.095,0.028,3038,1849,614,682,547,0,0,0,0,0,0,25.35,25.73,25.51,8.33,48.54
$STATE,3151,end climb,SURFACE_DEPTH_REACHED
$STATE,3151,begin surface coast
$FINISH,0.7,1.012872
$STATE,3173,end surface coast,CONTROL_FINISHED_OK
$STATE,3173,begin surface
$SM_CCo,3189,10.02,0.054,0,0,533,420.20
$SM_GC,2.52,7.45,0.00,10.02,0.028,0.000,0.054,182,1849,533,-8.06,0.17,420.20,0,0,0,0,0,0,25.96,26.31,25.62
$IRIDIUM_FIX,4736.40,-12251.79,200218,212057
$TT8_MAMPS,0.026964,0.240429
$HUMID,47.28
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,9.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,140.6,27.8
$24V_AH,23.72,95.102
$10V_AH,9.86,64.022
$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,18.675,52.500,480.600,10.025,0.000,0.000,0.000,187.625,2.750,0.000,45.507,817.729,977.670,508.290,1106.615,125.697,0.000,1187.820,0.000,697.106,0.000,19.948,0.000
$DEVICE_MAMPS,192.780,50.490,644.895,54.315,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.780,714.725,433.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312096
$DATA_FILE_SIZE,24470,332
$CAP_FILE_SIZE,57179,0
$CFSIZE,2097872896,2041610240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,270.15,1
$GPS,200218,232119,4737.668,-12255.644,5,0.8,16,16.4,0.2,204.3,10,4.8