version: 66.14
glider: 195
mission: 15
dive: 473
start: 2 18 118 9 48 5
data:
$ID,195
$MISSION,15
$DIVE,473
$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,45
$R_STBD_OVSHOOT,45
$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
$GPS1,180218,094224,4737.5703,-12255.3770,5,1.2,15,16.4,0.5,96.6,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.9
$GPS2,180218,094726,4737.5874,-12255.3223,5,1.2,18,16.4,0.0,62.2,8,4.6
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$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,40.6,1055,-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,-244.4,174,1857,522,441,0.0,0.0,0,60,0.00,0.00,-48.70,0.000,16386,0.000,0.000,173,1857,1641,1693,1589,0,0,0,0,0,0,26.57,28.83,26.58,8.30,48.38
$GC,63,-0.79,-244.4,173,1857,1693,1590,2.1,-2.5,7,127,9.12,2.25,-46.88,0.000,19204,0.196,0.051,2552,444,3240,3307,3173,0,0,0,0,0,0,24.91,25.52,25.30,8.41,48.22
$GC,360,-0.70,-244.4,2551,444,3308,3176,50.1,-15.1,45,366,0.12,2.17,0.00,0.000,3078,0.130,0.031,2583,1861,3243,3309,3177,0,0,0,0,0,0,25.81,26.10,25.92,8.55,48.42
$GC,494,-0.70,-244.4,2583,1861,3308,3176,68.2,-12.7,58,504,0.00,2.17,0.00,0.000,260,0.000,0.041,2575,3250,3242,3308,3176,0,0,0,0,0,0,26.67,25.96,26.68,8.55,49.25
$GC,527,-0.70,-244.4,2574,3250,3308,3176,72.4,-13.3,61,532,0.00,2.12,0.00,0.000,1030,0.000,0.029,2575,1832,3242,3308,3176,0,0,0,0,0,0,26.20,26.11,26.22,8.56,48.97
$GC,660,-0.70,-244.4,2574,1832,3308,3176,88.5,-12.1,74,664,0.00,2.17,0.00,0.000,516,0.000,0.042,2575,451,3242,3308,3176,0,0,0,0,0,0,26.68,25.90,26.69,8.56,49.21
$GC,684,-0.70,-244.4,2575,451,3308,3175,91.3,-12.1,76,693,0.00,2.12,0.00,0.000,1030,0.000,0.032,2568,1846,3242,3308,3176,0,0,0,0,0,0,26.11,26.09,26.15,8.56,49.40
$GC,812,-0.70,-244.4,2567,1846,3308,3176,108.4,-13.3,89,817,0.00,2.20,0.00,0.000,260,0.000,0.041,2558,3251,3242,3308,3176,0,0,0,0,0,0,26.68,25.95,26.69,8.56,49.17
$GC,858,-0.70,-244.4,2557,3250,3308,3176,114.7,-13.8,93,863,0.00,2.12,0.00,0.000,1030,0.000,0.029,2558,1832,3242,3308,3176,0,0,0,0,0,0,26.20,26.10,26.22,8.56,49.60
$GC,1051,-0.70,-244.4,2557,1832,3308,3176,141.6,-14.0,112,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1831,3242,3308,3176,0,0,0,0,0,0,26.68,26.70,26.70,8.57,49.17
$STATE,1209,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1209,begin apogee
$GC,1214,-0.21,0.0,2557,1831,3308,3177,163.3,-13.5,128,1413,0.50,0.00,194.43,0.653,10246,0.072,0.000,2751,1831,2246,2374,2119,0,0,0,0,0,0,25.87,24.79,23.91,8.58,49.88
$STATE,1414,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1417,0.79,244.4,2750,1831,2374,2118,164.7,0.0,148,1634,0.82,2.25,205.35,0.632,10756,0.055,0.041,3069,454,1247,1354,1141,0,0,0,0,0,0,25.37,24.42,23.89,8.49,47.91
$GC,1670,0.70,244.4,3068,454,1354,1140,148.5,13.4,173,1679,0.10,2.17,0.00,0.000,5126,0.114,0.030,3035,1838,1247,1354,1140,0,0,0,0,0,0,25.48,25.72,25.54,8.41,46.73
$GC,1859,0.70,244.4,3035,1838,1354,1139,127.2,10.2,192,1869,0.00,2.20,0.00,0.000,260,0.000,0.040,3035,3253,1246,1354,1139,0,0,0,0,0,0,26.53,25.93,26.54,8.42,47.83
$GC,1883,0.70,244.4,3034,3253,1354,1138,124.7,10.4,194,1892,0.00,2.10,0.00,0.000,1030,0.000,0.030,3041,1852,1246,1354,1139,0,0,0,0,0,0,26.08,26.05,26.11,8.41,48.26
$GC,2073,0.70,244.4,3040,1852,1354,1138,101.9,12.9,213,2082,0.00,2.20,0.00,0.000,516,0.000,0.043,3052,453,1246,1354,1138,0,0,0,0,0,0,26.63,25.93,26.64,8.41,48.34
$GC,2191,0.64,244.4,3051,452,1354,1137,86.9,13.0,224,2202,0.08,2.12,0.00,0.000,5126,0.112,0.030,3024,1848,1245,1354,1137,0,0,0,0,0,0,25.91,26.13,25.96,8.41,48.30
$GC,2321,0.64,244.4,3023,1848,1354,1136,73.4,10.1,237,2331,0.00,2.15,0.00,0.000,260,0.000,0.040,3024,3255,1245,1354,1137,0,0,0,0,0,0,26.67,26.00,26.67,8.40,48.97
$GC,2356,0.64,244.4,3024,3255,1354,1136,69.7,10.7,240,2365,0.00,2.15,0.00,0.000,1030,0.000,0.030,3027,1849,1245,1354,1136,0,0,0,0,0,0,26.16,26.13,26.19,8.41,48.77
$GC,2485,0.64,244.4,3027,1849,1354,1136,56.2,10.5,253,2489,0.00,2.20,0.00,0.000,516,0.000,0.043,3038,450,1245,1354,1137,0,0,0,0,0,0,26.67,25.93,26.68,8.40,48.38
$GC,2593,0.64,244.4,3037,449,1354,1136,45.1,10.6,263,2601,0.00,2.15,0.00,0.000,1030,0.000,0.030,3038,1839,1245,1354,1136,0,0,0,0,0,0,26.17,26.14,26.20,8.40,48.85
$GC,2721,0.64,244.4,3037,1839,1353,1136,32.3,9.3,276,2732,0.00,2.20,0.00,0.000,260,0.000,0.039,3038,3261,1245,1354,1136,0,0,0,0,0,0,26.68,25.98,26.69,8.40,48.58
$GC,2765,0.64,244.4,3037,3261,1354,1136,28.0,9.6,280,2776,0.00,2.15,0.00,0.000,1030,0.000,0.028,3045,1831,1245,1354,1136,0,0,0,0,0,0,26.21,26.12,26.24,8.39,48.46
$GC,2901,0.84,437.5,3045,1831,1354,1136,17.4,4.6,297,3011,0.05,2.22,101.20,0.503,10756,0.135,0.040,3138,452,495,535,455,0,0,0,0,0,0,26.48,24.68,24.25,8.39,48.46
$STATE,3029,end climb,SURFACE_DEPTH_REACHED
$STATE,3029,begin surface coast
$FINISH,1.2,1.021075
$STATE,3045,end surface coast,CONTROL_FINISHED_OK
$STATE,3046,begin surface
$SM_CCo,3124,0.00,0.000,0,0,488,431.48
$SM_GC,1.53,7.70,2.22,0.00,0.028,0.027,0.000,185,1856,488,-8.06,-0.93,431.48,0,0,0,0,0,0,25.95,25.84,25.99
$IRIDIUM_FIX,4735.71,-12224.35,180218,084554
$TT8_MAMPS,0.026964,0.264397
$HUMID,47.32
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,110.1,63.0
$24V_AH,23.89,89.562
$10V_AH,9.82,60.968
$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,18.500,47.850,500.975,0.000,0.000,0.000,0.000,210.300,1.250,0.000,19.584,760.177,1020.778,516.409,1045.265,109.455,0.000,1193.135,0.000,654.568,0.000,10.433,0.000
$DEVICE_MAMPS,195.840,51.255,652.545,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,211.571,686.900,416.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,21087,319
$CAP_FILE_SIZE,51574,0
$CFSIZE,2097872896,2048196608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,257.10,1
$GPS,180218,104143,4737.734,-12254.966,41,1.0,55,16.4,0.0,180.0,9,5.0