version: 66.14
glider: 195
mission: 15
dive: 482
start: 2 18 118 18 2 21
data:
$ID,195
$MISSION,15
$DIVE,482
$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,42
$R_STBD_OVSHOOT,42
$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
$GPS1,180218,175610,4737.9365,-12254.4678,8,0.8,34,16.4,0.3,176.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.2
$GPS2,180218,180141,4737.9136,-12254.4551,8,1.0,46,16.4,0.0,176.6,9,5.0
$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,225.0,2186,-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,-244.4,179,1836,556,482,0.0,0.0,0,59,0.00,0.00,-47.78,0.000,16386,0.000,0.000,179,1836,1660,1722,1599,0,0,0,0,0,0,26.58,28.83,26.59,8.30,47.71
$GC,62,-0.79,-244.4,179,1835,1722,1599,2.1,-2.0,7,132,9.05,2.25,-49.58,0.000,18692,0.194,0.053,2543,3246,3246,3313,3179,0,0,0,0,0,0,24.94,23.81,25.32,8.40,48.03
$GC,207,-0.72,-244.4,2543,3246,3313,3179,20.3,-16.3,31,212,0.10,2.15,0.00,0.000,3078,0.113,0.028,2576,1833,3246,3313,3179,0,0,0,0,0,0,25.79,26.08,25.84,8.54,47.63
$GC,341,-0.72,-244.4,2576,1833,3314,3179,40.6,-14.5,44,346,0.00,2.17,0.00,0.000,516,0.000,0.041,2576,448,3246,3314,3179,0,0,0,0,0,0,26.66,25.89,26.67,8.54,47.99
$GC,457,-0.72,-244.4,2576,448,3314,3179,58.4,-14.4,55,466,0.00,2.12,0.00,0.000,1030,0.000,0.031,2570,1841,3246,3314,3179,0,0,0,0,0,0,26.11,26.07,26.14,8.54,48.26
$GC,585,-0.72,-244.4,2569,1841,3314,3179,77.0,-13.1,68,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1841,3246,3314,3179,0,0,0,0,0,0,26.67,26.69,26.69,8.55,48.93
$GC,705,-0.72,-244.4,2569,1841,3314,3179,92.5,-12.8,80,710,0.00,2.20,0.00,0.000,260,0.000,0.041,2560,3249,3246,3314,3179,0,0,0,0,0,0,26.68,25.92,26.69,8.55,48.77
$GC,731,-0.72,-244.4,2559,3249,3313,3179,95.5,-13.2,82,738,0.00,2.15,0.00,0.000,1030,0.000,0.028,2560,1838,3246,3313,3179,0,0,0,0,0,0,26.13,26.09,26.16,8.56,49.56
$GC,859,-0.72,-244.4,2559,1838,3313,3179,113.5,-13.6,95,868,0.00,2.17,0.00,0.000,516,0.000,0.041,2560,450,3246,3313,3179,0,0,0,0,0,0,26.68,25.87,26.69,8.56,48.93
$GC,886,-0.72,-244.4,2558,450,3313,3179,116.8,-14.2,97,893,0.00,2.17,0.00,0.000,1030,0.000,0.032,2552,1846,3246,3313,3179,0,0,0,0,0,0,26.09,26.06,26.13,8.56,49.40
$GC,1075,-0.67,-244.4,2551,1846,3313,3179,143.5,-13.2,116,1085,0.10,2.17,0.00,0.000,2308,0.140,0.040,2581,3250,3246,3313,3179,0,0,0,0,0,0,26.17,25.90,26.19,8.57,49.60
$STATE,1096,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1096,begin apogee
$GC,1104,-0.21,0.0,2580,1843,3313,3179,146.6,-12.6,118,1301,0.45,0.00,193.52,0.653,10246,0.090,0.000,2745,1843,2246,2375,2118,0,0,0,0,0,0,25.70,24.77,23.92,8.57,49.33
$STATE,1302,end apogee,CONTROL_FINISHED_OK
$STATE,1302,begin climb
$GC,1306,0.79,244.4,2745,1843,2375,2118,152.9,0.0,138,1520,0.85,2.28,202.10,0.634,10756,0.065,0.041,3062,454,1250,1355,1146,0,0,0,0,0,0,25.29,24.41,23.89,8.49,47.67
$GC,1565,0.70,244.4,3062,452,1354,1144,127.2,13.6,164,1574,0.00,2.15,0.00,0.000,1030,0.000,0.030,3062,1842,1248,1354,1143,0,0,0,0,0,0,25.78,25.75,25.80,8.41,47.44
$GC,1755,0.60,244.4,3062,1842,1354,1141,100.3,13.7,183,1763,0.17,0.00,0.00,0.000,4102,0.114,0.000,3004,1842,1247,1354,1141,0,0,0,0,0,0,25.91,26.05,25.99,8.40,48.14
$GC,1944,0.60,244.4,3003,1843,1354,1140,81.5,9.0,202,1949,0.00,2.20,0.00,0.000,516,0.000,0.043,3012,452,1247,1354,1140,0,0,0,0,0,0,26.62,25.90,26.63,8.41,48.74
$GC,2019,0.60,244.4,3012,451,1353,1140,74.8,9.5,209,2027,0.00,2.15,0.00,0.000,1030,0.000,0.031,3012,1841,1246,1353,1140,0,0,0,0,0,0,26.14,26.11,26.17,8.40,48.11
$GC,2148,0.60,244.4,3012,1841,1353,1140,62.7,9.3,222,2152,0.00,2.22,0.00,0.000,516,0.000,0.043,3016,445,1246,1353,1140,0,0,0,0,0,0,26.65,25.91,26.66,8.40,48.58
$GC,2192,0.60,244.4,3015,445,1353,1140,58.6,9.4,226,2197,0.00,2.15,0.00,0.000,1030,0.000,0.031,3016,1847,1246,1353,1140,0,0,0,0,0,0,26.20,26.11,26.23,8.40,48.97
$GC,2325,0.60,244.4,3015,1848,1353,1139,46.4,8.6,239,2329,0.00,2.22,0.00,0.000,516,0.000,0.042,3023,444,1246,1353,1139,0,0,0,0,0,0,26.67,25.91,26.67,8.40,49.09
$GC,2367,0.60,244.4,3023,443,1353,1139,42.8,8.6,243,2371,0.00,2.15,0.00,0.000,1030,0.000,0.030,3023,1852,1246,1353,1140,0,0,0,0,0,0,26.20,26.12,26.23,8.39,48.62
$GC,2500,0.60,244.4,3023,1853,1353,1139,31.6,8.1,256,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1853,1246,1353,1139,0,0,0,0,0,0,26.67,26.68,26.68,8.39,48.93
$GC,2620,0.67,317.5,3022,1853,1353,1139,21.8,7.9,268,2672,0.00,2.28,41.75,0.537,8708,0.000,0.044,3025,454,949,1035,864,0,0,0,0,0,0,26.67,25.22,24.36,8.39,48.97
$GC,2742,0.89,450.9,3025,454,1035,863,12.8,6.3,287,2811,0.12,2.15,59.92,0.491,11270,0.037,0.030,3141,1837,496,534,459,0,0,0,0,0,0,25.97,25.97,24.27,8.35,48.34
$STATE,2822,end climb,SURFACE_DEPTH_REACHED
$STATE,2822,begin surface coast
$FINISH,0.5,1.020237
$STATE,2845,end surface coast,CONTROL_FINISHED_OK
$STATE,2845,begin surface
$SM_CCo,2922,0.00,0.000,0,0,488,431.48
$SM_GC,1.38,7.75,0.00,0.00,0.029,0.000,0.000,177,1837,488,-8.07,-0.14,431.48,0,0,0,0,0,0,25.99,26.30,26.03
$IRIDIUM_FIX,4740.65,-12253.53,180218,165439
$TT8_MAMPS,0.026964,0.243425
$HUMID,47.79
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.5
$ALTIM_BOTTOM_PING,135.3,19.8
$24V_AH,23.81,90.288
$10V_AH,9.86,61.386
$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,18.600,43.700,497.300,0.000,0.000,0.000,0.000,209.850,2.500,0.000,47.937,726.910,930.294,471.983,1040.842,109.139,0.000,1152.380,0.000,625.580,0.000,18.324,0.000
$DEVICE_MAMPS,193.545,52.785,652.545,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,200.812,652.262,395.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21189,303
$CAP_FILE_SIZE,51873,0
$CFSIZE,2097872896,2047311872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,65.63,1
$GPS,180218,185157,4737.816,-12254.863,5,1.0,15,16.4,0.0,215.8,9,4.6