version: 66.14
glider: 195
mission: 15
dive: 439
start: 2 17 118 1 52 47
data:
$ID,195
$MISSION,15
$DIVE,439
$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,46
$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
$GPS1,170218,014704,4737.6030,-12255.2188,5,0.8,13,16.4,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-71.7
$GPS2,170218,015200,4737.6299,-12255.1826,10,0.8,16,16.4,0.0,273.6,10,5.0
$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,51.5,865,-21.3,-10.000,-24.51,1557
$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,-0.99,-102.9,187,1847,557,480,0.0,0.0,0,32,0.00,0.00,-20.83,0.000,16386,0.000,0.000,187,1846,1049,1109,990,0,0,0,0,0,0,26.58,28.83,26.59,8.30,47.36
$GC,34,-0.99,-102.9,187,1847,1109,990,2.1,-3.0,3,105,8.73,2.25,-55.20,0.000,18692,0.190,0.050,2474,3250,2668,2742,2595,0,0,0,0,0,0,24.92,23.87,25.11,8.35,47.87
$GC,485,-0.86,-102.9,2474,3250,2743,2596,70.0,-14.7,57,495,0.17,2.10,0.00,0.000,3078,0.130,0.028,2528,1833,2669,2743,2596,0,0,0,0,0,0,25.60,26.15,25.69,8.50,48.03
$GC,615,-0.86,-102.9,2528,1833,2743,2595,86.0,-12.4,70,620,0.00,2.17,0.00,0.000,516,0.000,0.041,2528,452,2669,2742,2596,0,0,0,0,0,0,26.70,25.94,26.70,8.50,48.22
$GC,660,-0.81,-102.9,2527,452,2743,2596,91.6,-12.6,74,665,0.00,2.12,0.00,0.000,1030,0.000,0.030,2520,1848,2669,2742,2596,0,0,0,0,0,0,26.22,26.13,26.25,8.50,48.70
$GC,793,-0.81,-102.9,2519,1848,2743,2596,108.6,-13.0,87,803,0.10,2.15,0.00,0.000,2308,0.155,0.037,2545,3248,2669,2743,2596,0,0,0,0,0,0,26.14,25.99,26.15,8.51,48.81
$GC,879,-0.81,-102.9,2544,3247,2743,2596,118.0,-11.0,95,889,0.00,2.10,0.00,0.000,1030,0.000,0.028,2544,1846,2669,2743,2596,0,0,0,0,0,0,26.22,26.14,26.25,8.51,48.54
$GC,1069,-0.81,-102.9,2544,1846,2742,2596,138.5,-10.4,114,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1846,2669,2743,2596,0,0,0,0,0,0,26.70,26.71,26.71,8.52,49.48
$GC,1249,-0.81,-102.9,2544,1846,2743,2596,157.5,-10.7,132,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1846,2669,2743,2596,0,0,0,0,0,0,26.70,26.72,26.71,8.53,49.09
$STATE,1258,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1258,begin apogee
$GC,1263,-0.21,0.0,2544,1846,2743,2596,158.6,-10.6,133,1350,0.57,0.00,83.72,0.666,10246,0.108,0.000,2740,1846,2246,2356,2136,0,0,0,0,0,0,25.47,24.87,23.94,8.53,49.44
$STATE,1351,end apogee,CONTROL_FINISHED_OK
$STATE,1351,begin climb
$GC,1353,0.99,102.9,2740,1846,2356,2136,160.5,0.0,142,1450,1.02,2.28,87.60,0.662,11012,0.056,0.040,3133,448,1826,1960,1693,0,0,0,0,0,0,25.48,24.36,23.81,8.49,48.89
$GC,1465,0.86,102.9,3132,448,1960,1691,154.8,8.8,153,1475,0.12,2.17,0.00,0.000,5126,0.135,0.029,3096,1847,1825,1960,1690,0,0,0,0,0,0,25.27,25.63,25.35,8.45,47.08
$GC,1655,0.79,102.9,3095,1847,1959,1689,128.8,14.2,172,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1847,1824,1959,1689,0,0,0,0,0,0,26.53,26.54,26.53,8.45,48.22
$GC,1844,0.72,102.9,3095,1847,1958,1688,103.2,13.2,191,1855,0.12,2.20,0.00,0.000,4612,0.145,0.039,3060,452,1822,1957,1687,0,0,0,0,0,0,26.02,25.94,26.05,8.45,48.97
$GC,1892,0.72,102.9,3059,452,1956,1686,97.5,12.3,195,1901,0.00,2.10,0.00,0.000,1030,0.000,0.029,3060,1839,1821,1957,1686,0,0,0,0,0,0,26.17,26.14,26.20,8.46,48.62
$GC,2019,0.72,102.9,3059,1839,1956,1686,82.8,11.0,208,2023,0.00,2.20,0.00,0.000,260,0.000,0.039,3060,3257,1821,1957,1686,0,0,0,0,0,0,26.67,26.01,26.68,8.45,48.97
$GC,2103,0.72,102.9,3059,3257,1956,1686,72.8,11.4,216,2114,0.00,2.12,0.00,0.000,1030,0.000,0.028,3070,1843,1821,1956,1686,0,0,0,0,0,0,26.22,26.14,26.25,8.45,49.33
$GC,2234,0.72,102.9,3069,1842,1957,1686,58.7,10.4,229,2238,0.00,2.17,0.00,0.000,516,0.000,0.041,3080,452,1821,1957,1686,0,0,0,0,0,0,26.69,25.97,26.70,8.45,49.05
$GC,2248,0.72,102.9,3079,452,1956,1685,57.4,10.3,230,2257,0.10,2.15,0.00,0.000,5126,0.125,0.029,3047,1847,1820,1956,1685,0,0,0,0,0,0,25.83,26.17,25.88,8.45,48.77
$GC,2376,0.72,102.9,3047,1847,1956,1684,44.1,9.7,243,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1847,1820,1956,1684,0,0,0,0,0,0,26.70,26.71,26.70,8.44,48.11
$GC,2496,0.72,102.9,3047,1847,1956,1685,33.5,9.1,255,2500,0.00,2.20,0.00,0.000,516,0.000,0.041,3055,448,1820,1956,1684,0,0,0,0,0,0,26.70,25.96,26.71,8.44,48.46
$GC,2623,0.76,140.1,3055,448,1956,1683,22.8,7.5,267,2652,0.00,2.12,20.05,0.535,9222,0.000,0.029,3055,1851,1675,1806,1544,0,0,0,0,0,0,26.20,26.16,24.32,8.43,48.50
$GC,2777,0.88,200.9,3055,1851,1805,1544,12.0,6.0,292,2820,0.08,2.25,32.22,0.500,11012,0.095,0.040,3148,455,1424,1533,1316,0,0,0,0,0,0,26.40,25.21,24.37,8.42,48.89
$GC,2827,0.94,260.0,3147,455,1532,1316,8.8,6.1,299,2865,0.10,2.15,31.05,0.484,13318,0.124,0.028,3116,1846,1184,1288,1081,0,0,0,0,0,0,25.67,25.98,24.25,8.39,48.07
$GC,2931,1.10,356.0,3116,1846,1288,1080,4.8,3.7,316,2967,0.10,0.00,33.33,0.466,10754,0.073,0.000,3214,1847,919,1011,827,0,0,0,0,0,0,26.19,28.83,26.20,8.37,47.32
$STATE,2968,end climb,SURFACE_DEPTH_REACHED
$STATE,2968,begin surface coast
$FINISH,0.6,1.000840
$STATE,3016,end surface coast,CONTROL_FINISHED_OK
$STATE,3016,begin surface
$SM_CCo,3032,47.15,0.054,0,0,531,420.20
$SM_GC,2.37,7.97,0.00,47.15,0.032,0.000,0.054,181,1847,531,-8.07,0.11,420.20,0,0,0,0,0,0,26.03,26.39,25.75
$IRIDIUM_FIX,4735.54,-12254.47,170218,004821
$TT8_MAMPS,0.026964,0.266644
$HUMID,46.88
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.8
$ALTIM_BOTTOM_PING,135.4,32.7
$24V_AH,23.81,86.776
$10V_AH,9.83,59.341
$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,19.200,39.025,287.975,47.150,0.000,0.000,0.000,208.475,2.500,0.000,17.802,870.699,975.638,374.419,1082.464,109.916,0.000,1017.707,0.000,661.083,0.000,18.367,0.000
$DEVICE_MAMPS,190.485,50.490,666.315,54.315,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.528,710.381,432.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312084
$DATA_FILE_SIZE,24559,330
$CAP_FILE_SIZE,55780,0
$CFSIZE,2097872896,2051538944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.090,54.95,1
$GPS,170218,024547,4737.784,-12254.605,51,0.8,58,16.4,0.2,77.3,10,4.9