version: 66.14
glider: 195
mission: 15
dive: 623
start: 2 24 118 4 43 5
data:
$ID,195
$MISSION,15
$DIVE,623
$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,38
$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
$GPS1,240218,043631,4737.5088,-12255.5361,12,1.1,32,16.4,0.4,36.8,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-68.6
$GPS2,240218,044225,4737.5820,-12255.4404,5,1.2,46,16.4,0.5,44.9,7,3.0
$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,45.4,1188,-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,-244.4,173,1844,509,442,0.0,0.0,0,53,0.00,0.00,-41.17,0.000,16386,0.000,0.000,173,1844,1473,1518,1428,0,0,0,0,0,0,26.47,28.83,26.48,8.28,48.85
$GC,56,-0.79,-244.4,173,1844,1518,1430,2.1,-2.1,6,132,9.02,2.28,-55.70,0.000,18692,0.191,0.051,2539,3249,3246,3313,3179,0,0,0,0,0,0,24.93,23.61,25.29,8.37,48.74
$GC,394,-0.73,-244.4,2539,3248,3314,3179,50.3,-14.9,48,399,0.10,2.15,0.00,0.000,3078,0.106,0.027,2574,1839,3246,3314,3179,0,0,0,0,0,0,25.52,25.82,25.56,8.54,49.40
$GC,528,-0.73,-244.4,2573,1839,3314,3179,67.7,-11.7,61,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1839,3246,3314,3179,0,0,0,0,0,0,26.55,26.56,26.56,8.54,50.19
$GC,648,-0.73,-244.4,2573,1839,3314,3179,82.4,-12.0,73,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1839,3246,3314,3179,0,0,0,0,0,0,26.56,26.57,26.56,8.55,50.03
$GC,768,-0.73,-244.4,2573,1839,3314,3179,96.5,-12.1,85,778,0.00,2.20,0.00,0.000,260,0.000,0.039,2567,3248,3246,3314,3179,0,0,0,0,0,0,26.56,25.53,26.57,8.55,50.15
$GC,807,-0.73,-244.4,2566,3248,3314,3179,100.7,-11.9,88,815,0.00,2.15,0.00,0.000,1030,0.000,0.027,2567,1847,3246,3314,3179,0,0,0,0,0,0,25.84,25.80,25.86,8.56,50.31
$GC,997,-0.73,-244.4,2565,1847,3314,3179,124.1,-12.1,107,1010,0.00,2.20,0.00,0.000,516,0.000,0.039,2567,455,3246,3314,3179,0,0,0,0,0,0,26.56,25.46,26.57,8.57,50.63
$GC,1048,-0.73,-244.4,2566,454,3314,3179,130.5,-12.8,111,1056,0.00,2.17,0.00,0.000,1030,0.000,0.030,2558,1845,3246,3314,3179,0,0,0,0,0,0,25.80,25.75,25.81,8.57,50.55
$GC,1238,-0.73,-244.4,2557,1845,3314,3179,154.9,-13.2,130,1248,0.00,2.20,0.00,0.000,260,0.000,0.039,2548,3249,3246,3314,3179,0,0,0,0,0,0,26.56,25.51,26.57,8.58,50.82
$GC,1282,-0.73,-244.4,2547,3249,3313,3179,160.8,-12.7,134,1292,0.00,2.10,0.00,0.000,1030,0.000,0.027,2548,1847,3246,3313,3179,0,0,0,0,0,0,25.81,25.78,25.86,8.58,50.15
$STATE,1300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1300,begin apogee
$GC,1305,-0.21,0.0,2548,1847,3313,3179,163.4,-12.4,136,1504,0.55,0.00,194.00,0.658,10246,0.097,0.000,2738,1847,2246,2377,2116,0,0,0,0,0,0,25.08,24.84,24.07,8.58,50.55
$STATE,1505,end apogee,CONTROL_FINISHED_OK
$STATE,1505,begin climb
$GC,1509,0.79,244.4,2738,1847,2376,2114,166.2,0.0,156,1725,0.88,2.30,202.90,0.639,10756,0.044,0.039,3085,448,1248,1353,1143,0,0,0,0,0,0,25.22,24.70,24.01,8.50,48.46
$GC,1750,0.66,244.4,3084,448,1351,1141,140.3,15.3,180,1760,0.17,2.17,0.00,0.000,5126,0.116,0.028,3028,1845,1246,1352,1141,0,0,0,0,0,0,25.10,25.44,25.23,8.41,47.20
$GC,1939,0.66,244.4,3027,1846,1352,1138,117.1,10.9,199,1943,0.00,2.25,0.00,0.000,516,0.000,0.041,3036,443,1245,1352,1138,0,0,0,0,0,0,26.39,25.58,26.40,8.41,48.54
$GC,1973,0.61,244.4,3035,442,1351,1138,113.1,11.6,202,1983,0.00,2.15,0.00,0.000,1030,0.000,0.028,3036,1847,1244,1350,1138,0,0,0,0,0,0,25.86,25.84,25.90,8.41,48.81
$GC,2163,0.61,244.4,3035,1847,1350,1138,90.3,11.8,221,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1847,1244,1350,1138,0,0,0,0,0,0,26.51,26.51,26.51,8.41,49.29
$GC,2283,0.61,244.4,3035,1847,1349,1138,76.7,11.4,233,2294,0.00,2.22,0.00,0.000,516,0.000,0.041,3045,447,1244,1350,1138,0,0,0,0,0,0,26.53,25.58,26.53,8.40,49.48
$GC,2309,0.61,244.4,3044,446,1350,1138,73.9,11.5,235,2318,0.10,2.17,0.00,0.000,5126,0.103,0.028,3010,1843,1244,1350,1138,0,0,0,0,0,0,25.58,25.87,25.65,8.41,49.21
$GC,2438,0.61,244.4,3009,1843,1350,1137,60.6,10.0,248,2448,0.00,2.20,0.00,0.000,260,0.000,0.037,3010,3252,1243,1350,1137,0,0,0,0,0,0,26.54,25.65,26.55,8.40,49.52
$GC,2462,0.61,244.4,3009,3252,1350,1137,58.1,10.5,250,2471,0.00,2.12,0.00,0.000,1030,0.000,0.028,3012,1844,1244,1350,1138,0,0,0,0,0,0,25.86,25.83,25.90,8.40,49.64
$GC,2591,0.61,244.4,3011,1844,1350,1137,45.4,9.5,263,2602,0.00,2.22,0.00,0.000,516,0.000,0.041,3014,446,1244,1350,1138,0,0,0,0,0,0,26.55,25.54,26.55,8.40,49.25
$GC,2657,0.61,244.4,3014,446,1350,1137,39.1,9.6,269,2668,0.00,2.15,0.00,0.000,1030,0.000,0.027,3015,1855,1243,1350,1137,0,0,0,0,0,0,25.94,25.85,25.96,8.39,49.25
$GC,2787,0.61,244.4,3014,1854,1350,1137,26.9,9.0,282,2797,0.00,2.25,0.00,0.000,516,0.000,0.041,3017,445,1243,1350,1137,0,0,0,0,0,0,26.55,25.51,26.56,8.39,49.72
$GC,2842,0.61,244.4,3016,445,1350,1137,21.9,9.0,287,2852,0.00,2.12,0.00,0.000,1030,0.000,0.028,3017,1838,1243,1350,1137,0,0,0,0,0,0,25.87,25.82,25.91,8.39,49.88
$GC,2976,0.72,348.7,3016,1838,1350,1137,12.1,7.1,310,3039,0.00,2.25,53.92,0.499,8964,0.000,0.035,3017,3267,821,908,734,0,0,0,0,0,0,26.55,24.97,24.55,8.38,49.72
$GC,3070,0.90,448.8,3016,3267,909,732,6.4,7.2,324,3113,0.12,2.20,37.25,0.461,11266,0.038,0.027,3152,1842,535,577,493,0,0,0,0,0,0,25.74,25.75,25.82,8.34,48.42
$STATE,3114,end climb,SURFACE_DEPTH_REACHED
$STATE,3114,begin surface coast
$FINISH,0.7,1.000656
$STATE,3140,end surface coast,CONTROL_FINISHED_OK
$STATE,3140,begin surface
$SM_CCo,3218,0.00,0.000,0,0,524,422.90
$SM_GC,1.67,7.75,0.00,0.00,0.027,0.000,0.000,178,1840,524,-8.05,-0.08,422.90,0,0,0,0,0,0,25.88,26.22,25.91
$IRIDIUM_FIX,4739.67,-12257.95,240218,033418
$TT8_MAMPS,0.026964,0.266644
$HUMID,47.95
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.7
$ALTIM_BOTTOM_PING,140.7,30.5
$24V_AH,23.61,102.054
$10V_AH,9.84,68.062
$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,18.700,48.250,488.075,0.000,0.000,0.000,0.000,225.800,2.750,0.000,47.508,795.274,1021.671,530.467,1109.213,139.710,0.000,1237.469,0.000,665.326,0.000,19.954,0.000
$DEVICE_MAMPS,191.250,51.255,657.900,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.314,721.218,437.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24519,335
$CAP_FILE_SIZE,54924,0
$CFSIZE,2097872896,2033451008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040,300.32,1
$GPS,240218,053745,4737.771,-12254.911,8,0.9,22,16.4,0.5,51.0,9,4.8