version: 66.14
glider: 195
mission: 15
dive: 620
start: 2 24 118 2 0 17
data:
$ID,195
$MISSION,15
$DIVE,620
$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,42
$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
$GPS1,240218,015401,4737.7158,-12255.6211,28,0.8,50,16.4,0.8,52.7,10,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-59.8
$GPS2,240218,015925,4737.7856,-12255.4893,6,0.8,15,16.4,0.6,46.5,10,4.8
$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,199.2,1030,-14.6,-10.000,-18.57,3063
$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,-0.81,-204.6,165,1835,550,483,0.0,0.0,0,60,0.00,0.00,-48.35,0.000,16386,0.000,0.000,164,1834,1687,1743,1632,0,0,0,0,0,0,26.46,28.83,26.47,8.29,49.01
$GC,64,-0.85,-244.4,164,1834,1744,1632,2.5,-2.8,7,126,9.00,0.00,-45.10,0.000,19206,0.192,0.000,2529,1835,3246,3312,3181,0,0,0,0,0,0,24.92,25.47,25.29,8.40,48.54
$GC,193,-0.72,-244.4,2528,1834,3313,3182,20.2,-20.4,28,198,0.15,2.25,0.00,0.000,2308,0.132,0.040,2570,3253,3248,3313,3183,0,0,0,0,0,0,25.84,25.60,25.90,8.53,47.71
$GC,248,-0.72,-244.4,2569,3253,3313,3182,28.5,-13.7,33,258,0.00,2.12,0.00,0.000,1030,0.000,0.027,2570,1842,3248,3313,3183,0,0,0,0,0,0,25.90,25.84,25.90,8.53,48.46
$GC,378,-0.72,-244.4,2569,1842,3313,3183,45.7,-13.2,46,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1842,3247,3313,3182,0,0,0,0,0,0,26.55,26.56,26.55,8.54,48.85
$GC,498,-0.72,-244.4,2569,1842,3313,3182,62.1,-13.7,58,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1842,3247,3313,3182,0,0,0,0,0,0,26.55,26.57,26.57,8.54,49.72
$GC,618,-0.72,-244.4,2569,1842,3313,3182,78.2,-12.9,70,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1842,3247,3313,3182,0,0,0,0,0,0,26.56,26.57,26.57,8.55,49.56
$GC,738,-0.72,-244.4,2569,1842,3313,3182,93.7,-13.1,82,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1842,3248,3313,3183,0,0,0,0,0,0,26.56,26.57,26.57,8.55,49.84
$GC,858,-0.72,-244.4,2569,1842,3313,3182,108.7,-12.5,94,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1842,3247,3313,3182,0,0,0,0,0,0,26.56,26.58,26.57,8.56,50.66
$GC,1041,-0.72,-244.4,2569,1842,3313,3182,130.9,-12.1,112,1050,0.00,2.17,0.00,0.000,516,0.000,0.040,2570,453,3247,3313,3182,0,0,0,0,0,0,26.53,25.47,26.54,8.57,50.82
$GC,1080,-0.72,-244.4,2570,453,3313,3182,135.4,-12.4,115,1089,0.00,2.17,0.00,0.000,1030,0.000,0.030,2563,1845,3247,3312,3182,0,0,0,0,0,0,25.78,25.74,25.82,8.57,50.63
$STATE,1247,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1247,begin apogee
$GC,1254,-0.21,0.0,2562,1845,3313,3182,157.1,-12.7,132,1458,0.50,0.00,194.12,0.650,10246,0.096,0.000,2737,1845,2245,2371,2120,0,0,0,0,0,0,25.18,24.86,24.08,8.58,50.27
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1460,begin climb
$GC,1463,0.85,244.4,2738,1845,2371,2120,161.4,0.0,153,1680,0.93,2.33,202.18,0.636,10756,0.065,0.040,3080,451,1248,1351,1145,0,0,0,0,0,0,25.11,24.83,24.04,8.49,49.09
$GC,1788,0.77,244.4,3079,451,1350,1139,123.2,15.3,185,1798,0.00,2.15,0.00,0.000,1030,0.000,0.028,3080,1845,1244,1350,1139,0,0,0,0,0,0,25.77,25.72,25.78,8.41,48.11
$GC,1980,0.68,244.4,3079,1845,1350,1138,93.5,15.3,204,1990,0.12,2.20,0.00,0.000,4612,0.129,0.038,3044,454,1244,1350,1138,0,0,0,0,0,0,25.86,25.61,25.88,8.41,49.40
$GC,2017,0.62,244.4,3044,454,1350,1137,88.4,14.2,207,2026,0.08,2.17,0.00,0.000,5126,0.109,0.028,3017,1846,1243,1350,1137,0,0,0,0,0,0,25.63,25.87,25.67,8.41,48.81
$GC,2145,0.62,244.4,3016,1846,1350,1137,74.9,9.9,220,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1846,1244,1351,1137,0,0,0,0,0,0,26.51,26.52,26.52,8.41,49.44
$GC,2266,0.62,244.4,3016,1846,1350,1137,62.9,9.9,232,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1846,1244,1351,1137,0,0,0,0,0,0,26.53,26.54,26.54,8.41,49.40
$GC,2386,0.62,244.4,3016,1846,1350,1137,51.0,10.0,244,2395,0.00,2.22,0.00,0.000,516,0.000,0.041,3024,448,1243,1350,1137,0,0,0,0,0,0,26.55,25.59,26.55,8.40,49.17
$GC,2442,0.62,244.4,3023,447,1350,1137,45.5,9.8,249,2451,0.00,2.17,0.00,0.000,1030,0.000,0.028,3024,1845,1243,1350,1137,0,0,0,0,0,0,25.89,25.86,25.93,8.40,49.88
$GC,2571,0.62,244.4,3023,1845,1350,1137,32.2,9.9,262,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1844,1243,1350,1137,0,0,0,0,0,0,26.55,26.56,26.56,8.40,49.56
$GC,2692,0.62,244.4,3023,1845,1350,1137,20.7,9.2,274,2702,0.00,2.20,0.00,0.000,516,0.000,0.041,3030,460,1243,1350,1137,0,0,0,0,0,0,26.55,25.55,26.56,8.39,49.33
$GC,2780,0.79,342.2,3030,460,1350,1137,13.8,6.7,289,2838,0.03,2.15,51.15,0.500,11270,0.125,0.028,3102,1846,848,924,773,0,0,0,0,0,0,25.75,25.88,24.53,8.38,49.56
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2882,begin surface coast
$FINISH,0.7,1.020787
$STATE,2909,end surface coast,CONTROL_FINISHED_OK
$STATE,2909,begin surface
$SM_CCo,2926,38.28,0.053,0,0,532,420.20
$SM_GC,1.70,7.62,0.00,38.28,0.027,0.000,0.053,169,1846,532,-8.08,0.08,420.20,0,0,0,0,0,0,25.94,26.36,25.58
$IRIDIUM_FIX,4741.99,-12255.26,240218,004942
$TT8_MAMPS,0.026964,0.241178
$HUMID,48.50
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,140.8,25.2
$24V_AH,24.04,101.824
$10V_AH,9.85,67.918
$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,18.425,26.325,447.450,38.275,0.000,0.000,0.000,226.075,3.000,0.000,16.364,759.565,944.853,475.904,1014.965,132.218,0.000,1144.982,0.000,609.208,0.000,22.795,0.000
$DEVICE_MAMPS,192.015,40.545,650.250,52.785,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.540,667.310,405.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312092
$DATA_FILE_SIZE,21056,310
$CAP_FILE_SIZE,50089,0
$CFSIZE,2097872896,2033745920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,128.24,1
$GPS,240218,025040,4737.455,-12255.961,9,0.9,15,16.4,0.6,48.0,9,4.6