version: 66.14
glider: 195
mission: 15
dive: 780
start: 3 2 118 3 51 20
data:
$ID,195
$MISSION,15
$DIVE,780
$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,48
$R_STBD_OVSHOOT,41
$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,15
$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
$GPS1,020318,034511,4738.3320,-12253.8643,4,1.0,14,16.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.9
$GPS2,020318,035039,4738.3296,-12253.7891,7,1.0,17,16.4,0.0,0.0,9,4.7
$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,213.7,1307,-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,10,-0.79,-244.4,180,1851,544,484,0.0,0.0,0,60,0.00,0.00,-47.58,0.000,16386,0.000,0.000,180,1851,1637,1678,1596,0,0,0,0,0,0,26.26,28.83,26.27,8.30,49.13
$GC,63,-0.79,-244.4,180,1851,1678,1597,2.2,-2.6,7,134,9.02,2.28,-55.70,0.000,18692,0.194,0.050,2542,3253,3244,3308,3181,0,0,0,0,0,0,24.96,23.64,25.31,8.40,49.29
$GC,190,-0.65,-244.4,2542,3253,3309,3182,14.5,-16.9,27,199,0.15,2.17,0.00,0.000,3078,0.108,0.027,2605,1840,3245,3309,3182,0,0,0,0,0,0,25.36,25.73,25.51,8.55,49.48
$GC,268,-0.65,-244.4,2604,1840,3310,3182,26.3,-14.7,37,273,0.00,2.22,0.00,0.000,516,0.000,0.039,2605,449,3246,3310,3182,0,0,0,0,0,0,26.37,25.60,26.38,8.54,49.52
$GC,383,-0.65,-244.4,2605,448,3310,3182,40.5,-12.2,48,392,0.00,2.15,0.00,0.000,1030,0.000,0.029,2599,1845,3246,3310,3182,0,0,0,0,0,0,25.79,25.75,25.82,8.55,50.11
$GC,513,-0.65,-244.4,2598,1845,3310,3182,55.9,-11.4,61,517,0.00,2.22,0.00,0.000,260,0.000,0.039,2590,3251,3246,3310,3182,0,0,0,0,0,0,26.40,25.66,26.41,8.55,50.11
$GC,568,-0.65,-244.4,2589,3251,3310,3182,62.1,-11.0,66,576,0.00,2.17,0.00,0.000,1030,0.000,0.027,2589,1838,3245,3310,3181,0,0,0,0,0,0,25.82,25.78,25.84,8.55,49.88
$GC,697,-0.65,-244.4,2589,1838,3310,3182,77.9,-12.3,79,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1838,3246,3310,3182,0,0,0,0,0,0,26.41,26.42,26.41,8.56,50.00
$GC,817,-0.65,-244.4,2589,1838,3310,3182,92.5,-11.8,91,822,0.00,2.22,0.00,0.000,260,0.000,0.038,2580,3252,3246,3310,3182,0,0,0,0,0,0,26.41,25.67,26.42,8.56,50.27
$GC,851,-0.65,-244.4,2580,3252,3310,3182,96.4,-11.5,94,860,0.00,2.12,0.00,0.000,1030,0.000,0.027,2580,1847,3246,3310,3182,0,0,0,0,0,0,25.83,25.80,25.83,8.56,51.22
$GC,982,-0.65,-244.4,2580,1846,3310,3182,111.4,-11.7,107,987,0.00,2.20,0.00,0.000,516,0.000,0.039,2580,450,3246,3310,3182,0,0,0,0,0,0,26.41,25.65,26.42,8.57,50.78
$GC,1070,-0.65,-244.4,2580,450,3310,3181,122.2,-12.3,115,1075,0.10,2.15,0.00,0.000,3078,0.135,0.028,2604,1846,3245,3309,3182,0,0,0,0,0,0,25.57,25.79,25.68,8.57,50.78
$GC,1264,-0.65,-244.4,2603,1846,3310,3182,142.6,-10.0,134,1268,0.00,2.22,0.00,0.000,260,0.000,0.038,2596,3254,3246,3310,3182,0,0,0,0,0,0,26.41,25.69,26.43,8.58,51.14
$GC,1342,-0.65,-244.4,2595,3253,3309,3182,150.3,-10.0,141,1351,0.00,2.12,0.00,0.000,1030,0.000,0.026,2596,1841,3246,3310,3182,0,0,0,0,0,0,25.85,25.82,25.87,8.58,50.74
$STATE,1429,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1429,begin apogee
$GC,1435,-0.21,0.0,2596,1841,3310,3182,159.9,-10.7,150,1634,0.40,0.00,194.75,0.662,10246,0.093,0.000,2740,1841,2246,2372,2121,0,0,0,0,0,0,25.50,24.05,23.41,8.58,51.26
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1640,0.79,244.4,2740,1840,2371,2121,163.6,0.0,170,1862,0.90,2.47,211.60,0.630,10756,0.043,0.037,3084,457,1250,1352,1148,0,0,0,0,0,0,24.32,22.89,22.49,8.50,49.21
$GC,1951,0.67,244.4,3083,456,1351,1144,127.9,15.6,201,1962,0.17,2.25,0.00,0.000,5126,0.105,0.027,3031,1832,1247,1351,1144,0,0,0,0,0,0,23.86,24.14,23.95,8.42,48.50
$GC,2143,0.67,244.4,3030,1833,1350,1141,103.5,12.6,220,2154,0.00,2.25,0.00,0.000,516,0.000,0.040,3038,458,1246,1351,1141,0,0,0,0,0,0,25.64,24.84,25.65,8.41,49.52
$GC,2201,0.67,244.4,3038,458,1350,1140,96.2,12.9,225,2210,0.00,2.15,0.00,0.000,1030,0.000,0.027,3038,1839,1245,1350,1140,0,0,0,0,0,0,25.26,25.22,25.28,8.41,49.80
$GC,2330,0.62,244.4,3037,1840,1350,1140,80.4,12.2,238,2340,0.00,2.28,0.00,0.000,260,0.000,0.037,3038,3263,1245,1350,1140,0,0,0,0,0,0,26.08,25.29,26.10,8.41,49.92
$GC,2367,0.62,244.4,3038,3263,1350,1140,76.0,12.4,241,2375,0.10,2.22,0.00,0.000,5126,0.111,0.027,3011,1840,1245,1350,1140,0,0,0,0,0,0,25.21,25.50,25.25,8.41,50.03
$GC,2495,0.62,244.4,3011,1840,1350,1140,63.0,10.1,254,2505,0.00,2.22,0.00,0.000,516,0.000,0.041,3015,451,1245,1350,1140,0,0,0,0,0,0,26.29,25.39,26.29,8.41,50.39
$GC,2573,0.62,244.4,3014,451,1350,1139,55.7,9.8,261,2581,0.00,2.20,0.00,0.000,1030,0.000,0.028,3015,1856,1244,1350,1139,0,0,0,0,0,0,25.75,25.72,25.77,8.40,49.40
$GC,2701,0.62,244.4,3014,1856,1350,1139,43.7,9.3,274,2712,0.00,2.28,0.00,0.000,516,0.000,0.040,3017,443,1244,1350,1139,0,0,0,0,0,0,26.39,25.49,26.39,8.40,50.23
$GC,2728,0.62,244.4,3017,443,1350,1139,41.7,9.0,276,2736,0.00,2.17,0.00,0.000,1030,0.000,0.027,3018,1834,1244,1350,1139,0,0,0,0,0,0,25.78,25.75,25.82,8.40,49.80
$GC,2857,0.62,244.4,3017,1835,1350,1139,29.9,8.8,289,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1835,1244,1350,1139,0,0,0,0,0,0,26.41,26.42,26.41,8.40,50.03
$GC,2987,0.71,330.3,3017,1835,1350,1139,19.8,7.6,302,3044,0.00,2.28,47.12,0.535,8708,0.000,0.040,3024,455,898,974,822,0,0,0,0,0,0,26.38,25.13,24.45,8.39,50.31
$GC,3079,0.86,418.9,3024,455,974,819,13.0,7.5,316,3137,0.10,2.20,47.72,0.493,11270,0.044,0.027,3131,1848,534,568,500,0,0,0,0,0,0,25.41,25.44,24.33,8.35,49.09
$STATE,3154,end climb,SURFACE_DEPTH_REACHED
$STATE,3154,begin surface coast
$FINISH,0.5,1.020265
$STATE,3173,end surface coast,CONTROL_FINISHED_OK
$STATE,3173,begin surface
$SM_CCo,3251,0.00,0.000,0,0,524,422.65
$SM_GC,1.40,7.90,0.00,0.00,0.028,0.000,0.000,175,1848,524,-8.08,0.14,422.65,0,0,0,0,0,0,25.39,25.75,25.42
$IRIDIUM_FIX,4741.99,-12255.26,020318,023822
$TT8_MAMPS,0.026964,0.240429
$HUMID,49.56
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.9
$ALTIM_BOTTOM_PING,155.6,19.0
$24V_AH,22.49,114.617
$10V_AH,9.83,75.387
$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,18.850,53.250,501.200,0.000,0.000,0.000,0.000,219.400,4.000,0.000,18.655,793.322,1026.702,505.460,1111.116,164.493,0.000,1245.623,0.000,703.334,0.000,30.346,0.000
$DEVICE_MAMPS,193.545,49.725,661.725,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.643,710.544,431.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312092
$DATA_FILE_SIZE,24575,330
$CAP_FILE_SIZE,58053,0
$CFSIZE,2097872896,2018017280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.127,54.88,1
$GPS,020318,044652,4738.191,-12254.090,12,0.9,40,16.4,0.2,142.1,9,5.0