version: 66.14
glider: 195
mission: 15
dive: 247
start: 2 8 118 21 16 13
data:
$ID,195
$MISSION,15
$DIVE,247
$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,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
$GPS1,080218,211023,4738.2729,-12253.5918,5,0.9,16,16.4,0.6,79.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-70.3
$GPS2,080218,211536,4738.2842,-12253.4766,6,0.9,20,16.4,0.4,84.3,10,4.6
$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,225.7,1587,-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,-244.4,185,1856,551,461,0.0,0.0,0,33,0.00,0.00,-22.00,0.000,16386,0.000,0.000,185,1856,1073,1140,1006,0,0,0,0,0,0,26.60,28.83,26.60,8.30,46.81
$GC,35,-0.79,-244.4,185,1856,1140,1006,2.1,-2.5,3,119,9.00,2.22,-66.50,0.000,19204,0.197,0.051,2551,447,3246,3317,3176,0,0,0,0,0,0,25.05,25.56,25.45,8.35,47.24
$GC,227,-0.65,-244.4,2551,447,3317,3176,30.5,-18.8,30,235,0.17,2.15,0.00,0.000,3078,0.113,0.033,2601,1831,3246,3317,3176,0,0,0,0,0,0,25.77,26.16,25.86,8.54,46.92
$GC,355,-0.65,-244.4,2601,1831,3316,3176,46.9,-11.5,43,359,0.00,2.22,0.00,0.000,260,0.000,0.042,2593,3254,3246,3317,3176,0,0,0,0,0,0,26.72,26.07,26.72,8.54,47.83
$GC,450,-0.65,-244.4,2593,3254,3318,3176,57.5,-11.3,52,459,0.00,2.10,0.00,0.000,1030,0.000,0.030,2593,1848,3246,3317,3176,0,0,0,0,0,0,26.25,26.22,26.27,8.54,47.67
$GC,578,-0.65,-244.4,2592,1847,3318,3176,72.6,-11.4,65,582,0.00,2.20,0.00,0.000,516,0.000,0.042,2593,448,3246,3317,3176,0,0,0,0,0,0,26.74,26.04,26.74,8.55,48.07
$GC,631,-0.65,-244.4,2593,448,3317,3176,78.9,-12.0,70,640,0.00,2.12,0.00,0.000,1030,0.000,0.032,2584,1848,3246,3317,3176,0,0,0,0,0,0,26.24,26.20,26.27,8.55,48.18
$GC,761,-0.65,-244.4,2584,1848,3317,3176,94.0,-11.7,83,765,0.00,2.20,0.00,0.000,260,0.000,0.042,2575,3256,3246,3317,3176,0,0,0,0,0,0,26.75,26.08,26.75,8.55,48.07
$GC,803,-0.65,-244.4,2574,3256,3317,3176,98.8,-11.3,87,808,0.00,2.12,0.00,0.000,1030,0.000,0.030,2575,1840,3246,3317,3176,0,0,0,0,0,0,26.30,26.22,26.34,8.55,48.42
$GC,936,-0.65,-244.4,2574,1840,3317,3176,114.3,-11.5,100,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1840,3246,3317,3176,0,0,0,0,0,0,26.75,26.76,26.76,8.56,48.18
$GC,1118,-0.65,-244.4,2574,1840,3317,3176,135.2,-11.4,118,1123,0.00,2.20,0.00,0.000,260,0.000,0.042,2566,3255,3246,3317,3176,0,0,0,0,0,0,26.72,26.07,26.73,8.56,48.46
$GC,1143,-0.65,-244.4,2565,3255,3317,3176,138.0,-11.9,120,1151,0.10,2.15,0.00,0.000,3078,0.105,0.030,2602,1843,3246,3317,3176,0,0,0,0,0,0,25.96,26.22,26.02,8.56,47.99
$GC,1331,-0.65,-244.4,2601,1843,3317,3177,156.8,-9.6,139,1335,0.00,2.20,0.00,0.000,516,0.000,0.042,2601,448,3246,3317,3176,0,0,0,0,0,0,26.75,26.02,26.76,8.57,48.38
$GC,1370,-0.65,-244.4,2601,448,3317,3176,160.1,-10.1,142,1378,0.00,2.17,0.00,0.000,1030,0.000,0.032,2596,1849,3246,3317,3176,0,0,0,0,0,0,26.22,26.19,26.26,8.57,48.11
$STATE,1387,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1387,begin apogee
$GC,1392,-0.21,0.0,2596,1849,3317,3176,162.6,-10.4,144,1589,0.40,0.00,192.88,0.674,10246,0.091,0.000,2743,1850,2246,2379,2113,0,0,0,0,0,0,25.86,24.83,23.91,8.57,48.18
$STATE,1590,end apogee,CONTROL_FINISHED_OK
$STATE,1590,begin climb
$GC,1592,0.79,244.4,2743,1850,2379,2114,166.9,0.0,164,1809,0.85,2.30,202.07,0.656,10756,0.063,0.041,3062,452,1248,1357,1139,0,0,0,0,0,0,25.37,24.49,23.95,8.49,46.37
$GC,1886,0.68,244.4,3061,452,1356,1138,135.3,14.9,193,1897,0.08,2.15,0.00,0.000,5126,0.123,0.031,3036,1844,1246,1356,1137,0,0,0,0,0,0,25.69,25.91,25.75,8.40,45.86
$GC,2077,0.63,244.4,3035,1845,1356,1136,110.8,12.4,212,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1845,1246,1356,1136,0,0,0,0,0,0,26.60,26.61,26.60,8.40,46.77
$GC,2266,0.56,244.4,3035,1845,1356,1136,87.0,12.8,231,2276,0.10,2.17,0.00,0.000,4612,0.135,0.041,3005,454,1246,1356,1136,0,0,0,0,0,0,26.22,26.06,26.25,8.40,47.04
$GC,2330,0.56,244.4,3004,453,1355,1135,80.4,9.9,237,2340,0.00,2.12,0.00,0.000,1030,0.000,0.031,3005,1855,1245,1355,1135,0,0,0,0,0,0,26.31,26.22,26.34,8.40,47.24
$GC,2460,0.56,244.4,3004,1855,1354,1135,67.5,9.8,250,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1855,1245,1355,1135,0,0,0,0,0,0,26.72,26.73,26.73,8.39,47.63
$GC,2580,0.56,244.4,3004,1855,1355,1135,56.1,9.9,262,2584,0.00,2.22,0.00,0.000,516,0.000,0.043,3012,450,1245,1355,1135,0,0,0,0,0,0,26.73,26.07,26.74,8.39,47.40
$GC,2635,0.56,244.4,3012,449,1355,1135,50.7,10.0,267,2643,0.00,2.15,0.00,0.000,1030,0.000,0.031,3012,1844,1245,1355,1135,0,0,0,0,0,0,26.29,26.25,26.32,8.39,47.48
$GC,2764,0.56,244.4,3012,1844,1355,1135,38.4,9.1,280,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1844,1245,1355,1135,0,0,0,0,0,0,26.74,26.75,26.75,8.39,47.08
$GC,2883,0.56,244.4,3012,1844,1355,1135,27.8,8.5,292,2888,0.00,2.20,0.00,0.000,516,0.000,0.043,3017,452,1245,1355,1135,0,0,0,0,0,0,26.74,26.06,26.75,8.38,47.63
$GC,2918,0.56,244.4,3017,451,1355,1135,24.8,9.2,295,2926,0.00,2.15,0.00,0.000,1030,0.000,0.031,3017,1845,1245,1355,1135,0,0,0,0,0,0,26.29,26.25,26.30,8.38,47.75
$GC,3050,0.56,244.4,3017,1845,1355,1135,13.6,8.0,315,3057,0.00,2.20,0.00,0.000,260,0.000,0.040,3017,3251,1245,1355,1135,0,0,0,0,0,0,26.74,26.13,26.76,8.37,47.55
$STATE,3427,end climb,SURFACE_DEPTH_REACHED
$STATE,3427,begin surface coast
$FINISH,0.5,1.008412
$STATE,3604,end surface coast,CONTROL_FINISHED_OK
$STATE,3604,begin surface
$SM_CCo,3622,83.68,0.057,0,0,533,420.20
$SM_GC,2.08,7.25,2.20,83.68,0.027,0.033,0.057,170,1846,533,-8.06,1.33,420.20,0,0,0,0,0,0,26.40,26.17,25.91
$IRIDIUM_FIX,4739.20,-12253.53,080218,195924
$TT8_MAMPS,0.026964,0.267393
$HUMID,46.96
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,160.1,12.1
$24V_AH,23.91,70.923
$10V_AH,9.75,48.849
$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,17.950,47.950,394.950,83.675,0.000,0.000,0.000,225.300,4.250,0.000,21.410,1054.882,1059.485,498.026,1320.659,112.486,0.000,1247.437,0.000,802.743,0.000,31.909,0.000
$DEVICE_MAMPS,196.605,51.255,673.965,56.610,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,285.706,910.657,554.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312080
$DATA_FILE_SIZE,28114,423
$CAP_FILE_SIZE,61648,0
$CFSIZE,2097872896,2070446080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.155,81.36,1
$GPS,080218,221931,4738.158,-12253.710,25,0.9,50,16.4,0.4,90.8,9,4.1