version: 66.14
glider: 195
mission: 15
dive: 476
start: 2 18 118 12 25 47
data:
$ID,195
$MISSION,15
$DIVE,476
$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,50
$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
$GPS1,180218,122030,4738.0029,-12254.1270,8,0.8,42,16.4,0.3,42.5,10,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.7
$GPS2,180218,122507,4738.0332,-12254.0742,5,0.9,14,16.4,0.0,51.5,9,4.9
$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,45.2,1296,-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,-244.4,176,1841,556,482,0.0,0.0,0,59,0.00,0.00,-47.35,0.000,16386,0.000,0.000,176,1841,1643,1707,1580,0,0,0,0,0,0,26.57,28.83,26.58,8.30,47.91
$GC,62,-0.79,-244.4,176,1841,1708,1580,2.1,-2.2,7,132,9.07,2.22,-51.62,0.000,18692,0.194,0.054,2543,3246,3243,3309,3178,0,0,0,0,0,0,24.97,25.52,25.36,8.41,48.26
$GC,339,-0.72,-244.4,2543,3246,3309,3178,43.0,-14.7,44,345,0.10,2.10,0.00,0.000,3078,0.131,0.028,2576,1834,3243,3309,3178,0,0,0,0,0,0,25.88,26.10,25.98,8.54,48.30
$GC,473,-0.67,-244.4,2575,1834,3309,3178,61.4,-13.4,57,483,0.00,2.17,0.00,0.000,516,0.000,0.042,2576,451,3243,3309,3178,0,0,0,0,0,0,26.67,25.91,26.68,8.55,48.77
$GC,496,-0.61,-244.4,2576,451,3309,3178,64.5,-13.5,59,506,0.12,2.10,0.00,0.000,3078,0.112,0.031,2612,1834,3243,3309,3178,0,0,0,0,0,0,25.76,26.08,25.84,8.55,49.21
$GC,626,-0.61,-244.4,2611,1834,3309,3178,78.6,-10.4,72,631,0.00,2.20,0.00,0.000,260,0.000,0.041,2605,3251,3243,3309,3178,0,0,0,0,0,0,26.68,25.94,26.69,8.55,48.46
$GC,690,-0.61,-244.4,2604,3251,3309,3178,85.2,-9.9,78,695,0.00,2.10,0.00,0.000,1030,0.000,0.029,2604,1848,3244,3309,3179,0,0,0,0,0,0,26.19,26.10,26.22,8.56,49.48
$GC,823,-0.61,-244.4,2604,1848,3309,3178,99.2,-10.7,91,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1848,3243,3309,3178,0,0,0,0,0,0,26.68,26.69,26.69,8.56,49.25
$GC,944,-0.61,-244.4,2604,1848,3309,3178,112.3,-10.7,103,954,0.00,2.17,0.00,0.000,516,0.000,0.042,2604,451,3243,3309,3178,0,0,0,0,0,0,26.68,25.89,26.69,8.56,50.03
$GC,979,-0.61,-244.4,2604,451,3309,3179,116.2,-11.1,106,983,0.00,2.15,0.00,0.000,1030,0.000,0.032,2596,1849,3243,3309,3178,0,0,0,0,0,0,26.16,26.06,26.19,8.56,49.17
$GC,1174,-0.61,-244.4,2595,1849,3309,3178,137.3,-10.8,125,1179,0.00,2.20,0.00,0.000,260,0.000,0.041,2588,3254,3243,3309,3178,0,0,0,0,0,0,26.68,25.92,26.69,8.57,50.15
$GC,1240,-0.61,-244.4,2587,3254,3309,3178,144.6,-10.4,131,1245,0.00,2.15,0.00,0.000,1030,0.000,0.029,2588,1828,3243,3309,3178,0,0,0,0,0,0,26.17,26.09,26.21,8.57,49.68
$STATE,1411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1413,begin apogee
$GC,1418,-0.21,0.0,2587,1828,3309,3178,164.1,-11.2,148,1616,0.43,0.00,194.25,0.656,10246,0.092,0.000,2742,1828,2246,2379,2114,0,0,0,0,0,0,25.70,24.78,23.89,8.57,49.37
$STATE,1617,end apogee,CONTROL_FINISHED_OK
$STATE,1617,begin climb
$GC,1621,0.79,244.4,2742,1828,2378,2114,165.7,0.0,168,1836,0.85,2.25,204.38,0.636,10756,0.064,0.041,3062,452,1248,1356,1140,0,0,0,0,0,0,25.29,24.41,23.89,8.49,47.36
$GC,1872,0.70,244.4,3061,452,1355,1140,144.2,13.3,193,1880,0.00,2.20,0.00,0.000,1030,0.000,0.030,3062,1845,1246,1354,1139,0,0,0,0,0,0,25.75,25.70,25.77,8.41,47.00
$GC,2060,0.61,244.4,3061,1845,1355,1138,118.2,13.4,212,2065,0.12,2.20,0.00,0.000,4612,0.128,0.041,3023,454,1246,1355,1138,0,0,0,0,0,0,25.98,25.86,26.01,8.41,47.67
$GC,2096,0.56,244.4,3023,454,1354,1137,114.2,11.8,215,2104,0.08,2.15,0.00,0.000,5126,0.106,0.031,2995,1843,1245,1354,1137,0,0,0,0,0,0,25.85,26.06,25.91,8.41,48.42
$GC,2287,0.56,244.4,2995,1843,1354,1136,98.1,8.9,234,2296,0.00,2.17,0.00,0.000,516,0.000,0.043,3003,454,1245,1354,1136,0,0,0,0,0,0,26.63,25.92,26.64,8.41,48.26
$GC,2320,0.56,244.4,3002,454,1354,1136,94.6,9.6,237,2324,0.00,2.12,0.00,0.000,1030,0.000,0.031,3003,1841,1245,1354,1136,0,0,0,0,0,0,26.20,26.11,26.22,8.41,48.66
$GC,2452,0.56,244.4,3002,1842,1354,1136,82.0,9.1,250,2462,0.00,2.17,0.00,0.000,260,0.000,0.039,3003,3247,1245,1354,1136,0,0,0,0,0,0,26.66,25.99,26.67,8.41,48.66
$GC,2477,0.56,244.4,3002,3247,1354,1136,79.9,9.0,252,2485,0.00,2.12,0.00,0.000,1030,0.000,0.030,3008,1850,1245,1354,1136,0,0,0,0,0,0,26.15,26.10,26.17,8.41,48.54
$GC,2605,0.56,244.4,3008,1850,1354,1136,68.5,8.8,265,2610,0.00,2.22,0.00,0.000,516,0.000,0.043,3012,448,1245,1354,1136,0,0,0,0,0,0,26.67,25.91,26.67,8.40,48.77
$GC,2680,0.56,244.4,3011,448,1354,1136,62.2,8.3,272,2688,0.00,2.17,0.00,0.000,1030,0.000,0.030,3011,1850,1244,1354,1135,0,0,0,0,0,0,26.17,26.12,26.19,8.40,48.26
$GC,2809,0.56,244.4,3011,1850,1354,1136,50.1,9.2,285,2814,0.00,2.22,0.00,0.000,516,0.000,0.043,3012,452,1245,1354,1136,0,0,0,0,0,0,26.67,25.90,26.68,8.40,48.70
$GC,2844,0.56,244.4,3011,451,1354,1136,47.0,9.0,288,2852,0.00,2.15,0.00,0.000,1030,0.000,0.030,3012,1842,1245,1354,1136,0,0,0,0,0,0,26.15,26.12,26.18,8.39,48.58
$GC,2973,0.63,316.3,3011,1842,1354,1136,36.0,8.0,301,3044,0.00,2.25,61.55,0.573,8708,0.000,0.041,3012,452,955,1047,864,0,0,0,0,0,0,26.68,24.75,24.25,8.39,48.77
$GC,3078,0.69,316.3,3011,452,1047,864,27.5,8.3,311,3088,0.00,2.12,0.00,0.000,1030,0.000,0.030,3012,1837,955,1047,864,0,0,0,0,0,0,25.91,25.87,25.96,8.36,48.58
$GC,3210,0.88,446.0,3011,1838,1047,864,18.4,6.4,326,3281,0.15,2.30,63.30,0.513,10756,0.054,0.043,3156,445,495,536,455,0,0,0,0,0,0,26.32,25.09,24.26,8.36,48.85
$GC,3310,0.75,446.0,3156,445,533,449,6.3,15.3,341,3319,0.28,2.20,0.00,0.000,5126,0.100,0.030,3050,1846,490,533,448,0,0,0,0,0,0,25.46,25.86,25.65,8.31,47.75
$STATE,3335,end climb,SURFACE_DEPTH_REACHED
$STATE,3335,begin surface coast
$FINISH,1.0,1.021148
$STATE,3357,end surface coast,CONTROL_FINISHED_OK
$STATE,3357,begin surface
$SM_CCo,3433,0.00,0.000,0,0,488,431.48
$SM_GC,1.61,7.38,0.00,0.00,0.024,0.000,0.000,184,1847,488,-8.07,0.11,431.48,0,0,0,0,0,0,26.03,26.41,26.08
$IRIDIUM_FIX,4737.86,-12251.79,180218,112426
$TT8_MAMPS,0.026964,0.243425
$HUMID,47.63
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,146.0,27.7
$24V_AH,23.89,89.802
$10V_AH,9.85,61.110
$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,18.575,56.625,523.475,0.000,0.000,0.000,0.000,192.475,3.250,0.000,16.371,852.923,1126.778,533.501,1107.538,116.635,0.000,1232.349,0.000,707.800,0.000,24.351,0.000
$DEVICE_MAMPS,194.310,53.550,656.370,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.216,751.424,456.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312032
$DATA_FILE_SIZE,24372,349
$CAP_FILE_SIZE,59322,0
$CFSIZE,2097872896,2047901696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,246.75,1
$GPS,180218,132353,4738.169,-12253.503,5,1.0,14,16.4,0.0,0.0,8,5.0