version: 66.14
glider: 195
mission: 15
dive: 426
start: 2 16 118 12 11 24
data:
$ID,195
$MISSION,15
$DIVE,426
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,160218,120554,4737.8535,-12254.6611,8,0.8,47,16.4,0.3,66.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-65.3
$GPS2,160218,121044,4737.8799,-12254.6191,6,0.8,15,16.4,0.0,0.0,10,5.0
$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,49.4,2023,-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,8,-0.79,-244.4,183,1833,552,482,0.0,0.0,0,18,0.00,0.00,-8.02,0.000,16386,0.000,0.000,182,1832,728,781,676,0,0,0,0,0,0,26.58,28.83,26.58,8.30,47.48
$GC,21,-0.79,-244.4,183,1833,782,675,2.3,0.0,1,124,8.77,2.28,-84.62,0.000,19204,0.182,0.053,2541,3255,3245,3313,3178,0,0,0,0,0,0,24.98,23.90,25.15,8.32,47.08
$GC,296,-0.69,-244.4,2540,3255,3313,3180,36.5,-15.0,39,302,0.15,2.12,0.00,0.000,3078,0.118,0.029,2590,1836,3246,3313,3180,0,0,0,0,0,0,25.84,26.14,25.96,8.54,47.63
$GC,430,-0.69,-244.4,2589,1836,3314,3180,54.2,-12.6,52,434,0.00,2.17,0.00,0.000,516,0.000,0.042,2590,452,3246,3313,3180,0,0,0,0,0,0,26.70,25.96,26.70,8.55,48.70
$GC,462,-0.69,-244.4,2589,451,3313,3179,58.2,-12.5,55,467,0.00,2.15,0.00,0.000,1030,0.000,0.031,2583,1854,3246,3313,3180,0,0,0,0,0,0,26.22,26.13,26.25,8.55,48.54
$GC,595,-0.69,-244.4,2583,1854,3313,3180,73.6,-11.3,68,604,0.00,2.15,0.00,0.000,260,0.000,0.041,2574,3252,3246,3313,3179,0,0,0,0,0,0,26.70,26.01,26.71,8.55,48.50
$GC,650,-0.69,-244.4,2573,3252,3313,3180,79.7,-11.0,73,658,0.00,2.15,0.00,0.000,1030,0.000,0.029,2573,1842,3246,3313,3179,0,0,0,0,0,0,26.19,26.15,26.22,8.56,48.66
$GC,778,-0.69,-244.4,2573,1842,3313,3180,95.3,-12.8,86,782,0.00,2.20,0.00,0.000,516,0.000,0.041,2573,445,3246,3313,3179,0,0,0,0,0,0,26.70,25.96,26.72,8.56,48.62
$GC,810,-0.69,-244.4,2573,445,3313,3179,99.5,-12.7,89,815,0.00,2.15,0.00,0.000,1030,0.000,0.031,2566,1847,3246,3313,3180,0,0,0,0,0,0,26.22,26.13,26.25,8.56,48.38
$GC,943,-0.69,-244.4,2565,1848,3313,3179,116.4,-12.7,102,952,0.00,2.20,0.00,0.000,260,0.000,0.041,2556,3252,3246,3313,3180,0,0,0,0,0,0,26.70,25.99,26.71,8.57,48.97
$GC,980,-0.69,-244.4,2555,3252,3313,3180,120.5,-13.0,105,988,0.08,2.15,0.00,0.000,3078,0.116,0.028,2583,1834,3246,3313,3180,0,0,0,0,0,0,25.92,26.15,25.96,8.57,49.01
$GC,1168,-0.69,-244.4,2583,1833,3313,3180,142.5,-11.2,124,1172,0.00,2.17,0.00,0.000,516,0.000,0.042,2583,454,3246,3313,3180,0,0,0,0,0,0,26.70,25.94,26.72,8.57,49.05
$GC,1196,-0.69,-244.4,2582,453,3313,3179,145.1,-11.7,126,1203,0.00,2.15,0.00,0.000,1030,0.000,0.031,2577,1843,3246,3313,3179,0,0,0,0,0,0,26.16,26.13,26.20,8.58,49.01
$STATE,1273,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1273,begin apogee
$GC,1277,-0.21,0.0,2577,1843,3313,3180,154.3,-10.9,134,1475,0.45,0.00,193.82,0.660,10246,0.093,0.000,2740,1842,2246,2379,2114,0,0,0,0,0,0,25.73,24.73,23.82,8.58,48.70
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1478,0.79,244.4,2740,1842,2379,2114,157.6,0.0,154,1695,0.82,2.30,202.05,0.641,10756,0.044,0.041,3074,451,1247,1354,1141,0,0,0,0,0,0,25.45,24.89,23.85,8.49,47.04
$GC,1762,0.67,244.4,3073,451,1355,1139,127.3,14.8,182,1772,0.12,2.12,0.00,0.000,5126,0.112,0.029,3031,1834,1246,1354,1139,0,0,0,0,0,0,25.58,25.86,25.66,8.41,47.28
$GC,1952,0.62,244.4,3031,1834,1354,1137,104.2,11.9,201,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1834,1245,1354,1137,0,0,0,0,0,0,26.58,26.58,26.58,8.41,47.67
$GC,2140,0.62,244.4,3031,1834,1353,1137,81.6,11.7,220,2145,0.00,2.20,0.00,0.000,516,0.000,0.042,3039,450,1245,1354,1137,0,0,0,0,0,0,26.65,25.98,26.66,8.41,47.99
$GC,2213,0.62,244.4,3038,449,1352,1137,72.4,12.4,227,2223,0.00,2.15,0.00,0.000,1030,0.000,0.030,3039,1853,1244,1352,1137,0,0,0,0,0,0,26.25,26.16,26.27,8.40,48.22
$GC,2343,0.56,244.4,3039,1853,1352,1137,56.6,11.9,240,2345,0.15,0.00,0.00,0.000,4102,0.115,0.000,2988,1853,1244,1352,1136,0,0,0,0,0,0,26.13,26.24,26.20,8.40,48.18
$GC,2464,0.56,244.4,2987,1853,1352,1136,45.8,8.4,252,2468,0.00,2.20,0.00,0.000,516,0.000,0.043,2988,454,1244,1352,1136,0,0,0,0,0,0,26.69,25.98,26.70,8.40,47.83
$GC,2498,0.56,244.4,2987,454,1352,1136,43.2,8.1,255,2507,0.00,2.15,0.00,0.000,1030,0.000,0.029,2988,1849,1244,1352,1136,0,0,0,0,0,0,26.22,26.19,26.24,8.40,48.42
$GC,2627,0.65,334.4,2987,1849,1352,1136,33.0,7.5,268,2698,0.05,2.30,64.68,0.577,10756,0.134,0.041,3079,451,882,978,786,0,0,0,0,0,0,26.50,25.08,24.18,8.39,47.99
$GC,2795,0.65,334.4,3078,451,977,783,11.9,11.7,290,2804,0.15,2.17,0.00,0.000,5126,0.091,0.029,3024,1851,880,977,783,0,0,0,0,0,0,25.75,26.01,25.81,8.35,47.75
$GC,2870,0.88,494.0,3024,1851,977,781,6.7,5.5,303,2919,0.12,0.00,45.75,0.478,10498,0.063,0.000,3139,1851,527,571,483,0,0,0,0,0,0,26.32,28.83,26.33,8.34,47.51
$STATE,2920,end climb,SURFACE_DEPTH_REACHED
$STATE,2920,begin surface coast
$FINISH,1.7,1.018095
$STATE,2958,end surface coast,CONTROL_FINISHED_OK
$STATE,2958,begin surface
$SM_CCo,3034,0.00,0.000,0,0,515,424.86
$SM_GC,2.47,7.90,0.00,0.00,0.041,0.000,0.000,187,1851,515,-8.06,0.23,424.86,0,0,0,0,0,0,26.04,26.37,26.09
$IRIDIUM_FIX,4737.86,-12251.79,160218,110913
$TT8_MAMPS,0.026964,0.23968
$HUMID,47.36
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,145.1,18.1
$24V_AH,23.82,85.761
$10V_AH,9.83,58.619
$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,18.775,43.650,506.300,0.000,0.000,0.000,0.000,203.325,3.500,0.000,17.706,765.253,945.603,475.710,1061.333,103.406,0.000,1168.647,0.000,664.565,0.000,27.222,0.000
$DEVICE_MAMPS,182.070,52.785,660.195,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.738,682.334,414.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,21075,317
$CAP_FILE_SIZE,53617,0
$CFSIZE,2097872896,2052816896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050,283.27,1
$GPS,160218,130253,4737.976,-12254.094,8,0.9,16,16.4,0.0,0.0,9,4.9