version: 66.14
glider: 195
mission: 15
dive: 419
start: 2 16 118 4 55 21
data:
$ID,195
$MISSION,15
$DIVE,419
$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,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
$GPS1,160218,044948,4738.2256,-12254.0049,11,1.0,22,16.4,0.2,81.8,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-73.0
$GPS2,160218,045442,4738.2471,-12253.9277,7,1.0,16,16.4,0.4,67.5,9,4.9
$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,216.4,1076,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.79,-244.4,181,1849,565,489,0.0,0.0,0,18,0.00,0.00,-7.18,0.000,16386,0.000,0.000,180,1849,717,769,665,0,0,0,0,0,0,26.58,28.83,26.59,8.29,47.79
$GC,21,-0.79,-244.4,181,1849,769,665,2.2,0.0,1,118,9.00,2.25,-81.75,0.000,18692,0.190,0.052,2544,3249,3245,3313,3178,0,0,0,0,0,0,24.96,23.90,25.14,8.31,47.28
$GC,159,-0.63,-244.4,2543,3249,3313,3179,14.1,-16.9,22,167,0.17,2.15,0.00,0.000,3078,0.108,0.028,2613,1834,3246,3313,3179,0,0,0,0,0,0,25.68,26.12,25.83,8.54,46.85
$GC,236,-0.63,-244.4,2613,1834,3314,3179,25.2,-12.8,32,246,0.00,2.15,0.00,0.000,516,0.000,0.041,2613,459,3246,3314,3179,0,0,0,0,0,0,26.66,25.96,26.67,8.54,48.07
$GC,259,-0.63,-244.4,2612,459,3314,3179,28.1,-12.4,34,270,0.00,2.12,0.00,0.000,1030,0.000,0.031,2608,1844,3246,3314,3179,0,0,0,0,0,0,26.20,26.11,26.23,8.54,47.51
$GC,390,-0.63,-244.4,2607,1844,3314,3179,43.9,-11.9,47,400,0.00,2.17,0.00,0.000,260,0.000,0.041,2597,3245,3246,3314,3179,0,0,0,0,0,0,26.69,26.00,26.70,8.54,47.95
$GC,436,-0.63,-244.4,2597,3245,3314,3179,48.9,-11.5,51,444,0.00,2.12,0.00,0.000,1030,0.000,0.028,2597,1842,3247,3314,3180,0,0,0,0,0,0,26.19,26.16,26.22,8.54,47.99
$GC,564,-0.63,-244.4,2597,1842,3314,3179,64.2,-11.7,64,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1842,3246,3314,3179,0,0,0,0,0,0,26.70,26.72,26.71,8.55,48.30
$GC,684,-0.63,-244.4,2597,1842,3314,3179,77.3,-10.6,76,694,0.00,2.20,0.00,0.000,260,0.000,0.041,2589,3245,3246,3314,3179,0,0,0,0,0,0,26.70,26.01,26.72,8.56,48.89
$GC,709,-0.63,-244.4,2588,3245,3314,3179,80.0,-10.9,78,718,0.00,2.12,0.00,0.000,1030,0.000,0.028,2589,1846,3246,3314,3179,0,0,0,0,0,0,26.20,26.17,26.22,8.55,48.81
$GC,839,-0.63,-244.4,2588,1846,3313,3179,94.4,-11.3,91,848,0.00,2.17,0.00,0.000,516,0.000,0.041,2588,454,3246,3314,3179,0,0,0,0,0,0,26.71,25.96,26.72,8.56,48.81
$GC,893,-0.63,-244.4,2588,454,3314,3179,100.7,-11.6,96,898,0.00,2.15,0.00,0.000,1030,0.000,0.031,2581,1840,3246,3313,3179,0,0,0,0,0,0,26.16,26.13,26.20,8.56,49.09
$GC,1086,-0.63,-244.4,2580,1840,3314,3179,123.3,-11.5,115,1096,0.00,2.17,0.00,0.000,260,0.000,0.041,2570,3241,3246,3313,3179,0,0,0,0,0,0,26.71,25.99,26.72,8.56,49.44
$GC,1156,-0.63,-244.4,2570,3241,3313,3179,131.1,-11.3,121,1166,0.10,2.12,0.00,0.000,3078,0.103,0.028,2606,1840,3246,3313,3179,0,0,0,0,0,0,25.90,26.15,25.95,8.57,49.09
$GC,1345,-0.63,-244.4,2605,1841,3313,3179,149.3,-9.5,140,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1840,3246,3313,3179,0,0,0,0,0,0,26.71,26.72,26.72,8.57,49.01
$STATE,1373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1373,begin apogee
$GC,1378,-0.21,0.0,2605,1840,3313,3179,152.1,-9.2,143,1576,0.35,0.00,193.60,0.656,10246,0.091,0.000,2741,1840,2246,2378,2114,0,0,0,0,0,0,25.84,24.72,23.80,8.58,48.97
$STATE,1577,end apogee,CONTROL_FINISHED_OK
$STATE,1577,begin climb
$GC,1579,0.79,244.4,2741,1840,2378,2114,157.9,0.0,163,1797,0.85,2.28,203.70,0.640,10756,0.063,0.041,3061,451,1247,1355,1140,0,0,0,0,0,0,25.33,24.37,23.84,8.50,47.40
$GC,1821,0.69,244.4,3061,451,1355,1140,133.2,14.3,187,1826,0.00,2.15,0.00,0.000,1030,0.000,0.030,3061,1839,1247,1355,1140,0,0,0,0,0,0,25.77,25.69,25.79,8.41,45.98
$GC,2015,0.59,244.4,3060,1839,1355,1140,105.2,14.5,206,2020,0.15,2.20,0.00,0.000,4356,0.122,0.037,3006,3253,1247,1355,1140,0,0,0,0,0,0,25.95,25.96,26.00,8.41,48.22
$GC,2031,0.50,244.4,3006,3253,1355,1140,103.3,14.3,207,2039,0.10,2.15,0.00,0.000,5126,0.106,0.029,2975,1849,1247,1355,1140,0,0,0,0,0,0,25.84,26.08,25.90,8.41,47.75
$GC,2219,0.50,244.4,2974,1848,1355,1139,86.4,8.0,226,2229,0.00,2.20,0.00,0.000,516,0.000,0.044,2975,449,1247,1355,1139,0,0,0,0,0,0,26.65,25.98,26.65,8.40,47.67
$GC,2303,0.58,322.9,2974,448,1355,1137,80.0,7.8,234,2377,0.00,2.15,66.40,0.600,9222,0.000,0.029,2974,1861,929,1035,823,0,0,0,0,0,0,26.23,26.17,24.15,8.41,48.74
$GC,2506,0.73,408.1,2974,1861,1034,822,64.5,7.6,254,2587,0.12,2.30,72.90,0.590,10756,0.063,0.041,3103,441,580,637,523,0,0,0,0,0,0,26.25,24.60,24.10,8.37,47.40
$GC,2661,0.65,408.1,3102,440,634,517,38.5,16.9,269,2666,0.25,2.17,0.00,0.000,5126,0.103,0.030,3019,1851,575,634,517,0,0,0,0,0,0,25.60,25.92,25.78,8.34,47.28
$GC,2795,0.65,408.1,3018,1851,633,514,23.2,10.2,282,2804,0.00,2.22,0.00,0.000,516,0.000,0.043,3025,452,574,634,514,0,0,0,0,0,0,26.56,25.93,26.57,8.33,47.44
$GC,2819,0.65,408.1,3024,452,633,514,21.0,9.4,284,2827,0.00,2.15,0.00,0.000,1030,0.000,0.029,3025,1841,573,633,514,0,0,0,0,0,0,26.15,26.12,26.17,8.33,47.75
$GC,2953,0.81,492.3,3024,1841,633,513,9.5,7.6,308,2970,0.10,2.25,10.68,0.448,10756,0.078,0.042,3143,450,497,541,453,0,0,0,0,0,0,26.40,25.33,24.46,8.32,47.28
$STATE,3006,end climb,SURFACE_DEPTH_REACHED
$STATE,3006,begin surface coast
$FINISH,0.8,1.014512
$STATE,3029,end surface coast,CONTROL_FINISHED_OK
$STATE,3029,begin surface
$SM_CCo,3107,0.00,0.000,0,0,490,430.75
$SM_GC,2.10,7.65,2.20,0.00,0.028,0.029,0.000,183,1850,490,-8.07,-1.05,430.75,0,0,0,0,0,0,26.22,26.15,26.27
$IRIDIUM_FIX,4739.20,-12253.53,160218,034355
$TT8_MAMPS,0.026964,0.304094
$HUMID,47.32
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.2
$ALTIM_BOTTOM_PING,140.8,20.7
$24V_AH,23.80,85.159
$10V_AH,9.81,58.241
$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,18.850,52.350,547.275,0.000,0.000,0.000,0.000,206.150,3.000,0.000,17.453,766.930,953.201,552.329,1043.515,109.226,0.000,1239.885,0.000,651.832,0.000,23.965,0.000
$DEVICE_MAMPS,190.485,52.020,656.370,0.000,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.888,690.899,419.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312104
$DATA_FILE_SIZE,21091,321
$CAP_FILE_SIZE,56159,0
$CFSIZE,2097872896,2053505024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133,57.12,1
$GPS,160218,054825,4738.133,-12254.322,9,0.9,38,16.4,0.4,66.3,9,5.0