version: 66.14
glider: 195
mission: 15
dive: 502
start: 2 19 118 12 17 33
data:
$ID,195
$MISSION,15
$DIVE,502
$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,39
$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
$GPS1,190218,121235,4738.4072,-12253.2188,6,0.8,17,16.4,0.3,206.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.6
$GPS2,190218,121652,4738.3618,-12253.2441,5,0.8,19,16.4,0.0,221.7,10,4.6
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$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,230.2,1910,-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,-244.4,171,1846,556,479,0.0,0.0,0,53,0.00,0.00,-42.28,0.000,16386,0.000,0.000,171,1846,1540,1591,1490,0,0,0,0,0,0,26.56,28.83,26.57,8.30,47.59
$GC,56,-0.79,-244.4,171,1846,1593,1490,2.1,-1.7,6,133,9.15,2.25,-56.92,0.000,18692,0.194,0.052,2545,3249,3245,3313,3178,0,0,0,0,0,0,24.79,23.76,25.20,8.39,47.40
$GC,380,-0.72,-244.4,2545,3249,3315,3179,50.8,-14.4,48,385,0.10,2.15,0.00,0.000,3078,0.130,0.028,2578,1836,3246,3314,3179,0,0,0,0,0,0,25.86,26.08,25.95,8.55,48.07
$GC,514,-0.72,-244.4,2577,1836,3314,3179,67.5,-12.3,61,523,0.00,2.17,0.00,0.000,516,0.000,0.041,2578,453,3246,3315,3178,0,0,0,0,0,0,26.66,25.86,26.67,8.55,49.13
$GC,558,-0.72,-244.4,2577,453,3314,3179,72.8,-12.1,65,567,0.00,2.12,0.00,0.000,1030,0.000,0.031,2571,1842,3246,3314,3179,0,0,0,0,0,0,26.09,26.06,26.12,8.55,48.85
$GC,688,-0.72,-244.4,2570,1842,3314,3178,89.0,-13.0,78,698,0.00,2.20,0.00,0.000,260,0.000,0.041,2562,3251,3246,3314,3179,0,0,0,0,0,0,26.67,25.90,26.67,8.56,49.84
$GC,732,-0.72,-244.4,2562,3251,3315,3179,94.5,-12.3,82,743,0.00,2.12,0.00,0.000,1030,0.000,0.028,2561,1844,3246,3314,3179,0,0,0,0,0,0,26.15,26.07,26.19,8.56,49.21
$GC,864,-0.72,-244.4,2561,1844,3314,3179,110.9,-12.5,95,867,0.00,2.20,0.00,0.000,516,0.000,0.041,2561,451,3246,3314,3179,0,0,0,0,0,0,26.63,25.85,26.64,8.57,49.60
$GC,910,-0.67,-244.4,2561,451,3314,3179,116.7,-13.0,99,920,0.10,2.12,0.00,0.000,3078,0.118,0.031,2588,1842,3246,3314,3178,0,0,0,0,0,0,25.74,26.03,25.79,8.57,49.33
$GC,1099,-0.67,-244.4,2587,1843,3314,3179,137.3,-10.5,118,1108,0.00,2.20,0.00,0.000,260,0.000,0.041,2580,3249,3246,3314,3178,0,0,0,0,0,0,26.67,25.88,26.68,8.58,49.60
$GC,1154,-0.67,-244.4,2579,3249,3314,3179,143.2,-10.6,123,1163,0.00,2.15,0.00,0.000,1030,0.000,0.028,2580,1841,3246,3314,3179,0,0,0,0,0,0,26.10,26.06,26.12,8.58,49.48
$STATE,1301,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1301,begin apogee
$GC,1306,-0.21,0.0,2580,1840,3314,3179,160.3,-11.2,138,1505,0.45,0.00,194.48,0.651,10246,0.093,0.000,2743,1840,2246,2379,2114,0,0,0,0,0,0,25.63,24.81,23.95,8.58,49.44
$STATE,1506,end apogee,CONTROL_FINISHED_OK
$STATE,1506,begin climb
$GC,1509,0.79,244.4,2742,1840,2379,2113,166.9,0.0,158,1725,0.82,2.28,203.55,0.634,11012,0.060,0.041,3059,449,1247,1354,1141,0,0,0,0,0,0,25.30,24.46,23.94,8.50,47.24
$GC,1753,0.70,244.4,3058,449,1354,1139,145.0,13.5,182,1761,0.00,2.20,0.00,0.000,1030,0.000,0.030,3059,1840,1247,1354,1140,0,0,0,0,0,0,25.70,25.65,25.72,8.41,46.88
$GC,1940,0.62,244.4,3057,1840,1353,1138,118.5,13.6,201,1945,0.12,2.20,0.00,0.000,4612,0.125,0.041,3021,452,1245,1353,1138,0,0,0,0,0,0,25.97,25.82,26.01,8.41,47.79
$GC,1976,0.57,244.4,3021,452,1352,1137,114.3,12.8,204,1983,0.00,2.15,0.00,0.000,1030,0.000,0.030,3021,1837,1244,1352,1137,0,0,0,0,0,0,26.06,26.03,26.09,8.42,48.11
$GC,2164,0.57,244.4,3020,1837,1352,1136,92.6,10.9,223,2173,0.00,2.20,0.00,0.000,516,0.000,0.042,3030,448,1244,1352,1136,0,0,0,0,0,0,26.62,25.89,26.63,8.41,48.77
$GC,2207,0.57,244.4,3029,448,1352,1136,87.6,11.7,227,2217,0.10,2.15,0.00,0.000,5126,0.120,0.030,2995,1848,1244,1352,1136,0,0,0,0,0,0,25.89,26.07,25.97,8.41,48.34
$GC,2337,0.57,244.4,2994,1848,1352,1136,74.8,9.9,240,2341,0.00,2.20,0.00,0.000,260,0.000,0.040,2995,3258,1243,1352,1135,0,0,0,0,0,0,26.65,25.95,26.65,8.41,48.54
$GC,2372,0.57,244.4,2994,3258,1352,1135,71.6,9.6,243,2380,0.00,2.15,0.00,0.000,1030,0.000,0.029,2999,1845,1243,1352,1135,0,0,0,0,0,0,26.12,26.08,26.15,8.41,48.89
$GC,2500,0.57,244.4,2998,1845,1352,1135,59.1,9.9,256,2505,0.00,2.20,0.00,0.000,516,0.000,0.041,3009,451,1243,1352,1135,0,0,0,0,0,0,26.65,25.89,26.66,8.40,48.74
$GC,2566,0.57,244.4,3008,451,1352,1135,53.7,8.4,262,2573,0.00,2.17,0.00,0.000,1030,0.000,0.031,3009,1847,1243,1352,1135,0,0,0,0,0,0,26.11,26.08,26.15,8.40,48.97
$GC,2694,0.57,244.4,3008,1847,1352,1135,42.1,8.9,275,2703,0.00,2.20,0.00,0.000,516,0.000,0.043,3015,455,1243,1352,1135,0,0,0,0,0,0,26.66,25.87,26.67,8.40,49.09
$GC,2738,0.57,244.4,3014,455,1352,1135,38.2,9.1,279,2746,0.00,2.15,0.00,0.000,1030,0.000,0.030,3015,1842,1243,1352,1135,0,0,0,0,0,0,26.13,26.09,26.15,8.40,48.89
$GC,2867,0.67,351.6,3014,1842,1352,1135,28.7,7.0,292,2939,0.00,2.30,63.55,0.559,8708,0.000,0.041,3015,448,810,905,716,0,0,0,0,0,0,26.66,25.15,24.30,8.39,48.81
$GC,2988,0.88,481.8,3014,448,904,714,21.1,6.3,303,3039,0.15,2.17,44.67,0.518,11270,0.037,0.028,3163,1849,498,540,457,0,0,0,0,0,0,25.91,25.87,24.26,8.34,48.26
$STATE,3102,end climb,SURFACE_DEPTH_REACHED
$STATE,3102,begin surface coast
$FINISH,0.7,1.014068
$STATE,3119,end surface coast,CONTROL_FINISHED_OK
$STATE,3119,begin surface
$SM_CCo,3196,0.00,0.000,0,0,488,431.48
$SM_GC,1.64,7.75,0.00,0.00,0.028,0.000,0.000,184,1849,488,-8.06,0.17,431.48,0,0,0,0,0,0,26.03,26.39,26.07
$IRIDIUM_FIX,4738.33,-12256.21,190218,113219
$TT8_MAMPS,0.026964,0.248668
$HUMID,47.59
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.9
$ALTIM_BOTTOM_PING,130.1,39.9
$24V_AH,23.76,91.884
$10V_AH,9.86,62.339
$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,18.750,52.425,506.250,0.000,0.000,0.000,0.000,171.800,2.500,0.000,20.923,782.873,1015.426,514.261,1060.326,110.961,0.000,1190.355,0.000,692.270,0.000,19.580,0.000
$DEVICE_MAMPS,193.545,52.020,651.015,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.985,697.413,423.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312096
$DATA_FILE_SIZE,21027,324
$CAP_FILE_SIZE,55458,0
$CFSIZE,2097872896,2045345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.049,239.79,1
$GPS,190218,131148,4738.144,-12254.042,5,1.0,19,16.4,0.5,212.7,8,4.8