version: 66.14
glider: 195
mission: 15
dive: 431
start: 2 16 118 17 16 47
data:
$ID,195
$MISSION,15
$DIVE,431
$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,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,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
$GPS1,160218,171101,4738.3354,-12253.7676,15,0.9,34,16.4,0.6,69.9,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-70.2
$GPS2,160218,171608,4738.3701,-12253.6064,6,0.8,15,16.4,0.9,51.8,11,4.7
$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,219.5,1533,-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,-244.4,163,1849,514,441,0.0,0.0,0,32,0.00,0.00,-20.55,0.000,16386,0.000,0.000,163,1849,1011,1071,951,0,0,0,0,0,0,26.57,28.83,26.58,8.28,47.59
$GC,34,-0.79,-244.4,163,1849,1072,952,2.2,-2.7,3,125,8.98,2.25,-69.97,0.000,19204,0.188,0.052,2550,3249,3245,3313,3178,0,0,0,0,0,0,24.96,23.84,25.34,8.34,47.32
$GC,176,-0.62,-244.4,2549,3249,3314,3178,14.8,-18.5,25,185,0.17,2.15,0.00,0.000,3078,0.104,0.029,2620,1837,3246,3314,3179,0,0,0,0,0,0,25.70,26.10,25.84,8.53,47.48
$GC,254,-0.62,-244.4,2620,1837,3314,3178,25.1,-10.9,35,258,0.00,2.17,0.00,0.000,516,0.000,0.042,2621,454,3246,3314,3179,0,0,0,0,0,0,26.66,25.94,26.67,8.53,47.51
$GC,318,-0.62,-244.4,2620,453,3315,3178,32.2,-11.5,41,326,0.00,2.15,0.00,0.000,1030,0.000,0.032,2614,1838,3246,3314,3178,0,0,0,0,0,0,26.15,26.12,26.19,8.54,48.07
$GC,446,-0.62,-244.4,2614,1838,3314,3178,46.9,-11.0,54,450,0.00,2.20,0.00,0.000,260,0.000,0.041,2605,3246,3246,3314,3179,0,0,0,0,0,0,26.69,26.01,26.70,8.54,48.81
$GC,521,-0.62,-244.4,2604,3246,3314,3179,54.8,-10.6,61,530,0.00,2.10,0.00,0.000,1030,0.000,0.028,2604,1843,3247,3315,3179,0,0,0,0,0,0,26.18,26.15,26.22,8.54,48.58
$GC,650,-0.62,-244.4,2604,1843,3315,3178,68.3,-10.0,74,654,0.00,2.20,0.00,0.000,516,0.000,0.041,2604,449,3246,3315,3178,0,0,0,0,0,0,26.70,25.96,26.71,8.54,48.58
$GC,664,-0.62,-244.4,2604,450,3314,3178,69.5,-10.1,75,672,0.00,2.15,0.00,0.000,1030,0.000,0.031,2596,1841,3246,3314,3178,0,0,0,0,0,0,26.17,26.13,26.20,8.54,48.50
$GC,793,-0.62,-244.4,2596,1841,3314,3178,83.7,-10.7,88,797,0.00,2.20,0.00,0.000,260,0.000,0.041,2587,3252,3246,3314,3178,0,0,0,0,0,0,26.70,25.99,26.71,8.55,48.74
$GC,827,-0.62,-244.4,2586,3252,3315,3178,87.2,-10.5,91,835,0.00,2.15,0.00,0.000,1030,0.000,0.028,2586,1842,3246,3314,3178,0,0,0,0,0,0,26.18,26.15,26.22,8.55,48.70
$GC,957,-0.62,-244.4,2586,1842,3314,3179,101.3,-11.1,104,961,0.00,2.20,0.00,0.000,516,0.000,0.042,2586,451,3246,3314,3178,0,0,0,0,0,0,26.70,25.94,26.71,8.56,49.13
$GC,1003,-0.62,-244.4,2586,450,3314,3178,106.4,-11.1,108,1011,0.00,2.17,0.00,0.000,1030,0.000,0.032,2583,1848,3246,3314,3178,0,0,0,0,0,0,26.16,26.12,26.19,8.56,49.17
$GC,1194,-0.62,-244.4,2582,1848,3314,3178,127.1,-11.0,127,1199,0.10,2.20,0.00,0.000,2308,0.138,0.039,2612,3250,3246,3314,3179,0,0,0,0,0,0,26.22,25.98,26.23,8.56,49.09
$GC,1261,-0.70,-244.4,2611,3249,3314,3178,133.2,-8.5,133,1266,0.00,2.12,0.00,0.000,1030,0.000,0.028,2611,1836,3246,3314,3179,0,0,0,0,0,0,26.23,26.15,26.26,8.57,49.29
$GC,1459,-0.70,-244.4,2611,1836,3314,3179,150.5,-8.7,152,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1836,3246,3314,3178,0,0,0,0,0,0,26.66,26.67,26.67,8.58,49.05
$GC,1646,-0.78,-244.4,2611,1836,3314,3179,166.3,-7.7,171,1654,0.10,0.00,0.00,0.000,4102,0.080,0.000,2553,1835,3246,3314,3178,0,0,0,0,0,0,26.46,26.48,26.47,8.57,49.48
$STATE,1663,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1663,begin apogee
$GC,1668,-0.21,0.0,2553,1836,3314,3178,166.5,-2.5,173,1866,0.47,0.00,194.00,0.667,10246,0.057,0.000,2747,1836,2247,2379,2115,0,0,0,0,0,0,26.03,24.72,23.80,8.58,49.25
$STATE,1867,end apogee,CONTROL_FINISHED_OK
$STATE,1867,begin climb
$GC,1869,0.79,244.4,2747,1835,2378,2114,166.4,0.0,193,2085,0.85,2.22,202.85,0.648,10756,0.068,0.042,3063,455,1248,1356,1140,0,0,0,0,0,0,25.28,24.35,23.83,8.49,47.48
$GC,2139,0.70,244.4,3063,455,1355,1139,138.5,14.6,220,2149,0.00,2.15,0.00,0.000,1030,0.000,0.030,3063,1844,1246,1355,1138,0,0,0,0,0,0,25.83,25.80,25.87,8.40,46.69
$GC,2330,0.60,244.4,3063,1844,1355,1137,111.0,14.1,239,2332,0.17,0.00,0.00,0.000,4102,0.115,0.000,3006,1844,1246,1355,1137,0,0,0,0,0,0,25.94,26.08,26.03,8.41,48.22
$GC,2510,0.60,244.4,3005,1844,1355,1136,91.7,10.0,257,2515,0.00,2.22,0.00,0.000,516,0.000,0.043,3014,447,1245,1355,1136,0,0,0,0,0,0,26.65,25.96,26.65,8.40,48.42
$GC,2583,0.60,244.4,3013,446,1353,1136,84.5,10.0,264,2593,0.00,2.15,0.00,0.000,1030,0.000,0.030,3014,1848,1244,1353,1136,0,0,0,0,0,0,26.24,26.15,26.27,8.40,47.91
$GC,2713,0.60,244.4,3013,1848,1353,1136,72.2,9.4,277,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1848,1244,1353,1136,0,0,0,0,0,0,26.67,26.69,26.68,8.40,49.01
$GC,2833,0.60,244.4,3013,1848,1353,1136,60.8,9.8,289,2838,0.00,2.22,0.00,0.000,516,0.000,0.043,3019,448,1244,1353,1136,0,0,0,0,0,0,26.69,25.97,26.70,8.40,48.22
$GC,2866,0.60,244.4,3019,448,1353,1136,57.5,9.9,292,2876,0.00,2.15,0.00,0.000,1030,0.000,0.029,3020,1851,1244,1353,1136,0,0,0,0,0,0,26.25,26.17,26.28,8.39,48.26
$GC,2997,0.60,244.4,3019,1851,1353,1136,44.6,10.0,305,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1851,1244,1353,1136,0,0,0,0,0,0,26.69,26.70,26.70,8.39,48.38
$GC,3116,0.60,244.4,3019,1851,1353,1136,33.2,9.3,317,3121,0.00,2.22,0.00,0.000,516,0.000,0.042,3028,451,1244,1353,1136,0,0,0,0,0,0,26.70,25.97,26.70,8.39,47.99
$GC,3139,0.60,244.4,3027,450,1353,1136,31.1,9.1,319,3143,0.00,2.15,0.00,0.000,1030,0.000,0.030,3028,1853,1244,1353,1136,0,0,0,0,0,0,26.25,26.17,26.28,8.39,48.77
$GC,3268,0.60,244.4,3027,1852,1353,1136,19.0,8.9,332,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1852,1244,1353,1136,0,0,0,0,0,0,26.69,26.70,26.70,8.38,48.26
$GC,3340,0.60,244.4,3027,1853,1353,1136,12.9,8.0,345,3347,0.00,2.25,0.00,0.000,516,0.000,0.042,3035,454,1244,1353,1136,0,0,0,0,0,0,26.70,25.96,26.71,8.38,48.46
$GC,3391,0.71,353.1,3034,453,1353,1136,9.5,6.9,354,3456,0.00,2.15,56.12,0.493,9222,0.000,0.030,3035,1850,805,897,714,0,0,0,0,0,0,26.21,26.17,24.28,8.38,48.38
$STATE,3521,end climb,SURFACE_DEPTH_REACHED
$STATE,3521,begin surface coast
$FINISH,0.9,1.018112
$STATE,3567,end surface coast,CONTROL_FINISHED_OK
$STATE,3568,begin surface
$SM_CCo,3583,33.00,0.057,0,0,532,420.20
$SM_GC,2.93,7.35,0.00,33.00,0.027,0.000,0.057,172,1850,532,-8.06,0.17,420.20,0,0,0,0,0,0,26.19,26.53,25.80
$IRIDIUM_FIX,4738.33,-12256.21,160218,160612
$TT8_MAMPS,0.026964,0.297353
$HUMID,47.55
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.6
$ALTIM_BOTTOM_PING,160.1,16.3
$24V_AH,23.80,86.184
$10V_AH,9.79,58.895
$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,18.200,52.325,452.975,33.000,0.000,0.000,0.000,218.350,4.750,0.000,16.756,962.387,1150.739,502.459,1214.566,120.876,0.000,1243.631,0.000,746.086,0.000,37.676,0.000
$DEVICE_MAMPS,188.190,52.020,667.080,57.375,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.663,826.661,502.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312100
$DATA_FILE_SIZE,27947,384
$CAP_FILE_SIZE,63231,0
$CFSIZE,2097872896,2052325376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.093,66.80,1
$GPS,160218,181845,4738.198,-12254.006,42,0.8,60,16.4,0.6,227.4,10,4.9