version: 66.14
glider: 195
mission: 15
dive: 447
start: 2 17 118 9 28 45
data:
$ID,195
$MISSION,15
$DIVE,447
$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
$GPS1,170218,092341,4737.8237,-12254.7520,3,0.9,13,16.4,0.0,299.2,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.2
$GPS2,170218,092805,4737.8174,-12254.7705,9,0.9,17,16.4,0.0,39.0,9,4.8
$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,221.4,1756,-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,-244.4,178,1829,554,483,0.0,0.0,0,33,0.00,0.00,-22.23,0.000,16386,0.000,0.000,177,1830,1080,1140,1021,0,0,0,0,0,0,26.58,28.83,26.58,8.29,48.03
$GC,35,-0.79,-244.4,178,1830,1140,1021,2.0,-2.8,3,120,9.05,2.22,-68.85,0.000,19204,0.194,0.051,2548,453,3246,3314,3178,0,0,0,0,0,0,24.93,23.83,25.32,8.35,47.79
$GC,371,-0.69,-244.4,2547,453,3316,3179,53.2,-16.1,44,381,0.12,2.12,0.00,0.000,3078,0.118,0.031,2582,1845,3247,3316,3179,0,0,0,0,0,0,25.76,26.12,25.83,8.54,47.91
$GC,499,-0.69,-244.4,2582,1845,3316,3179,70.1,-12.1,57,504,0.00,2.20,0.00,0.000,260,0.000,0.041,2574,3250,3247,3316,3179,0,0,0,0,0,0,26.70,25.98,26.70,8.55,48.70
$GC,583,-0.69,-244.4,2573,3250,3316,3179,80.3,-12.2,65,587,0.00,2.12,0.00,0.000,1030,0.000,0.028,2574,1834,3247,3316,3179,0,0,0,0,0,0,26.22,26.15,26.26,8.55,48.70
$GC,715,-0.69,-244.4,2573,1834,3316,3179,96.1,-11.9,78,725,0.00,2.17,0.00,0.000,516,0.000,0.041,2574,454,3247,3316,3179,0,0,0,0,0,0,26.70,25.93,26.70,8.56,49.05
$GC,751,-0.69,-244.4,2573,454,3316,3179,100.0,-12.0,81,756,0.00,2.15,0.00,0.000,1030,0.000,0.031,2567,1841,3247,3316,3179,0,0,0,0,0,0,26.21,26.11,26.25,8.56,48.58
$GC,947,-0.69,-244.4,2567,1841,3316,3179,122.4,-11.2,100,951,0.00,2.20,0.00,0.000,260,0.000,0.041,2557,3248,3247,3316,3179,0,0,0,0,0,0,26.70,25.98,26.70,8.56,49.25
$GC,1001,-0.69,-244.4,2556,3247,3317,3179,128.9,-11.4,105,1011,0.10,2.10,0.00,0.000,3078,0.124,0.028,2591,1844,3247,3316,3179,0,0,0,0,0,0,25.93,26.13,26.01,8.57,49.25
$GC,1191,-0.69,-244.4,2590,1844,3316,3179,148.5,-10.3,124,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1844,3247,3316,3179,0,0,0,0,0,0,26.70,26.71,26.71,8.57,49.29
$STATE,1269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1269,begin apogee
$GC,1274,-0.21,0.0,2591,1844,3316,3179,156.9,-10.5,132,1472,0.40,0.00,194.32,0.663,10246,0.092,0.000,2741,1843,2246,2380,2113,0,0,0,0,0,0,25.77,24.74,23.84,8.57,49.29
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1476,0.79,244.4,2741,1843,2379,2113,160.9,0.0,152,1692,0.85,2.33,203.85,0.643,10756,0.054,0.043,3072,453,1248,1355,1141,0,0,0,0,0,0,25.37,24.79,23.84,8.50,47.48
$GC,1757,0.68,244.4,3072,453,1354,1139,135.4,15.7,180,1762,0.12,2.15,0.00,0.000,5126,0.124,0.029,3031,1839,1246,1354,1139,0,0,0,0,0,0,25.58,25.83,25.71,8.41,47.08
$GC,1952,0.68,244.4,3030,1839,1355,1138,112.5,11.4,199,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1839,1246,1354,1138,0,0,0,0,0,0,26.56,26.58,26.57,8.41,48.42
$GC,2141,0.68,244.4,3030,1839,1354,1137,89.7,11.4,218,2151,0.00,2.17,0.00,0.000,516,0.000,0.042,3039,458,1245,1354,1137,0,0,0,0,0,0,26.65,25.96,26.65,8.40,48.58
$GC,2218,0.63,244.4,3038,458,1353,1137,80.6,12.2,225,2226,0.00,2.15,0.00,0.000,1030,0.000,0.030,3039,1843,1245,1353,1137,0,0,0,0,0,0,26.19,26.16,26.22,8.40,48.46
$GC,2347,0.58,244.4,3038,1843,1353,1137,65.2,11.6,238,2349,0.12,0.00,0.00,0.000,4102,0.120,0.000,2996,1843,1245,1353,1137,0,0,0,0,0,0,26.18,26.27,26.23,8.40,48.85
$GC,2467,0.58,244.4,2996,1843,1353,1137,54.6,8.5,250,2477,0.00,2.20,0.00,0.000,516,0.000,0.042,3004,455,1245,1353,1137,0,0,0,0,0,0,26.68,25.96,26.69,8.40,48.97
$GC,2503,0.58,244.4,3004,454,1353,1137,51.7,8.7,253,2511,0.00,2.15,0.00,0.000,1030,0.000,0.029,3004,1844,1245,1353,1137,0,0,0,0,0,0,26.22,26.16,26.23,8.40,48.34
$GC,2631,0.58,244.4,3003,1845,1353,1137,39.9,9.3,266,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1845,1244,1353,1136,0,0,0,0,0,0,26.69,26.70,26.70,8.39,48.89
$GC,2751,0.58,244.4,3003,1845,1353,1136,29.7,8.5,278,2762,0.00,2.20,0.00,0.000,516,0.000,0.042,3008,454,1245,1353,1137,0,0,0,0,0,0,26.70,25.95,26.70,8.39,49.09
$GC,2818,0.58,244.4,3007,454,1353,1136,24.2,8.3,284,2827,0.00,2.15,0.00,0.000,1030,0.000,0.030,3008,1848,1244,1353,1136,0,0,0,0,0,0,26.20,26.16,26.22,8.39,48.46
$GC,2952,0.66,326.5,3008,1848,1353,1136,14.1,7.7,304,3000,0.00,0.00,44.40,0.517,8454,0.000,0.000,3008,1848,912,1013,812,0,0,0,0,0,0,26.69,25.06,24.29,8.38,48.66
$GC,3065,0.99,525.2,3007,1848,1012,810,7.8,4.4,323,3128,0.25,2.25,54.08,0.483,10756,0.044,0.041,3155,454,495,535,455,0,0,0,0,0,0,26.15,24.68,24.24,8.35,47.67
$STATE,3134,end climb,SURFACE_DEPTH_REACHED
$STATE,3134,begin surface coast
$FINISH,0.7,1.000252
$STATE,3166,end surface coast,CONTROL_FINISHED_OK
$STATE,3166,begin surface
$SM_CCo,3245,0.00,0.000,0,0,486,431.48
$SM_GC,1.71,7.78,2.22,0.00,0.030,0.031,0.000,184,1844,486,-8.06,-1.16,431.48,0,0,0,0,0,0,25.99,25.88,26.04
$IRIDIUM_FIX,4738.33,-12256.21,170218,083055
$TT8_MAMPS,0.026964,0.244174
$HUMID,48.26
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.8
$ALTIM_BOTTOM_PING,145.3,20.9
$24V_AH,23.83,87.428
$10V_AH,9.84,59.728
$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,18.800,39.275,496.650,0.000,0.000,0.000,0.000,174.875,3.750,0.000,18.348,822.289,1037.953,478.187,1085.613,112.269,0.000,1148.870,0.000,702.047,0.000,30.006,0.000
$DEVICE_MAMPS,193.545,51.255,663.255,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.992,729.668,443.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312120
$DATA_FILE_SIZE,24589,339
$CAP_FILE_SIZE,54061,0
$CFSIZE,2097872896,2050752512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,248.88,1
$GPS,170218,102412,4737.533,-12255.610,35,0.8,43,16.4,0.0,0.0,10,5.0