version: 66.14
glider: 195
mission: 15
dive: 555
start: 2 21 118 12 54 14
data:
$ID,195
$MISSION,15
$DIVE,555
$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,42
$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
$GPS1,210218,124818,4737.5874,-12255.1318,11,0.9,15,16.4,0.3,220.4,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.2
$GPS2,210218,125334,4737.5479,-12255.1758,6,1.0,17,16.4,0.0,0.0,8,4.7
$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,37.1,950,-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,-244.4,181,1845,561,488,0.0,0.0,0,59,0.00,0.00,-48.10,0.000,16386,0.000,0.000,180,1846,1698,1752,1644,0,0,0,0,0,0,26.51,28.83,26.51,8.29,47.67
$GC,62,-0.79,-244.4,181,1845,1752,1645,2.4,-2.2,7,132,9.05,2.28,-49.62,0.000,18948,0.194,0.051,2549,445,3246,3311,3181,0,0,0,0,0,0,24.91,23.70,25.30,8.40,48.89
$GC,178,-0.69,-244.4,2549,445,3312,3181,14.4,-17.9,25,187,0.12,2.17,0.00,0.000,3078,0.119,0.032,2583,1834,3246,3312,3181,0,0,0,0,0,0,25.56,25.91,25.75,8.54,47.99
$GC,252,-0.62,-244.4,2583,1834,3311,3181,26.0,-14.8,34,261,0.00,2.17,0.00,0.000,260,0.000,0.041,2575,3244,3246,3312,3181,0,0,0,0,0,0,26.59,25.77,26.60,8.54,48.58
$GC,317,-0.62,-244.4,2575,3243,3312,3181,35.4,-13.5,40,327,0.10,2.10,0.00,0.000,3078,0.106,0.028,2610,1841,3246,3312,3181,0,0,0,0,0,0,25.70,25.96,25.74,8.54,47.79
$GC,447,-0.62,-244.4,2609,1840,3312,3181,50.8,-11.4,53,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1840,3246,3312,3181,0,0,0,0,0,0,26.62,26.63,26.63,8.54,48.70
$GC,567,-0.62,-244.4,2609,1840,3312,3181,64.0,-10.9,65,577,0.00,2.20,0.00,0.000,260,0.000,0.041,2602,3245,3246,3312,3181,0,0,0,0,0,0,26.63,25.76,26.63,8.54,48.77
$GC,611,-0.62,-244.4,2602,3245,3312,3181,68.8,-10.9,69,621,0.00,2.12,0.00,0.000,1030,0.000,0.028,2602,1840,3245,3310,3181,0,0,0,0,0,0,26.03,25.96,26.06,8.55,49.09
$GC,742,-0.62,-244.4,2602,1841,3312,3181,82.8,-10.7,82,751,0.00,2.17,0.00,0.000,516,0.000,0.041,2602,450,3246,3312,3181,0,0,0,0,0,0,26.63,25.70,26.63,8.55,48.97
$GC,808,-0.62,-244.4,2602,450,3312,3181,90.0,-11.1,88,816,0.00,2.17,0.00,0.000,1030,0.000,0.031,2595,1846,3246,3312,3181,0,0,0,0,0,0,25.96,25.91,25.98,8.56,49.88
$GC,937,-0.62,-244.4,2595,1846,3312,3181,104.8,-11.1,101,948,0.00,2.17,0.00,0.000,260,0.000,0.041,2585,3248,3246,3312,3181,0,0,0,0,0,0,26.63,25.73,26.64,8.56,50.23
$GC,997,-0.62,-244.4,2585,3248,3312,3181,110.9,-10.8,106,1005,0.00,2.15,0.00,0.000,1030,0.000,0.028,2585,1845,3246,3312,3181,0,0,0,0,0,0,25.99,25.96,26.01,8.56,49.33
$GC,1187,-0.62,-244.4,2584,1845,3312,3182,132.2,-10.8,125,1196,0.00,2.17,0.00,0.000,516,0.000,0.041,2586,456,3246,3311,3181,0,0,0,0,0,0,26.63,25.72,26.64,8.57,49.92
$GC,1233,-0.62,-244.4,2584,454,3312,3181,136.9,-10.4,129,1241,0.10,2.17,0.00,0.000,3078,0.115,0.031,2610,1850,3246,3312,3181,0,0,0,0,0,0,25.62,25.91,25.65,8.57,50.15
$GC,1422,-0.62,-244.4,2610,1850,3312,3181,155.0,-9.6,148,1431,0.00,2.20,0.00,0.000,260,0.000,0.041,2603,3252,3246,3312,3181,0,0,0,0,0,0,26.63,25.71,26.64,8.58,50.11
$GC,1447,-0.62,-244.4,2603,3252,3311,3181,157.4,-10.0,150,1455,0.00,2.15,0.00,0.000,1030,0.000,0.028,2603,1848,3246,3312,3181,0,0,0,0,0,0,25.98,25.94,26.00,8.58,49.56
$STATE,1464,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1464,begin apogee
$GC,1469,-0.21,0.0,2603,1848,3312,3181,159.4,-9.7,152,1667,0.38,0.00,193.98,0.654,10246,0.093,0.000,2740,1848,2246,2368,2125,0,0,0,0,0,0,25.58,24.84,24.03,8.58,50.43
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1668,begin climb
$GC,1672,0.79,244.4,2740,1848,2367,2124,161.0,0.0,172,1888,0.88,2.30,202.43,0.641,11012,0.065,0.042,3065,457,1249,1351,1147,0,0,0,0,0,0,25.20,24.85,24.00,8.49,47.95
$GC,1922,0.70,244.4,3065,457,1350,1144,136.3,14.7,197,1926,0.00,2.17,0.00,0.000,1030,0.000,0.029,3065,1846,1247,1350,1144,0,0,0,0,0,0,25.70,25.62,25.72,8.41,47.08
$GC,2115,0.59,244.4,3065,1846,1350,1141,108.5,14.0,216,2120,0.17,2.25,0.00,0.000,4612,0.119,0.040,3013,447,1246,1351,1141,0,0,0,0,0,0,25.79,25.72,25.82,8.41,48.46
$GC,2149,0.53,244.4,3012,446,1350,1139,104.3,12.7,219,2159,0.00,2.12,0.00,0.000,1030,0.000,0.030,3013,1836,1244,1350,1139,0,0,0,0,0,0,25.98,25.95,26.01,8.41,48.81
$GC,2339,0.53,244.4,3012,1836,1350,1139,84.9,9.9,238,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1836,1244,1350,1139,0,0,0,0,0,0,26.58,26.58,26.58,8.41,49.33
$GC,2459,0.53,244.4,3012,1836,1350,1139,73.6,9.7,250,2469,0.00,2.20,0.00,0.000,516,0.000,0.041,3020,446,1244,1350,1139,0,0,0,0,0,0,26.60,25.77,26.60,8.41,49.21
$GC,2502,0.53,244.4,3020,446,1350,1139,69.3,9.7,254,2512,0.10,2.12,0.00,0.000,5126,0.099,0.029,2984,1849,1244,1350,1139,0,0,0,0,0,0,25.76,25.99,25.80,8.41,49.17
$GC,2633,0.62,329.7,2983,1849,1350,1139,59.4,7.6,267,2712,0.00,2.28,71.95,0.589,8708,0.000,0.041,2987,452,903,984,822,0,0,0,0,0,0,26.61,24.79,24.30,8.40,48.46
$GC,2737,0.80,432.6,2987,452,984,821,51.8,7.1,277,2829,0.15,2.15,84.53,0.578,11270,0.054,0.028,3118,1845,498,535,462,0,0,0,0,0,0,25.78,25.74,24.13,8.37,48.03
$GC,2949,0.73,432.6,3118,1845,527,451,16.5,15.6,300,2957,0.20,2.25,0.00,0.000,4612,0.103,0.041,3055,443,489,527,451,0,0,0,0,0,0,25.74,25.68,25.77,8.32,47.71
$GC,2975,0.73,432.6,3054,443,527,450,12.6,14.2,304,2982,0.00,2.17,0.00,0.000,1030,0.000,0.030,3055,1837,488,527,450,0,0,0,0,0,0,25.94,25.90,26.02,8.32,47.91
$GC,3047,0.73,432.6,3054,1837,527,448,5.7,9.7,317,3056,0.00,2.22,0.00,0.000,260,0.000,0.039,3054,3240,487,527,448,0,0,0,0,0,0,26.48,25.80,26.49,8.31,47.99
$GC,3063,0.73,432.6,3054,3240,526,448,4.1,10.0,319,3071,0.00,2.15,0.00,0.000,1030,0.000,0.030,3055,1847,487,526,448,0,0,0,0,0,0,25.96,25.92,25.99,8.32,48.46
$STATE,3076,end climb,SURFACE_DEPTH_REACHED
$STATE,3076,begin surface coast
$FINISH,0.7,1.010356
$STATE,3105,end surface coast,CONTROL_FINISHED_OK
$STATE,3105,begin surface
$SM_CCo,3181,0.00,0.000,0,0,486,431.97
$SM_GC,1.83,7.43,0.00,0.00,0.026,0.000,0.000,175,1847,486,-8.08,0.11,431.97,0,0,0,0,0,0,26.10,26.53,26.14
$IRIDIUM_FIX,4738.33,-12256.21,210218,114701
$TT8_MAMPS,0.027713,0.23968
$HUMID,48.03
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,115.4,52.6
$24V_AH,23.70,96.351
$10V_AH,9.85,64.774
$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,18.675,56.825,552.875,0.000,0.000,0.000,0.000,219.550,1.500,0.000,18.750,769.325,985.052,568.802,1071.236,127.441,0.000,1301.346,0.000,670.835,0.000,11.998,0.000
$DEVICE_MAMPS,193.545,51.255,654.075,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.471,701.759,425.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24562,326
$CAP_FILE_SIZE,58201,0
$CFSIZE,2097872896,2040135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,255.79,1
$GPS,210218,134831,4737.829,-12254.824,26,0.9,36,16.4,0.0,0.0,9,3.8