version: 66.14
glider: 195
mission: 15
dive: 515
start: 2 19 118 22 49 3
data:
$ID,195
$MISSION,15
$DIVE,515
$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,51
$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
$GPS1,190218,224358,4737.8691,-12254.6250,9,0.9,16,16.4,0.0,229.3,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.9
$GPS2,190218,224822,4737.8472,-12254.6738,8,0.9,18,16.4,0.0,231.3,9,4.6
$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,44.0,2113,-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,-244.4,169,1856,553,480,0.0,0.0,0,60,0.00,0.00,-48.95,0.000,16386,0.000,0.000,168,1856,1724,1777,1672,0,0,0,0,0,0,26.55,28.83,26.56,8.30,47.99
$GC,63,-0.79,-244.4,168,1856,1777,1673,2.5,-2.8,7,126,9.10,0.00,-46.08,0.000,18950,0.191,0.000,2548,1856,3245,3313,3178,0,0,0,0,0,0,24.83,25.56,25.21,8.41,48.14
$GC,192,-0.64,-244.4,2547,1856,3314,3178,19.8,-20.6,28,200,0.15,2.20,0.00,0.000,2308,0.131,0.041,2593,3249,3246,3314,3178,0,0,0,0,0,0,25.95,25.83,25.97,8.54,47.48
$GC,232,-0.57,-244.4,2592,3249,3314,3179,26.3,-16.6,32,241,0.10,2.15,0.00,0.000,3078,0.100,0.029,2628,1848,3246,3314,3179,0,0,0,0,0,0,25.77,26.02,25.83,8.54,47.44
$GC,361,-0.57,-244.4,2629,1847,3314,3178,41.1,-10.7,45,364,0.00,2.20,0.00,0.000,516,0.000,0.041,2629,451,3246,3314,3178,0,0,0,0,0,0,26.65,25.82,26.65,8.54,48.34
$GC,393,-0.57,-244.4,2628,451,3314,3178,44.7,-11.1,48,403,0.00,2.12,0.00,0.000,1030,0.000,0.032,2623,1843,3246,3314,3178,0,0,0,0,0,0,26.05,26.01,26.08,8.55,48.46
$GC,523,-0.57,-244.4,2623,1843,3314,3178,58.1,-10.3,61,533,0.00,2.20,0.00,0.000,260,0.000,0.041,2613,3251,3246,3314,3178,0,0,0,0,0,0,26.66,25.86,26.67,8.54,48.46
$GC,578,-0.57,-244.4,2613,3251,3314,3178,63.7,-10.3,66,587,0.00,2.12,0.00,0.000,1030,0.000,0.028,2613,1833,3246,3314,3178,0,0,0,0,0,0,26.08,26.05,26.10,8.55,48.81
$GC,707,-0.57,-244.4,2613,1833,3314,3178,77.5,-11.0,79,711,0.00,2.17,0.00,0.000,516,0.000,0.042,2613,453,3246,3314,3178,0,0,0,0,0,0,26.66,25.80,26.67,8.55,49.17
$GC,772,-0.57,-244.4,2613,452,3314,3178,84.5,-11.0,85,781,0.00,2.17,0.00,0.000,1030,0.000,0.032,2607,1844,3246,3314,3178,0,0,0,0,0,0,26.04,26.01,26.07,8.56,49.29
$GC,901,-0.57,-244.4,2606,1845,3314,3178,98.4,-10.9,98,911,0.00,2.20,0.00,0.000,260,0.000,0.041,2597,3250,3246,3314,3178,0,0,0,0,0,0,26.67,25.86,26.67,8.56,49.09
$GC,947,-0.57,-244.4,2596,3251,3314,3178,103.2,-10.3,102,957,0.08,2.12,0.00,0.000,3078,0.109,0.028,2624,1834,3246,3314,3178,0,0,0,0,0,0,25.81,26.04,25.86,8.57,49.40
$GC,1137,-0.57,-244.4,2624,1834,3314,3178,120.8,-9.2,121,1147,0.00,2.15,0.00,0.000,516,0.000,0.041,2624,452,3246,3314,3178,0,0,0,0,0,0,26.66,25.80,26.67,8.57,50.00
$GC,1193,-0.57,-244.4,2624,453,3314,3179,126.1,-9.8,126,1203,0.00,2.12,0.00,0.000,1030,0.000,0.031,2619,1842,3246,3314,3178,0,0,0,0,0,0,26.04,26.00,26.07,8.57,49.21
$GC,1382,-0.57,-244.4,2619,1843,3314,3178,145.2,-9.6,145,1385,0.00,2.20,0.00,0.000,260,0.000,0.041,2610,3248,3246,3314,3179,0,0,0,0,0,0,26.67,25.84,26.67,8.58,49.68
$GC,1446,-0.62,-244.4,2609,3248,3314,3178,151.2,-9.1,151,1456,0.00,2.10,0.00,0.000,1030,0.000,0.028,2610,1845,3246,3314,3178,0,0,0,0,0,0,26.08,26.04,26.11,8.58,49.96
$STATE,1463,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1464,begin apogee
$GC,1469,-0.21,0.0,2609,1845,3314,3179,153.0,-9.0,153,1666,0.35,0.00,193.25,0.653,10246,0.093,0.000,2740,1841,2246,2378,2114,0,0,0,0,0,0,25.70,24.81,23.96,8.58,49.68
$STATE,1667,end apogee,CONTROL_FINISHED_OK
$STATE,1667,begin climb
$GC,1669,0.79,244.4,2740,1841,2378,2114,156.7,0.0,173,1887,0.88,2.28,202.23,0.636,10500,0.068,0.037,3052,3249,1247,1355,1139,0,0,0,0,0,0,25.21,24.46,23.94,8.50,47.95
$GC,1934,0.72,244.4,3051,3249,1355,1139,133.3,12.8,199,1941,0.00,2.17,0.00,0.000,1030,0.000,0.030,3060,1848,1246,1354,1139,0,0,0,0,0,0,25.75,25.72,25.78,8.42,46.61
$GC,2123,0.64,244.4,3059,1848,1354,1137,108.7,12.8,218,2133,0.10,2.20,0.00,0.000,4612,0.135,0.041,3031,452,1245,1354,1137,0,0,0,0,0,0,26.05,25.81,26.07,8.41,47.79
$GC,2209,0.64,244.4,3030,452,1354,1133,99.4,10.9,226,2213,0.00,2.15,0.00,0.000,1030,0.000,0.030,3031,1838,1244,1354,1134,0,0,0,0,0,0,26.13,26.03,26.16,8.41,47.99
$GC,2342,0.64,244.4,3030,1838,1354,1134,85.2,10.7,239,2352,0.00,2.17,0.00,0.000,516,0.000,0.041,3040,451,1243,1354,1133,0,0,0,0,0,0,26.61,25.85,26.62,8.41,48.42
$GC,2365,0.64,244.4,3039,451,1354,1133,82.7,10.7,241,2375,0.00,2.15,0.00,0.000,1030,0.000,0.029,3040,1853,1244,1354,1134,0,0,0,0,0,0,26.15,26.07,26.17,8.41,48.07
$GC,2496,0.64,244.4,3039,1853,1354,1133,68.8,10.3,254,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1853,1243,1354,1133,0,0,0,0,0,0,26.64,26.65,26.65,8.41,48.85
$GC,2616,0.64,244.4,3039,1853,1354,1133,55.9,10.6,266,2625,0.00,2.20,0.00,0.000,516,0.000,0.041,3048,454,1243,1354,1133,0,0,0,0,0,0,26.65,25.86,26.65,8.40,48.50
$GC,2660,0.64,244.4,3048,454,1354,1133,51.1,11.0,270,2670,0.08,2.12,0.00,0.000,5126,0.108,0.029,3021,1846,1243,1354,1133,0,0,0,0,0,0,25.85,26.08,25.90,8.40,48.62
$GC,2790,0.64,244.4,3020,1846,1354,1133,38.6,9.3,283,2800,0.00,2.20,0.00,0.000,516,0.000,0.042,3028,451,1243,1354,1133,0,0,0,0,0,0,26.65,25.84,26.66,8.40,48.70
$GC,2824,0.64,244.4,3027,451,1354,1133,35.4,9.5,286,2833,0.00,2.10,0.00,0.000,1030,0.000,0.030,3028,1844,1243,1354,1133,0,0,0,0,0,0,26.10,26.08,26.13,8.40,49.01
$GC,2953,0.64,244.4,3027,1844,1354,1132,24.0,8.1,299,2957,0.00,2.17,0.00,0.000,260,0.000,0.038,3028,3250,1243,1354,1133,0,0,0,0,0,0,26.65,25.91,26.66,8.39,48.74
$GC,3022,0.72,323.0,3027,3251,1354,1133,18.6,7.8,307,3072,0.00,2.15,43.20,0.527,9222,0.000,0.029,3028,1846,928,1019,837,0,0,0,0,0,0,26.09,26.06,24.41,8.39,48.58
$GC,3137,0.83,435.0,3027,1846,1019,835,10.6,6.9,326,3201,0.10,2.25,55.97,0.484,10756,0.073,0.041,3147,451,495,535,455,0,0,0,0,0,0,26.22,24.74,24.32,8.35,48.34
$STATE,3207,end climb,SURFACE_DEPTH_REACHED
$STATE,3207,begin surface coast
$FINISH,0.8,1.010522
$STATE,3231,end surface coast,CONTROL_FINISHED_OK
$STATE,3231,begin surface
$SM_CCo,3311,0.00,0.000,0,0,487,431.73
$SM_GC,1.76,7.72,2.22,0.00,0.028,0.027,0.000,180,1861,487,-8.05,-0.99,431.73,0,0,0,0,0,0,25.99,25.86,26.03
$IRIDIUM_FIX,4739.20,-12253.53,190218,215711
$TT8_MAMPS,0.026964,0.243425
$HUMID,47.67
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,9.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,110.5,51.5
$24V_AH,23.94,92.908
$10V_AH,9.86,62.883
$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,18.650,60.800,494.650,0.000,0.000,0.000,0.000,176.650,1.250,0.000,20.813,817.853,1064.609,514.164,1092.474,115.440,0.000,1225.661,0.000,714.515,0.000,10.406,0.000
$DEVICE_MAMPS,191.250,42.075,653.310,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.485,731.812,444.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312132
$DATA_FILE_SIZE,24591,340
$CAP_FILE_SIZE,59646,0
$CFSIZE,2097872896,2044067840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.081,235.08,1
$GPS,190218,234531,4737.978,-12254.289,14,0.9,37,16.4,0.4,214.6,10,4.2