version: 66.14
glider: 195
mission: 15
dive: 251
start: 2 9 118 1 31 31
data:
$ID,195
$MISSION,15
$DIVE,251
$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,47
$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
$GPS1,090218,012549,4738.0391,-12254.7207,14,0.8,37,16.4,0.0,49.8,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.6
$GPS2,090218,013049,4738.0684,-12254.6924,8,0.8,18,16.4,0.0,0.0,10,4.2
$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,164.5,362,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,170,1847,553,485,0.0,0.0,0,39,0.00,0.00,-28.02,0.000,16386,0.000,0.000,170,1847,1228,1298,1159,0,0,0,0,0,0,26.60,28.83,26.61,8.29,47.32
$GC,41,-1.20,-63.7,170,1847,1299,1160,2.2,-3.2,4,98,8.55,2.22,-40.65,0.000,18948,0.195,0.051,2419,441,2507,2592,2423,0,0,0,0,0,0,25.03,25.61,25.22,8.37,47.67
$GC,138,-1.10,-63.7,2419,441,2591,2424,15.9,-23.8,19,146,0.15,2.15,0.00,0.000,3078,0.164,0.030,2454,1837,2508,2592,2425,0,0,0,0,0,0,25.58,26.18,25.85,8.48,46.33
$GC,209,-1.00,-63.7,2453,1837,2592,2425,26.8,-12.9,27,219,0.10,2.17,0.00,0.000,2564,0.172,0.038,2487,450,2508,2592,2425,0,0,0,0,0,0,26.08,26.08,26.11,8.48,47.36
$GC,632,-0.94,-63.7,2486,450,2593,2425,69.0,-11.4,68,639,0.00,2.15,0.00,0.000,1030,0.000,0.031,2478,1847,2508,2592,2425,0,0,0,0,0,0,26.27,26.24,26.30,8.49,47.51
$GC,759,-0.94,-63.7,2478,1847,2592,2425,83.3,-11.2,81,769,0.10,2.17,0.00,0.000,2308,0.163,0.038,2502,3259,2509,2593,2425,0,0,0,0,0,0,26.17,26.11,26.19,8.49,48.34
$GC,822,-0.94,-63.7,2501,3259,2592,2425,90.5,-11.0,87,832,0.00,2.10,0.00,0.000,1030,0.000,0.028,2501,1836,2509,2593,2425,0,0,0,0,0,0,26.32,26.24,26.35,8.49,48.11
$GC,953,-0.94,-63.7,2501,1836,2592,2425,103.3,-9.4,100,957,0.00,2.17,0.00,0.000,260,0.000,0.040,2491,3250,2508,2592,2425,0,0,0,0,0,0,26.75,26.10,26.76,8.49,48.54
$GC,999,-0.94,-63.7,2490,3251,2592,2425,107.5,-9.7,104,1007,0.00,2.12,0.00,0.000,1030,0.000,0.029,2491,1843,2508,2592,2425,0,0,0,0,0,0,26.27,26.26,26.30,8.49,48.77
$GC,1190,-0.94,-63.7,2490,1843,2592,2425,127.2,-10.4,123,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1843,2508,2592,2425,0,0,0,0,0,0,26.75,26.77,26.76,8.50,48.62
$GC,1382,-0.94,-63.7,2490,1843,2592,2425,145.9,-9.9,142,1392,0.00,2.15,0.00,0.000,516,0.000,0.041,2491,455,2508,2592,2425,0,0,0,0,0,0,26.73,26.06,26.74,8.50,48.42
$GC,1428,-0.94,-63.7,2490,454,2592,2425,151.5,-10.8,146,1439,0.00,2.10,0.00,0.000,1030,0.000,0.031,2480,1851,2509,2593,2425,0,0,0,0,0,0,26.30,26.22,26.33,8.51,48.89
$GC,1620,-1.22,-160.3,2480,1852,2592,2425,155.8,0.2,165,1628,0.12,0.00,0.00,0.000,4102,0.064,0.000,2382,1851,2508,2592,2425,0,0,0,0,0,0,26.52,26.55,26.54,8.50,48.38
$STATE,1637,end dive,NO_VERTICAL_VELOCITY
$STATE,1637,begin apogee
$GC,1642,-0.21,0.0,2382,1852,2592,2425,155.8,0.0,167,1699,1.08,0.00,52.12,0.671,10246,0.106,0.000,2739,1851,2246,2349,2143,0,0,0,0,0,0,25.53,25.03,24.06,8.50,48.89
$STATE,1700,end apogee,CONTROL_FINISHED_OK
$STATE,1700,begin climb
$GC,1702,1.29,160.3,2738,1851,2349,2143,155.9,0.0,173,1843,1.33,0.00,134.88,0.670,10502,0.072,0.000,3212,1851,1592,1699,1486,0,0,0,0,0,0,25.61,24.77,23.90,8.49,47.95
$GC,2031,1.20,160.3,3212,1851,1695,1483,96.6,25.2,206,2036,0.00,2.22,0.00,0.000,516,0.000,0.041,3223,449,1589,1695,1483,0,0,0,0,0,0,26.53,25.94,26.53,8.43,47.55
$GC,2064,1.09,160.3,3222,449,1693,1483,88.1,25.7,209,2074,0.17,2.12,0.00,0.000,5126,0.142,0.031,3170,1845,1587,1693,1482,0,0,0,0,0,0,25.58,26.08,25.68,8.42,47.83
$GC,2194,1.09,160.3,3170,1845,1693,1482,59.4,21.4,222,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1845,1587,1693,1481,0,0,0,0,0,0,26.65,26.66,26.66,8.43,47.67
$GC,2314,1.09,160.3,3170,1845,1693,1480,35.0,19.4,234,2318,0.00,2.20,0.00,0.000,516,0.000,0.041,3179,453,1587,1693,1481,0,0,0,0,0,0,26.70,26.05,26.70,8.42,48.14
$GC,2408,1.09,160.3,3178,451,1692,1479,17.4,18.0,244,2415,0.00,2.15,0.00,0.000,1030,0.000,0.031,3179,1842,1585,1692,1478,0,0,0,0,0,0,26.27,26.24,26.30,8.42,48.07
$GC,2478,1.13,196.9,3178,1842,1692,1478,8.2,6.1,257,2502,0.00,2.25,18.45,0.485,8452,0.000,0.038,3179,3264,1441,1546,1336,0,0,0,0,0,0,26.72,25.32,24.41,8.42,47.87
$GC,2886,1.21,280.0,3178,3264,1546,1336,4.7,1.2,334,2937,0.00,2.15,42.00,0.496,9222,0.000,0.030,3189,1847,1103,1197,1010,0,0,0,0,0,0,26.27,26.22,24.48,8.39,47.91
$STATE,2953,end climb,SURFACE_DEPTH_REACHED
$STATE,2953,begin surface coast
$FINISH,0.6,1.009540
$STATE,3041,end surface coast,CONTROL_FINISHED_OK
$STATE,3041,begin surface
$SM_CCo,3057,67.97,0.057,0,0,532,420.20
$SM_GC,2.18,7.82,0.00,67.97,0.031,0.000,0.057,184,1847,532,-8.07,0.11,420.20,0,0,0,0,0,0,26.20,26.58,25.88
$IRIDIUM_FIX,4738.33,-12256.21,090218,002451
$TT8_MAMPS,0.026964,0.242676
$HUMID,46.29
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.2
$24V_AH,23.90,71.231
$10V_AH,9.79,49.067
$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,19.425,34.625,247.450,67.975,0.000,0.000,0.000,215.525,4.000,0.000,19.891,942.896,885.699,373.295,1155.833,100.080,0.000,1014.864,0.000,692.077,0.000,30.292,0.000
$DEVICE_MAMPS,195.075,51.255,670.905,56.610,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,244.338,777.317,473.438,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312144
$DATA_FILE_SIZE,24465,361
$CAP_FILE_SIZE,54521,0
$CFSIZE,2097872896,2070052864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3045.69,0x2139aa,7,24
$CURRENT,0.045,27.49,1
$GPS,090218,022434,4737.894,-12254.626,5,0.8,16,16.4,0.0,0.0,10,4.6