version: 66.14
glider: 195
mission: 15
dive: 489
start: 2 19 118 1 18 56
data:
$ID,195
$MISSION,15
$DIVE,489
$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,44
$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
$GPS1,190218,011248,4737.6470,-12254.8037,14,0.9,18,16.4,0.7,67.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-54.9
$GPS2,190218,011810,4737.5771,-12254.9688,6,0.9,20,16.4,0.7,250.2,10,4.9
$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,35.9,730,-14.3,-10.000,-18.31,3174
$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,-0.81,-212.2,174,1849,558,481,0.0,0.0,0,60,0.00,0.00,-48.50,0.000,16386,0.000,0.000,174,1849,1680,1739,1622,0,0,0,0,0,0,26.55,28.83,26.57,8.29,48.62
$GC,63,-0.84,-244.4,174,1849,1740,1622,2.4,-3.3,7,125,9.05,0.00,-46.33,0.000,18694,0.195,0.000,2533,1849,3243,3308,3179,0,0,0,0,0,0,24.92,25.61,25.31,8.40,48.77
$GC,197,-0.68,-244.4,2532,1849,3309,3180,22.5,-22.6,28,208,0.15,2.17,0.00,0.000,2564,0.136,0.038,2585,451,3245,3310,3180,0,0,0,0,0,0,25.92,25.86,25.96,8.54,47.83
$GC,213,-0.53,-244.4,2585,451,3309,3179,24.9,-22.3,29,221,0.17,2.15,0.00,0.000,3078,0.108,0.030,2653,1840,3244,3309,3179,0,0,0,0,0,0,25.63,26.06,25.77,8.53,47.91
$GC,341,-0.61,-244.4,2652,1840,3310,3180,37.2,-8.3,42,353,0.08,2.20,0.00,0.000,4356,0.093,0.040,2557,3251,3244,3310,3179,0,0,0,0,0,0,26.44,25.90,26.46,8.54,47.87
$GC,419,-0.61,-244.4,2557,3251,3310,3179,47.0,-13.1,49,429,0.17,2.10,0.00,0.000,3078,0.101,0.029,2616,1844,3245,3310,3180,0,0,0,0,0,0,25.68,26.10,25.75,8.54,49.25
$GC,549,-0.61,-244.4,2615,1844,3310,3179,61.8,-10.7,62,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1843,3244,3310,3179,0,0,0,0,0,0,26.67,26.68,26.68,8.54,49.05
$GC,669,-0.61,-244.4,2615,1844,3310,3179,73.7,-9.4,74,679,0.00,2.17,0.00,0.000,516,0.000,0.041,2616,444,3244,3310,3179,0,0,0,0,0,0,26.67,25.87,26.69,8.55,49.05
$GC,715,-0.67,-244.4,2615,444,3309,3179,77.8,-9.5,78,724,0.00,2.17,0.00,0.000,1030,0.000,0.032,2610,1840,3244,3310,3179,0,0,0,0,0,0,26.08,26.06,26.11,8.55,49.01
$GC,844,-0.67,-244.4,2609,1840,3310,3179,91.2,-10.4,91,854,0.00,2.20,0.00,0.000,260,0.000,0.041,2600,3245,3244,3310,3179,0,0,0,0,0,0,26.67,25.89,26.69,8.56,48.89
$GC,910,-0.73,-244.4,2600,3245,3310,3179,97.7,-10.0,97,919,0.00,2.10,0.00,0.000,1030,0.000,0.028,2600,1836,3244,3309,3179,0,0,0,0,0,0,26.12,26.08,26.14,8.56,49.40
$GC,1041,-0.73,-244.4,2600,1836,3310,3179,110.8,-10.0,110,1045,0.00,2.20,0.00,0.000,516,0.000,0.042,2600,444,3244,3310,3179,0,0,0,0,0,0,26.63,25.84,26.65,8.57,49.48
$GC,1076,-0.73,-244.4,2600,442,3310,3179,114.8,-11.0,113,1087,0.00,2.17,0.00,0.000,1030,0.000,0.032,2593,1841,3244,3309,3179,0,0,0,0,0,0,26.08,26.04,26.11,8.56,50.15
$GC,1266,-0.73,-244.4,2593,1841,3310,3180,135.6,-10.8,132,1275,0.00,2.17,0.00,0.000,260,0.000,0.041,2583,3242,3244,3310,3179,0,0,0,0,0,0,26.68,25.88,26.68,8.57,49.56
$GC,1322,-0.73,-244.4,2582,3242,3310,3179,141.5,-10.7,137,1332,0.00,2.10,0.00,0.000,1030,0.000,0.028,2582,1839,3244,3310,3179,0,0,0,0,0,0,26.10,26.07,26.13,8.57,49.37
$STATE,1429,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1429,begin apogee
$GC,1434,-0.21,0.0,2582,1839,3310,3179,153.9,-11.0,148,1632,0.45,0.00,193.43,0.650,10246,0.092,0.000,2745,1838,2246,2374,2118,0,0,0,0,0,0,25.62,24.79,23.91,8.58,50.15
$STATE,1633,end apogee,CONTROL_FINISHED_OK
$STATE,1633,begin climb
$GC,1635,0.84,244.4,2745,1838,2374,2118,158.6,0.0,168,1854,0.88,2.22,202.70,0.633,11012,0.059,0.041,3078,455,1247,1352,1142,0,0,0,0,0,0,25.30,24.43,23.91,8.50,48.18
$GC,1899,0.74,244.4,3077,455,1352,1141,133.5,15.7,194,1908,0.00,2.15,0.00,0.000,1030,0.000,0.030,3078,1845,1246,1352,1140,0,0,0,0,0,0,25.78,25.75,25.82,8.42,47.12
$GC,2089,0.64,244.4,3077,1845,1352,1139,102.1,17.4,213,2099,0.17,2.17,0.00,0.000,4356,0.122,0.037,3018,3248,1245,1352,1139,0,0,0,0,0,0,25.84,25.91,25.89,8.40,48.42
$GC,2105,0.54,244.4,3017,3248,1352,1139,100.6,16.9,214,2114,0.10,2.15,0.00,0.000,5126,0.109,0.029,2987,1847,1245,1352,1139,0,0,0,0,0,0,25.78,26.03,25.83,8.41,48.58
$GC,2294,0.54,244.4,2987,1847,1352,1138,81.8,9.1,233,2305,0.00,2.20,0.00,0.000,516,0.000,0.042,2995,452,1245,1352,1138,0,0,0,0,0,0,26.63,25.89,26.63,8.41,48.11
$GC,2401,0.54,244.4,2995,451,1352,1137,72.1,9.0,243,2411,0.00,2.12,0.00,0.000,1030,0.000,0.029,2995,1854,1244,1351,1137,0,0,0,0,0,0,26.18,26.10,26.21,8.40,49.13
$GC,2532,0.54,244.4,2995,1854,1351,1137,60.8,8.7,256,2541,0.00,2.15,0.00,0.000,260,0.000,0.039,2995,3246,1244,1351,1137,0,0,0,0,0,0,26.65,25.96,26.67,8.40,48.54
$GC,2546,0.54,244.4,2994,3246,1351,1137,60.0,8.6,257,2555,0.00,2.15,0.00,0.000,1030,0.000,0.029,2999,1837,1243,1351,1136,0,0,0,0,0,0,26.13,26.09,26.16,8.40,49.17
$GC,2675,0.54,244.4,2998,1836,1351,1137,48.4,8.9,270,2685,0.00,2.20,0.00,0.000,516,0.000,0.043,3001,448,1244,1351,1137,0,0,0,0,0,0,26.66,25.88,26.67,8.40,48.54
$GC,2750,0.61,310.1,3000,448,1351,1137,42.2,7.9,277,2813,0.00,2.10,55.88,0.575,9222,0.000,0.030,3001,1835,980,1076,885,0,0,0,0,0,0,26.13,26.10,24.27,8.40,48.93
$GC,2943,0.81,440.8,3001,1835,1076,885,27.9,5.8,296,3027,0.12,2.25,72.03,0.547,10500,0.063,0.036,3123,3255,494,536,453,0,0,0,0,0,0,26.25,24.68,24.22,8.36,48.85
$STATE,3127,end climb,SURFACE_DEPTH_REACHED
$STATE,3127,begin surface coast
$FINISH,0.5,1.010140
$STATE,3148,end surface coast,CONTROL_FINISHED_OK
$STATE,3149,begin surface
$SM_CCo,3227,0.00,0.000,0,0,489,431.24
$SM_GC,1.44,7.60,2.22,0.00,0.027,0.028,0.000,176,1832,489,-8.06,1.10,431.24,0,0,0,0,0,0,26.13,25.99,26.16
$IRIDIUM_FIX,4737.46,-12258.89,190218,000226
$TT8_MAMPS,0.026964,0.243425
$HUMID,48.22
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,17.4
$ALTIM_BOTTOM_PING,130.1,33.3
$24V_AH,23.91,90.925
$10V_AH,9.85,61.768
$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,18.950,52.025,524.025,0.000,0.000,0.000,0.000,224.850,3.000,0.000,21.310,786.623,1016.911,540.494,1117.988,116.856,0.000,1287.537,0.000,693.954,0.000,25.362,0.000
$DEVICE_MAMPS,195.075,42.840,650.250,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.611,703.926,427.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312128
$DATA_FILE_SIZE,24557,327
$CAP_FILE_SIZE,57115,0
$CFSIZE,2097872896,2046623744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,237.44,1
$GPS,190218,021350,4737.765,-12254.668,20,0.9,27,16.4,0.9,223.8,9,4.8