version: 66.14
glider: 195
mission: 15
dive: 619
start: 2 24 118 0 54 4
data:
$ID,195
$MISSION,15
$DIVE,619
$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,48
$R_STBD_OVSHOOT,45
$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
$GPS1,240218,004812,4737.8525,-12255.0967,8,0.9,17,16.4,0.6,49.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-58.9
$GPS2,240218,005324,4737.9272,-12254.9600,6,0.9,19,16.4,0.7,40.9,10,5.0
$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,216.1,1679,-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,-244.4,164,1845,512,443,0.0,0.0,0,59,0.00,0.00,-47.35,0.000,16386,0.000,0.000,164,1845,1626,1682,1571,0,0,0,0,0,0,26.46,28.83,26.46,8.28,48.30
$GC,63,-0.79,-244.4,164,1845,1682,1571,2.4,-2.6,7,126,9.07,0.00,-49.40,0.000,18950,0.191,0.000,2551,1845,3245,3308,3183,0,0,0,0,0,0,24.94,24.12,25.31,8.39,48.93
$GC,193,-0.65,-244.4,2550,1845,3309,3185,17.7,-17.2,28,201,0.12,2.22,0.00,0.000,2564,0.138,0.037,2595,448,3247,3309,3185,0,0,0,0,0,0,25.89,25.61,25.89,8.53,47.91
$GC,210,-0.53,-244.4,2595,448,3309,3184,20.8,-16.9,30,215,0.15,2.17,0.00,0.000,3078,0.112,0.030,2641,1856,3246,3309,3184,0,0,0,0,0,0,25.53,25.82,25.63,8.53,48.38
$GC,344,-0.53,-244.4,2640,1856,3309,3184,34.2,-9.1,43,348,0.00,2.20,0.00,0.000,260,0.000,0.040,2634,3252,3247,3309,3185,0,0,0,0,0,0,26.54,25.61,26.55,8.53,48.66
$GC,400,-0.59,-244.4,2633,3253,3309,3185,38.7,-8.6,48,408,0.00,2.17,0.00,0.000,1030,0.000,0.027,2633,1831,3247,3309,3185,0,0,0,0,0,0,25.89,25.84,25.91,8.53,49.92
$GC,528,-0.59,-244.4,2633,1831,3309,3184,50.2,-8.8,61,532,0.00,2.20,0.00,0.000,516,0.000,0.040,2633,448,3246,3309,3184,0,0,0,0,0,0,26.55,25.53,26.56,8.54,49.25
$GC,564,-0.59,-244.4,2633,448,3308,3184,53.4,-9.5,64,572,0.00,2.17,0.00,0.000,1030,0.000,0.030,2626,1841,3247,3309,3185,0,0,0,0,0,0,25.84,25.80,25.87,8.54,49.44
$GC,692,-0.59,-244.4,2626,1841,3309,3184,66.4,-10.1,77,702,0.00,2.20,0.00,0.000,260,0.000,0.040,2616,3241,3247,3309,3185,0,0,0,0,0,0,26.56,25.58,26.57,8.55,50.23
$GC,758,-0.65,-244.4,2616,3242,3309,3184,72.8,-9.5,83,768,0.00,2.10,0.00,0.000,1030,0.000,0.027,2616,1844,3246,3309,3184,0,0,0,0,0,0,25.86,25.83,25.89,8.55,50.03
$GC,888,-0.65,-244.4,2616,1844,3309,3184,86.0,-10.1,96,898,0.00,2.20,0.00,0.000,516,0.000,0.040,2616,451,3246,3309,3184,0,0,0,0,0,0,26.56,25.50,26.57,8.55,49.68
$GC,932,-0.65,-244.4,2616,450,3308,3185,90.6,-10.3,100,942,0.00,2.15,0.00,0.000,1030,0.000,0.030,2609,1848,3247,3309,3185,0,0,0,0,0,0,25.81,25.77,25.84,8.56,49.52
$GC,1062,-0.65,-244.4,2607,1848,3308,3185,103.9,-10.0,113,1072,0.00,2.20,0.00,0.000,260,0.000,0.039,2598,3246,3246,3308,3185,0,0,0,0,0,0,26.56,25.55,26.57,8.56,50.03
$GC,1120,-0.65,-244.4,2598,3246,3309,3185,109.7,-10.0,118,1132,0.00,2.10,0.00,0.000,1030,0.000,0.027,2598,1848,3247,3309,3185,0,0,0,0,0,0,25.85,25.82,25.88,8.56,50.27
$GC,1313,-0.65,-244.4,2598,1847,3309,3184,129.7,-10.2,137,1326,0.00,2.22,0.00,0.000,516,0.000,0.040,2598,448,3246,3308,3184,0,0,0,0,0,0,26.56,25.47,26.58,8.57,50.78
$GC,1367,-0.65,-244.4,2598,447,3308,3184,135.0,-10.6,141,1375,0.00,2.17,0.00,0.000,1030,0.000,0.030,2590,1843,3246,3309,3184,0,0,0,0,0,0,25.79,25.75,25.82,8.57,50.27
$GC,1556,-0.65,-244.4,2590,1843,3308,3185,155.5,-10.5,160,1560,0.00,2.20,0.00,0.000,260,0.000,0.039,2580,3246,3246,3308,3184,0,0,0,0,0,0,26.57,25.52,26.58,8.57,50.66
$STATE,1566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1566,begin apogee
$GC,1574,-0.21,0.0,2580,1830,3308,3185,156.8,-10.5,161,1778,0.45,0.00,193.77,0.649,10246,0.093,0.000,2740,1831,2245,2370,2120,0,0,0,0,0,0,25.30,24.86,24.08,8.58,50.07
$STATE,1779,end apogee,CONTROL_FINISHED_OK
$STATE,1779,begin climb
$GC,1783,0.79,244.4,2740,1831,2370,2120,164.2,0.0,182,2000,0.88,2.25,202.02,0.638,10756,0.067,0.040,3063,454,1248,1352,1145,0,0,0,0,0,0,25.11,24.51,24.03,8.50,48.14
$GC,2055,0.71,244.4,3062,454,1352,1142,137.0,13.8,209,2066,0.00,2.15,0.00,0.000,1030,0.000,0.028,3063,1840,1246,1352,1141,0,0,0,0,0,0,25.65,25.60,25.67,8.41,47.36
$GC,2246,0.61,244.4,3062,1839,1352,1139,110.1,13.5,228,2257,0.15,2.20,0.00,0.000,4612,0.119,0.039,3017,461,1245,1351,1139,0,0,0,0,0,0,25.81,25.60,25.82,8.41,48.54
$GC,2281,0.56,244.4,3017,461,1351,1138,105.6,13.1,231,2292,0.05,2.12,0.00,0.000,5126,0.117,0.028,2997,1848,1245,1352,1138,0,0,0,0,0,0,25.67,25.86,25.72,8.41,48.54
$GC,2472,0.56,244.4,2996,1849,1351,1138,87.6,9.5,250,2476,0.00,2.22,0.00,0.000,516,0.000,0.041,3004,455,1245,1352,1138,0,0,0,0,0,0,26.52,25.60,26.53,8.41,49.09
$GC,2505,0.56,244.4,3003,455,1351,1138,84.4,9.4,253,2515,0.00,2.12,0.00,0.000,1030,0.000,0.028,3003,1850,1244,1351,1138,0,0,0,0,0,0,25.92,25.89,25.95,8.41,49.76
$GC,2636,0.56,244.4,3003,1850,1351,1138,72.3,8.6,266,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1850,1244,1351,1138,0,0,0,0,0,0,26.54,26.55,26.55,8.41,49.37
$GC,2765,0.56,244.4,3003,1850,1351,1138,60.5,8.9,279,2769,0.00,2.22,0.00,0.000,516,0.000,0.041,3007,457,1244,1351,1138,0,0,0,0,0,0,26.55,25.58,26.55,8.41,49.09
$GC,2821,0.56,244.4,3006,455,1351,1137,56.0,8.5,284,2828,0.00,2.15,0.00,0.000,1030,0.000,0.028,3007,1837,1244,1351,1137,0,0,0,0,0,0,25.91,25.88,25.93,8.40,49.40
$GC,2949,0.56,244.4,3006,1837,1351,1138,44.8,9.2,297,2958,0.00,2.20,0.00,0.000,260,0.000,0.037,3007,3248,1244,1351,1138,0,0,0,0,0,0,26.55,25.65,26.56,8.40,49.52
$GC,2982,0.56,244.4,3006,3248,1351,1138,41.8,9.3,300,2986,0.00,2.12,0.00,0.000,1030,0.000,0.028,3012,1848,1244,1351,1138,0,0,0,0,0,0,25.91,25.83,25.95,8.40,49.44
$GC,3115,0.56,244.4,3011,1847,1351,1138,30.2,8.7,313,3124,0.00,2.22,0.00,0.000,516,0.000,0.041,3012,449,1244,1351,1138,0,0,0,0,0,0,26.56,25.53,26.57,8.39,49.40
$GC,3208,0.56,244.4,3012,449,1351,1138,22.5,8.7,322,3213,0.00,2.15,0.00,0.000,1030,0.000,0.028,3012,1847,1244,1351,1137,0,0,0,0,0,0,25.92,25.84,25.96,8.39,49.37
$GC,3341,0.75,380.4,3011,1847,1351,1138,14.2,6.2,344,3419,0.08,2.25,70.88,0.502,10500,0.096,0.035,3107,3247,693,773,614,0,0,0,0,0,0,26.34,25.22,24.50,8.39,49.80
$STATE,3440,end climb,SURFACE_DEPTH_REACHED
$STATE,3440,begin surface coast
$FINISH,0.7,1.016542
$STATE,3464,end surface coast,CONTROL_FINISHED_OK
$STATE,3464,begin surface
$SM_CCo,3483,20.38,0.052,0,0,533,420.20
$SM_GC,1.43,7.70,2.20,20.38,0.029,0.025,0.052,166,1838,533,-8.08,1.53,420.20,0,0,0,0,0,0,25.92,25.76,25.54
$IRIDIUM_FIX,4735.54,-12254.47,230218,234711
$TT8_MAMPS,0.026964,0.265895
$HUMID,48.74
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.6
$ALTIM_BOTTOM_PING,135.0,31.0
$24V_AH,24.03,101.739
$10V_AH,9.84,67.868
$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,18.650,65.500,466.675,20.375,0.000,0.000,0.000,210.850,3.000,0.000,20.291,894.684,1098.979,520.026,1180.920,148.350,0.000,1281.545,0.000,748.293,0.000,24.021,0.000
$DEVICE_MAMPS,191.250,40.545,648.720,52.020,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.867,781.416,474.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312060
$DATA_FILE_SIZE,24556,363
$CAP_FILE_SIZE,63762,0
$CFSIZE,2097872896,2033844224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.014,359.01,1
$GPS,240218,015401,4737.716,-12255.621,28,0.8,50,16.4,0.8,52.7,10,4.1