version: 66.14
glider: 195
mission: 15
dive: 523
start: 2 20 118 6 14 56
data:
$ID,195
$MISSION,15
$DIVE,523
$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,50
$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
$GPS1,200218,060835,4738.1372,-12254.1182,17,0.9,32,16.4,0.3,110.9,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.9
$GPS2,200218,061408,4738.1191,-12254.0498,7,0.9,14,16.4,0.0,111.4,9,4.8
$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,224.9,814,-14.3,-10.000,-18.31,3174
$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,8,-0.81,-212.2,166,1839,555,485,0.0,0.0,0,52,0.00,0.00,-41.72,0.000,16386,0.000,0.000,166,1840,1526,1582,1471,0,0,0,0,0,0,26.54,28.83,26.55,8.30,48.22
$GC,56,-0.84,-244.4,166,1839,1583,1473,2.0,-1.2,6,132,9.02,2.22,-59.03,0.000,18692,0.191,0.051,2523,3251,3246,3315,3177,0,0,0,0,0,0,24.96,25.49,25.46,8.40,48.14
$GC,205,-0.72,-244.4,2522,3250,3315,3178,20.5,-21.7,30,210,0.17,2.15,0.00,0.000,3078,0.122,0.028,2578,1838,3246,3315,3178,0,0,0,0,0,0,25.65,26.05,25.77,8.54,47.67
$GC,339,-0.72,-244.4,2577,1838,3315,3178,41.8,-13.4,43,349,0.00,2.17,0.00,0.000,516,0.000,0.039,2578,447,3247,3316,3178,0,0,0,0,0,0,26.63,25.84,26.64,8.54,48.77
$GC,406,-0.72,-244.4,2578,447,3316,3178,51.2,-14.2,49,415,0.00,2.15,0.00,0.000,1030,0.000,0.029,2572,1835,3247,3316,3178,0,0,0,0,0,0,26.08,26.04,26.11,8.55,48.54
$GC,535,-0.72,-244.4,2571,1835,3315,3178,69.5,-14.3,62,545,0.00,2.20,0.00,0.000,260,0.000,0.039,2562,3248,3246,3315,3178,0,0,0,0,0,0,26.65,25.89,26.66,8.55,49.37
$GC,570,-0.72,-244.4,2561,3248,3316,3178,74.2,-13.9,65,579,0.00,2.15,0.00,0.000,1030,0.000,0.027,2562,1833,3246,3315,3178,0,0,0,0,0,0,26.10,26.07,26.13,8.55,49.21
$GC,699,-0.72,-244.4,2561,1833,3315,3178,92.5,-14.5,78,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1833,3246,3315,3178,0,0,0,0,0,0,26.65,26.66,26.66,8.57,49.52
$GC,819,-0.72,-244.4,2561,1833,3315,3178,109.9,-14.3,90,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1833,3246,3315,3177,0,0,0,0,0,0,26.65,26.67,26.66,8.57,49.68
$GC,1002,-0.72,-244.4,2561,1833,3315,3178,135.4,-13.7,108,1006,0.00,2.22,0.00,0.000,260,0.000,0.040,2552,3254,3246,3315,3178,0,0,0,0,0,0,26.63,25.86,26.63,8.57,49.68
$GC,1045,-0.72,-244.4,2551,3255,3315,3178,141.9,-13.9,112,1049,0.00,2.12,0.00,0.000,1030,0.000,0.028,2552,1842,3246,3315,3178,0,0,0,0,0,0,26.13,26.05,26.16,8.58,49.76
$STATE,1105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1106,begin apogee
$GC,1111,-0.21,0.0,2552,1842,3314,3178,150.6,-14.2,118,1308,0.55,0.00,193.38,0.655,10246,0.099,0.000,2744,1842,2247,2377,2117,0,0,0,0,0,0,25.45,24.84,23.99,8.58,49.56
$STATE,1309,end apogee,CONTROL_FINISHED_OK
$STATE,1309,begin climb
$GC,1311,0.84,244.4,2744,1842,2377,2115,158.2,0.0,138,1522,0.90,2.25,201.55,0.638,11012,0.068,0.041,3078,454,1249,1353,1145,0,0,0,0,0,0,25.23,24.86,23.96,8.50,48.58
$GC,1554,0.76,244.4,3077,453,1352,1143,134.1,14.4,162,1561,0.00,2.17,0.00,0.000,1030,0.000,0.028,3078,1834,1247,1351,1143,0,0,0,0,0,0,25.69,25.65,25.72,8.41,47.40
$GC,1742,0.68,244.4,3077,1834,1351,1140,106.2,13.9,181,1744,0.15,0.00,0.00,0.000,4102,0.123,0.000,3029,1834,1245,1351,1140,0,0,0,0,0,0,25.90,26.02,25.97,8.41,48.50
$GC,1922,0.68,244.4,3028,1834,1351,1138,85.6,11.4,199,1932,0.00,2.15,0.00,0.000,516,0.000,0.041,3037,455,1245,1351,1139,0,0,0,0,0,0,26.60,25.86,26.60,8.41,49.48
$GC,1977,0.68,244.4,3036,455,1350,1139,79.5,11.5,204,1985,0.00,2.15,0.00,0.000,1030,0.000,0.028,3036,1846,1244,1350,1139,0,0,0,0,0,0,26.11,26.08,26.14,8.41,48.58
$GC,2105,0.68,244.4,3036,1845,1350,1139,64.6,11.4,217,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1845,1244,1350,1139,0,0,0,0,0,0,26.63,26.64,26.63,8.41,49.05
$GC,2226,0.68,244.4,3036,1845,1350,1139,51.9,10.2,229,2235,0.00,2.17,0.00,0.000,516,0.000,0.040,3045,455,1244,1350,1138,0,0,0,0,0,0,26.64,25.87,26.65,8.41,49.21
$GC,2281,0.68,244.4,3044,455,1350,1139,46.3,10.5,234,2289,0.00,2.15,0.00,0.000,1030,0.000,0.028,3045,1846,1243,1349,1138,0,0,0,0,0,0,26.10,26.09,26.15,8.40,49.09
$GC,2409,0.68,244.4,3044,1847,1350,1139,32.7,10.0,247,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1847,1244,1350,1139,0,0,0,0,0,0,26.65,26.65,26.65,8.40,48.74
$GC,2530,0.75,317.0,3044,1847,1350,1138,22.0,7.7,259,2575,0.00,2.28,41.12,0.538,8708,0.000,0.040,3045,454,951,1038,864,0,0,0,0,0,0,26.65,25.26,24.41,8.40,49.13
$GC,2604,0.90,407.4,3044,454,1039,863,16.7,7.1,269,2661,0.05,2.17,49.50,0.509,11270,0.014,0.028,3146,1853,583,641,525,0,0,0,0,0,0,25.86,25.91,24.28,8.37,48.26
$STATE,2702,end climb,SURFACE_DEPTH_REACHED
$STATE,2704,begin surface coast
$FINISH,0.8,1.020956
$STATE,2720,end surface coast,CONTROL_FINISHED_OK
$STATE,2720,begin surface
$SM_CCo,2737,5.50,0.054,0,0,533,420.20
$SM_GC,2.86,7.72,0.00,5.50,0.026,0.000,0.054,165,1854,533,-8.12,0.31,420.20,0,0,0,0,0,0,26.01,26.34,25.70
$IRIDIUM_FIX,4738.72,-12249.11,200218,050708
$TT8_MAMPS,0.026964,0.244174
$HUMID,47.51
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.3
$ALTIM_BOTTOM_PING,135.4,24.9
$24V_AH,23.96,93.634
$10V_AH,9.86,63.192
$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,18.575,34.900,485.550,5.500,0.000,0.000,0.000,241.925,2.750,0.000,15.378,690.015,859.481,481.655,970.720,110.098,0.000,1148.806,0.000,569.754,0.000,22.455,0.000
$DEVICE_MAMPS,191.250,51.255,654.840,53.550,0.000,0.000,0.000,74.970,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.821,619.893,376.192,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312036
$DATA_FILE_SIZE,21052,288
$CAP_FILE_SIZE,48509,0
$CFSIZE,2097872896,2043281408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,64.99,1
$GPS,200218,070136,4737.927,-12254.443,5,0.9,15,16.4,0.3,126.6,8,4.9