version: 66.14
glider: 195
mission: 15
dive: 487
start: 2 18 118 23 0 10
data:
$ID,195
$MISSION,15
$DIVE,487
$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,56
$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
$GPS1,180218,225447,4737.5435,-12255.2373,20,1.0,26,16.4,0.8,226.7,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.1
$GPS2,180218,225931,4737.4785,-12255.3984,5,1.0,19,16.4,0.3,259.7,8,4.9
$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,46.0,1247,-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,-244.4,165,1867,567,479,0.0,0.0,0,60,0.00,0.00,-48.38,0.000,16386,0.000,0.000,164,1867,1687,1746,1629,0,0,0,0,0,0,26.55,28.83,26.56,8.29,47.63
$GC,63,-0.79,-244.4,164,1868,1747,1630,2.3,-3.5,7,127,9.10,2.20,-49.12,0.000,19204,0.193,0.054,2543,3230,3246,3314,3178,0,0,0,0,0,0,24.93,23.81,25.32,8.40,47.83
$GC,141,-0.55,-244.4,2543,3231,3315,3178,9.5,-18.2,18,150,0.25,2.12,0.00,0.000,3078,0.103,0.030,2627,1844,3246,3315,3178,0,0,0,0,0,0,25.59,26.07,25.66,8.54,47.55
$GC,214,-0.55,-244.4,2627,1844,3316,3178,20.5,-9.9,31,218,0.00,2.20,0.00,0.000,260,0.000,0.041,2620,3242,3247,3315,3179,0,0,0,0,0,0,26.63,25.91,26.63,8.54,47.83
$GC,237,-0.55,-244.4,2619,3242,3316,3179,23.2,-12.0,33,247,0.00,2.12,0.00,0.000,1030,0.000,0.028,2620,1827,3247,3315,3179,0,0,0,0,0,0,26.17,26.08,26.20,8.54,47.48
$GC,367,-0.55,-244.4,2619,1827,3315,3179,36.2,-10.0,46,371,0.00,2.15,0.00,0.000,516,0.000,0.041,2620,454,3247,3316,3178,0,0,0,0,0,0,26.65,25.88,26.67,8.54,48.26
$GC,410,-0.55,-244.4,2619,454,3316,3178,41.0,-10.9,50,414,0.00,2.12,0.00,0.000,1030,0.000,0.032,2613,1836,3246,3315,3178,0,0,0,0,0,0,26.15,26.07,26.19,8.54,48.85
$GC,543,-0.55,-244.4,2612,1836,3316,3178,55.5,-11.0,63,552,0.00,2.17,0.00,0.000,260,0.000,0.041,2603,3252,3247,3316,3179,0,0,0,0,0,0,26.67,25.93,26.67,8.55,49.01
$GC,596,-0.55,-244.4,2602,3252,3315,3179,60.8,-9.9,68,600,0.00,2.12,0.00,0.000,1030,0.000,0.029,2603,1844,3247,3316,3179,0,0,0,0,0,0,26.17,26.09,26.21,8.55,48.70
$GC,729,-0.55,-244.4,2602,1843,3315,3179,75.0,-10.9,81,731,0.10,0.00,0.00,0.000,2054,0.131,0.000,2636,1842,3247,3316,3179,0,0,0,0,0,0,26.24,26.29,26.27,8.55,49.21
$GC,849,-0.62,-244.4,2636,1842,3316,3178,85.5,-8.5,93,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1842,3247,3315,3179,0,0,0,0,0,0,26.67,26.69,26.68,8.55,49.72
$GC,970,-0.69,-244.4,2636,1842,3316,3179,95.6,-8.2,105,972,0.10,0.00,0.00,0.000,4102,0.075,0.000,2538,1842,3247,3315,3179,0,0,0,0,0,0,26.46,26.48,26.47,8.56,49.37
$GC,1091,-0.62,-244.4,2537,1842,3315,3178,111.4,-14.0,117,1099,0.22,0.00,0.00,0.000,2054,0.112,0.000,2611,1841,3246,3315,3178,0,0,0,0,0,0,25.89,26.05,25.98,8.57,49.96
$GC,1282,-0.62,-244.4,2610,1842,3315,3178,129.2,-9.0,136,1291,0.00,2.22,0.00,0.000,260,0.000,0.041,2604,3255,3247,3315,3179,0,0,0,0,0,0,26.68,25.90,26.69,8.57,49.60
$GC,1317,-0.62,-244.4,2603,3255,3315,3179,132.7,-9.4,139,1327,0.00,2.15,0.00,0.000,1030,0.000,0.028,2604,1848,3247,3315,3179,0,0,0,0,0,0,26.12,26.07,26.15,8.57,50.19
$GC,1506,-0.62,-244.4,2603,1847,3315,3178,149.4,-8.8,158,1516,0.00,2.20,0.00,0.000,516,0.000,0.041,2604,449,3246,3315,3178,0,0,0,0,0,0,26.68,25.86,26.69,8.58,49.76
$GC,1531,-0.62,-244.4,2603,449,3315,3178,151.6,-9.1,160,1540,0.00,2.15,0.00,0.000,1030,0.000,0.031,2596,1840,3246,3315,3178,0,0,0,0,0,0,26.10,26.05,26.13,8.58,49.52
$STATE,1598,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1598,begin apogee
$GC,1603,-0.21,0.0,2596,1840,3315,3178,158.6,-10.1,167,1802,0.40,0.00,194.82,0.653,10246,0.090,0.000,2743,1840,2247,2376,2118,0,0,0,0,0,0,25.71,24.79,23.92,8.58,49.09
$STATE,1803,end apogee,CONTROL_FINISHED_OK
$STATE,1803,begin climb
$GC,1806,0.79,244.4,2742,1840,2376,2117,164.1,0.0,187,2022,0.85,2.30,203.70,0.635,10756,0.057,0.041,3067,443,1249,1355,1144,0,0,0,0,0,0,25.32,24.42,23.89,8.49,47.95
$GC,2068,0.69,244.4,3066,443,1354,1143,138.5,15.2,213,2076,0.10,2.20,0.00,0.000,5126,0.115,0.031,3033,1839,1248,1354,1143,0,0,0,0,0,0,25.48,25.75,25.56,8.41,46.88
$GC,2259,0.63,244.4,3032,1840,1354,1140,112.3,14.2,232,2262,0.00,2.20,0.00,0.000,260,0.000,0.040,3032,3253,1247,1354,1140,0,0,0,0,0,0,26.53,25.91,26.54,8.41,48.70
$GC,2292,0.57,244.4,3032,3253,1355,1140,107.5,13.5,235,2303,0.10,2.12,0.00,0.000,5126,0.112,0.030,3002,1840,1247,1354,1140,0,0,0,0,0,0,25.79,26.03,25.82,8.41,48.18
$GC,2483,0.57,244.4,3001,1840,1354,1140,88.7,9.7,254,2493,0.00,2.20,0.00,0.000,516,0.000,0.043,3011,446,1247,1354,1140,0,0,0,0,0,0,26.63,25.91,26.64,8.41,48.66
$GC,2591,0.57,244.4,3010,446,1354,1138,78.5,10.0,264,2601,0.00,2.12,0.00,0.000,1030,0.000,0.030,3010,1844,1246,1354,1138,0,0,0,0,0,0,26.15,26.11,26.17,8.41,48.70
$GC,2720,0.57,244.4,3010,1844,1354,1138,65.2,10.8,277,2724,0.00,2.17,0.00,0.000,260,0.000,0.039,3010,3251,1246,1354,1138,0,0,0,0,0,0,26.66,25.96,26.67,8.41,48.70
$GC,2733,0.57,244.4,3010,3252,1354,1139,63.9,10.8,278,2743,0.00,2.15,0.00,0.000,1030,0.000,0.029,3012,1843,1246,1354,1138,0,0,0,0,0,0,26.14,26.10,26.16,8.41,48.74
$GC,2862,0.57,244.4,3011,1843,1354,1138,51.0,9.9,291,2872,0.00,2.20,0.00,0.000,516,0.000,0.044,3013,449,1246,1354,1138,0,0,0,0,0,0,26.67,25.90,26.67,8.40,49.01
$GC,2948,0.57,244.4,3012,449,1354,1138,42.7,9.5,299,2957,0.00,2.12,0.00,0.000,1030,0.000,0.030,3013,1850,1246,1354,1138,0,0,0,0,0,0,26.13,26.10,26.15,8.40,48.74
$GC,3077,0.57,244.4,3012,1850,1354,1138,31.0,9.1,312,3081,0.00,2.17,0.00,0.000,260,0.000,0.040,3013,3253,1246,1354,1138,0,0,0,0,0,0,26.67,25.96,26.68,8.39,48.97
$GC,3110,0.57,244.4,3012,3253,1354,1138,28.0,8.8,315,3120,0.00,2.12,0.00,0.000,1030,0.000,0.029,3015,1830,1246,1354,1138,0,0,0,0,0,0,26.13,26.10,26.16,8.40,49.05
$GC,3241,0.73,400.8,3014,1830,1354,1138,19.4,5.6,328,3340,0.00,2.25,88.72,0.525,8708,0.000,0.044,3015,448,609,683,536,0,0,0,0,0,0,26.64,24.70,24.24,8.38,49.29
$GC,3445,1.00,542.1,3014,447,680,531,7.8,6.0,362,3467,0.22,2.17,15.25,0.454,11270,0.015,0.029,3191,1847,497,540,454,0,0,0,0,0,0,25.98,25.96,24.38,8.32,47.87
$STATE,3483,end climb,SURFACE_DEPTH_REACHED
$STATE,3484,begin surface coast
$FINISH,0.7,1.021030
$STATE,3501,end surface coast,CONTROL_FINISHED_OK
$STATE,3501,begin surface
$SM_CCo,3577,0.00,0.000,0,0,490,430.99
$SM_GC,1.42,7.88,0.00,0.00,0.029,0.000,0.000,164,1847,490,-8.11,0.11,430.99,0,0,0,0,0,0,26.12,26.44,26.15
$IRIDIUM_FIX,4738.33,-12256.21,180218,215134
$TT8_MAMPS,0.026964,0.265146
$HUMID,47.91
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.9
$ALTIM_BOTTOM_PING,120.2,47.5
$24V_AH,23.81,90.743
$10V_AH,9.85,61.653
$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,19.325,56.475,502.500,0.000,0.000,0.000,0.000,188.900,2.000,0.000,20.965,896.396,1194.212,508.340,1160.166,126.363,0.000,1242.356,0.000,742.400,0.000,16.500,0.000
$DEVICE_MAMPS,192.780,53.550,653.310,0.000,0.000,0.000,0.000,82.620,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.209,798.583,485.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,24541,371
$CAP_FILE_SIZE,62271,0
$CFSIZE,2097872896,2046820352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.129,258.92,1
$GPS,190218,000101,4737.552,-12254.989,12,0.9,35,16.4,0.5,271.8,10,4.4