version: 66.14
glider: 195
mission: 15
dive: 455
start: 2 17 118 16 44 46
data:
$ID,195
$MISSION,15
$DIVE,455
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,170218,163941,4738.4351,-12253.2344,7,0.9,13,16.4,0.8,67.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.9
$GPS2,170218,164405,4738.4741,-12253.1357,8,0.8,16,16.4,0.7,75.2,11,4.7
$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,222.5,2130,-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,-244.4,164,1850,519,442,0.0,0.0,0,54,0.00,0.00,-42.92,0.000,16386,0.000,0.000,164,1850,1527,1587,1467,0,0,0,0,0,0,26.56,28.83,26.58,8.29,47.71
$GC,57,-0.79,-244.4,165,1850,1587,1467,2.3,-3.4,6,121,9.10,2.25,-47.30,0.000,19204,0.194,0.051,2544,3252,3246,3314,3178,0,0,0,0,0,0,24.89,23.84,25.29,8.39,47.99
$GC,140,-0.57,-244.4,2544,3252,3315,3179,10.3,-12.1,18,148,0.20,2.15,0.00,0.000,3078,0.109,0.028,2622,1843,3246,3315,3178,0,0,0,0,0,0,25.61,26.09,25.77,8.54,47.91
$GC,212,-0.57,-244.4,2622,1843,3316,3179,19.9,-12.8,31,220,0.00,2.22,0.00,0.000,516,0.000,0.042,2622,454,3247,3316,3179,0,0,0,0,0,0,26.64,25.92,26.65,8.54,48.14
$GC,279,-0.57,-244.4,2622,454,3316,3178,28.0,-11.9,38,283,0.00,2.15,0.00,0.000,1030,0.000,0.032,2618,1857,3247,3316,3179,0,0,0,0,0,0,26.19,26.09,26.22,8.54,48.66
$GC,411,-0.57,-244.4,2617,1857,3316,3179,42.8,-11.6,51,415,0.00,2.17,0.00,0.000,260,0.000,0.041,2607,3246,3247,3315,3179,0,0,0,0,0,0,26.67,25.98,26.68,8.54,48.18
$GC,495,-0.57,-244.4,2607,3246,3316,3179,51.6,-9.8,59,499,0.00,2.12,0.00,0.000,1030,0.000,0.028,2608,1833,3247,3316,3179,0,0,0,0,0,0,26.22,26.14,26.25,8.54,48.62
$GC,628,-0.57,-244.4,2607,1832,3316,3178,64.8,-9.6,72,637,0.00,2.15,0.00,0.000,516,0.000,0.041,2608,459,3247,3316,3178,0,0,0,0,0,0,26.69,25.94,26.70,8.55,48.97
$GC,672,-0.57,-244.4,2607,458,3316,3178,69.1,-10.2,76,680,0.00,2.15,0.00,0.000,1030,0.000,0.031,2600,1841,3247,3315,3179,0,0,0,0,0,0,26.15,26.11,26.18,8.55,48.93
$GC,801,-0.57,-244.4,2600,1841,3316,3178,82.8,-10.7,89,805,0.00,2.20,0.00,0.000,260,0.000,0.041,2591,3248,3247,3316,3178,0,0,0,0,0,0,26.69,25.98,26.70,8.55,48.85
$GC,856,-0.57,-244.4,2590,3248,3316,3179,88.5,-10.6,94,864,0.10,2.15,0.00,0.000,3078,0.101,0.028,2627,1836,3247,3316,3179,0,0,0,0,0,0,25.89,26.13,25.94,8.56,49.80
$GC,985,-0.63,-244.4,2626,1836,3316,3179,99.4,-7.9,107,990,0.00,2.20,0.00,0.000,516,0.000,0.041,2627,445,3247,3316,3178,0,0,0,0,0,0,26.69,25.93,26.70,8.56,49.68
$GC,1011,-0.68,-244.4,2626,445,3315,3178,101.7,-8.4,109,1015,0.00,2.15,0.00,0.000,1030,0.000,0.031,2622,1846,3247,3316,3178,0,0,0,0,0,0,26.19,26.10,26.23,8.56,49.37
$GC,1205,-0.68,-244.4,2621,1847,3316,3178,118.9,-9.2,128,1209,0.00,2.20,0.00,0.000,260,0.000,0.041,2612,3257,3247,3316,3178,0,0,0,0,0,0,26.70,25.96,26.70,8.57,49.01
$GC,1244,-0.74,-244.4,2612,3257,3315,3179,122.2,-8.8,131,1252,0.05,2.15,0.00,0.000,5126,0.073,0.029,2528,1848,3247,3315,3179,0,0,0,0,0,0,26.03,26.13,26.08,8.56,49.01
$GC,1432,-0.66,-244.4,2527,1847,3316,3178,149.8,-15.5,150,1442,0.20,2.20,0.00,0.000,2564,0.118,0.039,2596,451,3247,3316,3178,0,0,0,0,0,0,25.94,25.92,25.97,8.57,49.13
$GC,1475,-0.66,-244.4,2596,451,3316,3179,155.1,-12.1,154,1485,0.00,2.15,0.00,0.000,1030,0.000,0.031,2590,1852,3247,3316,3179,0,0,0,0,0,0,26.19,26.10,26.22,8.57,49.56
$STATE,1563,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1563,begin apogee
$GC,1568,-0.21,0.0,2590,1852,3316,3179,164.4,-10.4,163,1766,0.40,0.00,193.85,0.660,10246,0.057,0.000,2761,1852,2246,2380,2113,0,0,0,0,0,0,26.10,24.75,23.84,8.57,49.17
$STATE,1767,end apogee,CONTROL_FINISHED_OK
$STATE,1767,begin climb
$GC,1771,0.79,244.4,2760,1852,2380,2113,165.2,0.0,183,1987,0.80,2.28,203.18,0.643,10756,0.045,0.040,3084,455,1248,1356,1140,0,0,0,0,0,0,25.42,24.39,23.86,8.50,47.87
$GC,2062,0.66,244.4,3083,455,1355,1139,132.1,16.4,212,2068,0.17,2.15,0.00,0.000,5126,0.116,0.030,3028,1839,1246,1355,1138,0,0,0,0,0,0,25.55,25.86,25.70,8.41,47.44
$GC,2257,0.66,244.4,3026,1840,1355,1136,108.1,11.5,231,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1840,1246,1356,1136,0,0,0,0,0,0,26.57,26.58,26.58,8.40,48.50
$GC,2446,0.66,244.4,3027,1840,1355,1136,87.6,10.6,250,2457,0.00,2.20,0.00,0.000,516,0.000,0.042,3035,447,1245,1355,1136,0,0,0,0,0,0,26.65,25.96,26.65,8.41,48.81
$GC,2503,0.66,244.4,3034,446,1354,1136,81.3,11.4,255,2511,0.00,2.15,0.00,0.000,1030,0.000,0.030,3034,1839,1245,1354,1136,0,0,0,0,0,0,26.18,26.15,26.21,8.40,48.38
$GC,2631,0.66,244.4,3034,1839,1354,1135,67.1,10.9,268,2635,0.00,2.20,0.00,0.000,260,0.000,0.039,3034,3259,1245,1355,1136,0,0,0,0,0,0,26.67,26.02,26.67,8.40,48.22
$GC,2655,0.66,244.4,3034,3259,1354,1136,64.5,11.4,270,2665,0.00,2.12,0.00,0.000,1030,0.000,0.029,3041,1837,1244,1353,1136,0,0,0,0,0,0,26.18,26.14,26.20,8.40,48.42
$GC,2785,0.61,244.4,3041,1837,1354,1136,49.6,11.2,283,2790,0.10,2.22,0.00,0.000,4612,0.134,0.042,3015,446,1245,1354,1136,0,0,0,0,0,0,26.24,25.96,26.27,8.39,48.58
$GC,2850,0.61,244.4,3014,446,1354,1135,43.3,8.9,289,2860,0.00,2.12,0.00,0.000,1030,0.000,0.030,3015,1845,1244,1354,1135,0,0,0,0,0,0,26.18,26.16,26.22,8.39,48.81
$GC,2980,0.61,244.4,3014,1846,1354,1135,31.4,9.4,302,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1846,1244,1354,1135,0,0,0,0,0,0,26.68,26.70,26.70,8.38,49.09
$GC,3100,0.69,330.3,3014,1845,1354,1135,20.9,7.6,314,3156,0.00,2.25,48.28,0.536,8708,0.000,0.041,3015,449,897,995,799,0,0,0,0,0,0,26.69,24.77,24.30,8.38,48.42
$GC,3196,0.89,452.2,3014,449,995,799,13.8,6.6,328,3260,0.15,2.17,52.97,0.496,11270,0.035,0.029,3160,1848,495,533,457,0,0,0,0,0,0,25.98,25.94,24.25,8.35,47.91
$STATE,3266,end climb,SURFACE_DEPTH_REACHED
$STATE,3267,begin surface coast
$FINISH,0.4,1.012661
$STATE,3280,end surface coast,CONTROL_FINISHED_OK
$STATE,3280,begin surface
$SM_CCo,3356,0.00,0.000,0,0,488,431.48
$SM_GC,1.46,7.75,0.00,0.00,0.028,0.000,0.000,166,1848,488,-8.06,0.14,431.48,0,0,0,0,0,0,25.99,26.25,26.02
$IRIDIUM_FIX,4737.86,-12251.79,170218,155509
$TT8_MAMPS,0.026964,0.264397
$HUMID,48.03
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,136.0,38.1
$24V_AH,23.84,88.087
$10V_AH,9.82,60.101
$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,19.025,56.650,498.275,0.000,0.000,0.000,0.000,183.500,3.000,0.000,18.666,836.018,1112.131,499.610,1090.021,113.031,0.000,1192.839,0.000,697.698,0.000,24.118,0.000
$DEVICE_MAMPS,193.545,51.255,660.195,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.071,731.938,444.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312032
$DATA_FILE_SIZE,24542,340
$CAP_FILE_SIZE,59915,0
$CFSIZE,2097872896,2049966080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.102,59.89,1
$GPS,170218,174201,4738.346,-12253.582,29,1.0,40,16.4,0.6,73.7,10,5.0