version: 66.14
glider: 195
mission: 15
dive: 470
start: 2 18 118 7 3 40
data:
$ID,195
$MISSION,15
$DIVE,470
$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,47
$R_STBD_OVSHOOT,55
$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
$GPS1,180218,065735,4737.7090,-12255.6455,12,1.0,27,16.4,0.6,48.8,8,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.3
$GPS2,180218,070300,4737.7803,-12255.5371,6,0.9,17,16.4,0.5,36.3,8,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE3
$TGT_LATLONG,4737.343,-12255.988
$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,202.0,987,-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,-244.4,171,1864,553,481,0.0,0.0,0,60,0.00,0.00,-48.95,0.000,16386,0.000,0.000,171,1864,1685,1739,1632,0,0,0,0,0,0,26.58,28.83,26.59,8.30,48.22
$GC,63,-0.79,-244.4,171,1864,1740,1633,2.2,-2.7,7,127,9.20,2.25,-46.22,0.000,18948,0.194,0.051,2551,451,3243,3310,3177,0,0,0,0,0,0,24.74,25.52,25.15,8.41,47.95
$GC,146,-0.57,-244.4,2550,451,3310,3178,11.1,-18.0,19,154,0.22,2.15,0.00,0.000,3078,0.111,0.031,2628,1829,3244,3311,3178,0,0,0,0,0,0,25.50,26.03,25.66,8.55,47.44
$GC,219,-0.57,-244.4,2628,1830,3311,3178,22.3,-11.9,30,228,0.00,2.22,0.00,0.000,260,0.000,0.041,2620,3254,3244,3311,3178,0,0,0,0,0,0,26.64,25.91,26.65,8.54,47.67
$GC,263,-0.57,-244.4,2620,3253,3311,3178,27.3,-11.0,34,272,0.00,2.12,0.00,0.000,1030,0.000,0.028,2620,1838,3244,3311,3178,0,0,0,0,0,0,26.11,26.08,26.15,8.55,47.79
$GC,393,-0.57,-244.4,2619,1838,3311,3178,41.7,-11.2,47,403,0.00,2.17,0.00,0.000,516,0.000,0.041,2619,450,3244,3311,3178,0,0,0,0,0,0,26.67,25.88,26.68,8.55,48.11
$GC,449,-0.57,-244.4,2619,450,3311,3178,48.1,-12.0,52,457,0.00,2.17,0.00,0.000,1030,0.000,0.031,2612,1848,3244,3311,3178,0,0,0,0,0,0,26.11,26.08,26.14,8.55,47.87
$GC,577,-0.57,-244.4,2611,1848,3311,3178,63.4,-11.6,65,581,0.00,2.17,0.00,0.000,260,0.000,0.041,2602,3245,3244,3311,3178,0,0,0,0,0,0,26.69,25.93,26.70,8.55,48.54
$GC,651,-0.57,-244.4,2602,3245,3311,3178,71.2,-10.4,72,661,0.00,2.08,0.00,0.000,1030,0.000,0.028,2602,1845,3244,3311,3177,0,0,0,0,0,0,26.13,26.10,26.17,8.55,48.81
$GC,781,-0.57,-244.4,2601,1844,3311,3178,86.0,-11.2,85,791,0.00,2.17,0.00,0.000,516,0.000,0.041,2602,447,3244,3311,3178,0,0,0,0,0,0,26.69,25.88,26.70,8.55,49.05
$GC,836,-0.57,-244.4,2601,447,3311,3178,92.3,-11.3,90,845,0.00,2.12,0.00,0.000,1030,0.000,0.031,2594,1846,3244,3311,3178,0,0,0,0,0,0,26.11,26.08,26.14,8.55,48.93
$GC,965,-0.57,-244.4,2593,1846,3311,3178,106.8,-10.9,103,976,0.10,2.17,0.00,0.000,2308,0.135,0.038,2623,3245,3244,3311,3178,0,0,0,0,0,0,26.20,25.94,26.22,8.56,49.37
$GC,1026,-0.64,-244.4,2623,3245,3311,3178,112.1,-8.7,108,1035,0.00,2.10,0.00,0.000,1030,0.000,0.028,2623,1833,3244,3311,3178,0,0,0,0,0,0,26.14,26.10,26.17,8.56,49.64
$GC,1215,-0.64,-244.4,2623,1833,3311,3178,129.8,-9.6,127,1219,0.00,2.17,0.00,0.000,516,0.000,0.041,2624,448,3244,3311,3178,0,0,0,0,0,0,26.69,25.86,26.70,8.57,49.33
$GC,1250,-0.64,-244.4,2623,448,3311,3178,133.3,-9.7,130,1259,0.00,2.17,0.00,0.000,1030,0.000,0.031,2616,1849,3244,3311,3177,0,0,0,0,0,0,26.10,26.08,26.14,8.57,49.21
$GC,1440,-0.64,-244.4,2615,1849,3311,3178,152.4,-9.5,149,1450,0.00,2.17,0.00,0.000,260,0.000,0.041,2606,3243,3244,3311,3178,0,0,0,0,0,0,26.69,25.92,26.70,8.57,49.40
$STATE,1483,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1483,begin apogee
$GC,1490,-0.21,0.0,2606,1837,3311,3178,156.7,-9.5,153,1695,0.38,0.00,194.25,0.655,10246,0.090,0.000,2745,1837,2246,2374,2119,0,0,0,0,0,0,25.76,24.77,23.88,8.57,49.84
$STATE,1696,end apogee,CONTROL_FINISHED_OK
$STATE,1696,begin climb
$GC,1699,0.79,244.4,2745,1837,2374,2119,162.8,0.0,174,1917,0.85,2.25,204.25,0.637,10756,0.063,0.041,3064,454,1247,1354,1141,0,0,0,0,0,0,25.32,24.41,23.89,8.49,47.79
$GC,1942,0.70,244.4,3063,454,1353,1140,140.9,13.0,198,1952,0.00,2.17,0.00,0.000,1030,0.000,0.029,3064,1845,1246,1353,1139,0,0,0,0,0,0,25.76,25.67,25.78,8.41,46.65
$GC,2132,0.61,244.4,3063,1846,1352,1138,114.5,14.0,217,2143,0.15,2.22,0.00,0.000,4612,0.119,0.041,3018,452,1245,1353,1138,0,0,0,0,0,0,25.94,25.86,25.98,8.41,48.22
$GC,2159,0.55,244.4,3017,452,1353,1137,111.3,13.4,219,2169,0.08,2.15,0.00,0.000,5126,0.105,0.029,2990,1842,1244,1353,1136,0,0,0,0,0,0,25.86,26.07,25.91,8.41,47.63
$GC,2348,0.55,244.4,2989,1842,1353,1136,94.6,8.5,238,2359,0.00,2.20,0.00,0.000,516,0.000,0.043,2990,454,1244,1353,1136,0,0,0,0,0,0,26.63,25.91,26.64,8.41,48.34
$GC,2395,0.55,244.4,2989,454,1353,1135,90.8,8.3,242,2405,0.00,2.10,0.00,0.000,1030,0.000,0.029,2990,1847,1244,1353,1136,0,0,0,0,0,0,26.16,26.13,26.20,8.41,48.11
$GC,2525,0.64,337.4,2989,1847,1353,1135,81.2,7.4,255,2614,0.00,2.25,78.93,0.597,8708,0.000,0.041,2990,455,870,968,772,0,0,0,0,0,0,26.66,24.66,24.16,8.41,48.62
$GC,2643,0.79,413.8,2989,455,968,771,72.7,7.9,266,2719,0.15,2.17,65.85,0.582,11270,0.034,0.028,3128,1846,557,609,506,0,0,0,0,0,0,25.85,25.82,24.06,8.37,47.40
$GC,2838,0.67,413.8,3127,1846,607,498,36.5,18.9,286,2848,0.28,2.20,0.00,0.000,4612,0.107,0.040,3041,461,552,607,498,0,0,0,0,0,0,25.67,25.80,25.73,8.33,47.51
$GC,2883,0.67,413.8,3041,460,606,497,30.2,14.1,290,2891,0.00,2.15,0.00,0.000,1030,0.000,0.029,3041,1844,551,606,497,0,0,0,0,0,0,26.09,26.03,26.09,8.33,47.83
$GC,3016,0.73,413.8,3041,1845,606,495,16.6,8.7,306,3023,0.00,2.20,0.00,0.000,260,0.000,0.038,3041,3245,550,606,495,0,0,0,0,0,0,26.60,25.99,26.60,8.33,48.07
$GC,3093,0.83,413.8,3041,3245,606,495,10.0,8.6,320,3101,0.03,2.15,0.00,0.000,3078,0.125,0.030,3116,1843,550,606,495,0,0,0,0,0,0,25.98,26.10,26.03,8.32,48.14
$STATE,3154,end climb,SURFACE_DEPTH_REACHED
$STATE,3154,begin surface coast
$FINISH,0.5,1.019604
$STATE,3183,end surface coast,CONTROL_FINISHED_OK
$STATE,3183,begin surface
$SM_CCo,3199,2.12,0.054,0,0,533,420.20
$SM_GC,2.18,7.57,0.00,2.12,0.028,0.000,0.054,183,1842,533,-8.06,-0.03,420.20,0,0,0,0,0,0,26.27,26.66,25.91
$IRIDIUM_FIX,4740.65,-12253.53,180218,055028
$TT8_MAMPS,0.026964,0.240429
$HUMID,47.95
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.0
$ALTIM_BOTTOM_PING,145.6,20.5
$24V_AH,23.88,89.302
$10V_AH,9.85,60.827
$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,19.000,60.850,543.275,2.125,0.000,0.000,0.000,233.075,3.000,0.000,18.282,811.320,914.007,594.092,1111.643,123.565,0.000,1341.122,0.000,688.241,0.000,21.542,0.000
$DEVICE_MAMPS,194.310,51.255,654.840,54.315,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.268,723.236,438.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24611,336
$CAP_FILE_SIZE,59947,0
$CFSIZE,2097872896,2048491520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,50.56,1
$GPS,180218,075759,4737.501,-12255.869,5,0.9,15,16.4,0.6,45.1,9,4.5