version: 66.14
glider: 195
mission: 15
dive: 451
start: 2 17 118 13 18 47
data:
$ID,195
$MISSION,15
$DIVE,451
$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,49
$R_STBD_OVSHOOT,35
$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
$GPS1,170218,131303,4737.5786,-12255.2207,27,1.0,33,16.4,0.5,94.5,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-65.2
$GPS2,170218,131807,4737.6123,-12255.1943,6,1.0,26,16.4,0.3,51.6,8,5.0
$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,42.2,895,-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,7,begin dive
$GC,9,-0.79,-244.4,172,1837,554,483,0.0,0.0,0,45,0.00,0.00,-33.33,0.000,16386,0.000,0.000,171,1837,1337,1411,1264,0,0,0,0,0,0,26.58,28.83,26.58,8.30,47.71
$GC,48,-0.79,-244.4,172,1837,1411,1265,2.1,-2.1,5,119,9.05,2.28,-56.10,0.000,18692,0.192,0.052,2539,3254,3246,3315,3177,0,0,0,0,0,0,24.97,23.88,25.15,8.36,47.79
$GC,127,-0.50,-244.4,2538,3254,3315,3178,9.1,-13.6,16,136,0.30,2.15,0.00,0.000,3078,0.120,0.027,2645,1833,3247,3316,3178,0,0,0,0,0,0,25.42,26.10,25.62,8.54,47.51
$GC,200,-0.50,-244.4,2644,1833,3316,3178,19.6,-10.4,29,208,0.00,2.25,0.00,0.000,260,0.000,0.041,2637,3246,3247,3317,3178,0,0,0,0,0,0,26.64,25.95,26.65,8.54,47.48
$GC,379,-0.56,-244.4,2636,3246,3317,3178,36.3,-9.0,47,388,0.00,2.08,0.00,0.000,1030,0.000,0.028,2636,1853,3247,3316,3178,0,0,0,0,0,0,26.17,26.14,26.20,8.54,48.26
$GC,509,-0.56,-244.4,2636,1853,3317,3178,47.8,-8.8,60,513,0.00,2.20,0.00,0.000,516,0.000,0.041,2637,450,3247,3316,3178,0,0,0,0,0,0,26.69,25.93,26.70,8.54,48.50
$GC,542,-0.56,-244.4,2636,449,3316,3178,50.8,-9.2,63,546,0.00,2.17,0.00,0.000,1030,0.000,0.032,2636,1862,3247,3317,3178,0,0,0,0,0,0,26.18,26.09,26.22,8.54,48.93
$GC,674,-0.56,-244.4,2635,1862,3317,3178,62.9,-9.0,76,679,0.00,2.17,0.00,0.000,260,0.000,0.041,2634,3250,3247,3316,3178,0,0,0,0,0,0,26.69,25.96,26.70,8.54,49.01
$GC,708,-0.63,-244.4,2633,3251,3317,3178,65.9,-9.0,79,717,0.00,2.10,0.00,0.000,1030,0.000,0.028,2633,1845,3247,3317,3178,0,0,0,0,0,0,26.17,26.13,26.19,8.55,48.34
$GC,838,-0.68,-244.4,2633,1844,3316,3178,77.7,-9.5,92,843,0.08,2.20,0.00,0.000,4612,0.096,0.041,2540,451,3247,3316,3178,0,0,0,0,0,0,26.48,25.91,26.48,8.55,48.97
$GC,863,-0.68,-244.4,2539,451,3316,3178,80.7,-11.0,94,872,0.17,2.17,0.00,0.000,3078,0.109,0.031,2589,1847,3247,3316,3179,0,0,0,0,0,0,25.70,26.10,25.77,8.55,48.81
$GC,991,-0.68,-244.4,2589,1847,3316,3178,95.9,-10.6,107,1001,0.00,2.20,0.00,0.000,260,0.000,0.041,2581,3253,3247,3316,3178,0,0,0,0,0,0,26.70,25.96,26.70,8.55,49.44
$GC,1057,-0.68,-244.4,2581,3253,3316,3178,102.5,-9.9,113,1065,0.00,2.15,0.00,0.000,1030,0.000,0.028,2581,1839,3247,3316,3178,0,0,0,0,0,0,26.15,26.11,26.17,8.56,48.85
$GC,1247,-0.68,-244.4,2580,1839,3316,3178,123.7,-11.4,132,1256,0.00,2.17,0.00,0.000,516,0.000,0.041,2581,454,3247,3316,3178,0,0,0,0,0,0,26.70,25.91,26.71,8.57,49.21
$GC,1315,-0.68,-244.4,2581,454,3316,3178,132.0,-12.1,138,1325,0.00,2.15,0.00,0.000,1030,0.000,0.031,2573,1853,3247,3316,3178,0,0,0,0,0,0,26.18,26.09,26.22,8.57,49.33
$GC,1506,-0.68,-244.4,2572,1853,3316,3178,154.7,-11.8,157,1510,0.00,2.17,0.00,0.000,260,0.000,0.041,2563,3246,3247,3316,3178,0,0,0,0,0,0,26.70,25.95,26.70,8.57,49.64
$STATE,1516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1516,begin apogee
$GC,1524,-0.21,0.0,2563,1837,3316,3178,156.3,-11.5,158,1729,0.50,0.00,194.95,0.660,10246,0.093,0.000,2742,1836,2246,2378,2114,0,0,0,0,0,0,25.65,24.74,23.83,8.57,49.37
$STATE,1730,end apogee,CONTROL_FINISHED_OK
$STATE,1730,begin climb
$GC,1733,0.79,244.4,2741,1837,2378,2114,163.1,0.0,179,1950,0.85,2.30,203.07,0.643,11012,0.064,0.038,3053,3247,1248,1353,1144,0,0,0,0,0,0,25.35,24.79,23.84,8.49,47.28
$GC,2067,0.71,244.4,3052,3248,1352,1144,127.5,14.5,212,2071,0.00,2.12,0.00,0.000,1030,0.000,0.029,3061,1849,1248,1352,1144,0,0,0,0,0,0,26.02,25.94,26.05,8.40,47.75
$GC,2260,0.61,244.4,3061,1849,1353,1141,99.8,14.0,231,2265,0.17,2.25,0.00,0.000,4612,0.118,0.043,3012,446,1246,1352,1141,0,0,0,0,0,0,25.96,25.93,26.05,8.41,47.79
$GC,2346,0.61,244.4,3011,446,1352,1138,90.4,9.9,239,2357,0.00,2.12,0.00,0.000,1030,0.000,0.030,3012,1842,1245,1352,1138,0,0,0,0,0,0,26.21,26.13,26.24,8.41,48.11
$GC,2477,0.61,244.4,3012,1842,1352,1138,77.5,10.1,252,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1843,1245,1352,1138,0,0,0,0,0,0,26.65,26.67,26.67,8.40,48.07
$GC,2597,0.61,244.4,3011,1843,1352,1138,66.7,8.9,264,2607,0.00,2.17,0.00,0.000,516,0.000,0.043,3019,451,1245,1352,1138,0,0,0,0,0,0,26.67,25.95,26.68,8.41,48.50
$GC,2642,0.61,244.4,3018,451,1352,1138,62.7,9.1,268,2651,0.00,2.15,0.00,0.000,1030,0.000,0.029,3019,1844,1245,1352,1138,0,0,0,0,0,0,26.18,26.16,26.22,8.40,48.11
$GC,2771,0.61,244.4,3018,1844,1352,1138,50.1,9.7,281,2781,0.00,2.20,0.00,0.000,516,0.000,0.042,3027,446,1245,1352,1138,0,0,0,0,0,0,26.68,25.95,26.69,8.39,48.03
$GC,2816,0.61,244.4,3027,446,1352,1138,45.4,10.4,285,2826,0.00,2.15,0.00,0.000,1030,0.000,0.030,3027,1850,1245,1352,1138,0,0,0,0,0,0,26.23,26.15,26.26,8.39,48.93
$GC,2946,0.61,244.4,3026,1850,1352,1138,32.3,9.7,298,2956,0.00,2.15,0.00,0.000,260,0.000,0.039,3027,3248,1245,1352,1138,0,0,0,0,0,0,26.69,26.02,26.70,8.39,49.05
$GC,2981,0.61,244.4,3026,3248,1352,1138,28.9,10.2,301,2990,0.00,2.15,0.00,0.000,1030,0.000,0.029,3028,1845,1245,1352,1138,0,0,0,0,0,0,26.17,26.13,26.20,8.38,48.58
$GC,3112,0.61,244.4,3027,1845,1352,1138,16.8,8.9,317,3121,0.00,2.22,0.00,0.000,516,0.000,0.044,3029,455,1245,1352,1138,0,0,0,0,0,0,26.69,25.93,26.70,8.38,48.11
$GC,3181,0.70,333.5,3029,455,1352,1138,11.2,7.5,329,3236,0.00,2.15,46.95,0.503,9222,0.000,0.030,3030,1848,885,984,787,0,0,0,0,0,0,26.19,26.15,24.34,8.38,48.30
$GC,3303,1.11,685.4,3029,1848,984,785,4.7,0.1,349,3332,0.30,0.00,26.02,0.463,10498,0.034,0.000,3212,1847,678,761,595,0,0,0,0,0,0,26.23,28.83,26.21,8.35,47.79
$STATE,3333,end climb,SURFACE_DEPTH_REACHED
$STATE,3333,begin surface coast
$FINISH,0.5,1.013029
$STATE,3375,end surface coast,CONTROL_FINISHED_OK
$STATE,3375,begin surface
$SM_CCo,3391,17.48,0.056,0,0,533,420.20
$SM_GC,2.95,7.88,0.00,17.48,0.028,0.000,0.056,185,1847,533,-8.05,0.14,420.20,0,0,0,0,0,0,26.06,26.41,25.76
$IRIDIUM_FIX,4734.67,-12257.15,170218,121352
$TT8_MAMPS,0.026964,0.242676
$HUMID,47.44
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,140.4,25.2
$24V_AH,23.83,87.750
$10V_AH,9.83,59.932
$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,19.300,60.950,471.000,17.475,0.000,0.000,0.000,209.300,3.500,0.000,28.310,894.037,1020.002,508.694,1202.278,117.666,0.000,1259.560,0.000,757.026,0.000,28.459,0.000
$DEVICE_MAMPS,192.015,52.020,660.195,55.845,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,240.813,777.040,472.056,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312096
$DATA_FILE_SIZE,24491,361
$CAP_FILE_SIZE,62847,0
$CFSIZE,2097872896,2050359296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,297.00,1
$GPS,170218,141658,4737.748,-12254.790,37,0.8,40,16.4,0.5,51.1,10,4.3