version: 66.14
glider: 195
mission: 15
dive: 528
start: 2 20 118 10 57 42
data:
$ID,195
$MISSION,15
$DIVE,528
$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,46
$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
$GPS1,200218,105201,4737.4644,-12255.9658,4,0.9,29,16.4,0.0,98.7,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.7
$GPS2,200218,105703,4737.4600,-12255.9326,7,0.9,13,16.4,0.0,0.0,9,4.5
$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,47.0,1839,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.79,-244.4,183,1835,521,443,0.0,0.0,0,59,0.00,0.00,-47.25,0.000,16386,0.000,0.000,183,1836,1629,1691,1568,0,0,0,0,0,0,26.53,28.83,26.54,8.29,48.26
$GC,62,-0.79,-244.4,183,1836,1691,1570,2.3,-1.9,7,132,9.10,2.22,-51.10,0.000,18948,0.195,0.052,2553,454,3246,3312,3180,0,0,0,0,0,0,24.91,23.76,25.30,8.40,48.30
$GC,184,-0.68,-244.4,2553,454,3312,3181,16.7,-20.4,26,192,0.12,2.15,0.00,0.000,3078,0.120,0.030,2586,1836,3246,3312,3181,0,0,0,0,0,0,25.65,26.00,25.70,8.54,47.79
$GC,262,-0.63,-244.4,2586,1836,3313,3181,30.9,-15.9,34,271,0.00,2.17,0.00,0.000,516,0.000,0.039,2586,448,3246,3312,3181,0,0,0,0,0,0,26.61,25.86,26.63,8.54,47.83
$GC,278,-0.58,-244.4,2586,448,3312,3180,32.4,-15.4,35,287,0.12,2.17,0.00,0.000,3078,0.109,0.030,2623,1846,3247,3313,3181,0,0,0,0,0,0,25.70,26.03,25.88,8.54,47.99
$GC,406,-0.58,-244.4,2623,1846,3312,3181,48.1,-10.6,48,410,0.00,2.17,0.00,0.000,260,0.000,0.040,2616,3248,3246,3312,3181,0,0,0,0,0,0,26.64,25.88,26.64,8.55,48.50
$GC,493,-0.58,-244.4,2615,3248,3312,3181,57.1,-10.7,56,501,0.00,2.15,0.00,0.000,1030,0.000,0.028,2616,1837,3246,3312,3181,0,0,0,0,0,0,26.09,26.06,26.15,8.55,49.13
$GC,621,-0.58,-244.4,2615,1837,3312,3181,71.7,-11.2,69,625,0.00,2.17,0.00,0.000,516,0.000,0.040,2616,453,3246,3312,3181,0,0,0,0,0,0,26.65,25.83,26.65,8.55,49.25
$GC,664,-0.58,-244.4,2615,453,3312,3180,76.5,-11.4,73,674,0.00,2.12,0.00,0.000,1030,0.000,0.030,2608,1846,3246,3312,3181,0,0,0,0,0,0,26.12,26.03,26.15,8.56,49.60
$GC,795,-0.58,-244.4,2608,1846,3312,3181,92.2,-12.4,86,804,0.00,2.17,0.00,0.000,260,0.000,0.040,2598,3246,3246,3312,3180,0,0,0,0,0,0,26.65,25.88,26.66,8.57,49.40
$GC,892,-0.58,-244.4,2598,3246,3312,3181,103.4,-11.1,95,903,0.00,2.12,0.00,0.000,1030,0.000,0.027,2598,1829,3246,3312,3180,0,0,0,0,0,0,26.14,26.06,26.17,8.57,50.15
$GC,1084,-0.58,-244.4,2598,1829,3312,3181,125.5,-11.7,114,1094,0.00,2.15,0.00,0.000,516,0.000,0.040,2598,457,3246,3312,3181,0,0,0,0,0,0,26.65,25.82,26.66,8.58,49.48
$GC,1118,-0.58,-244.4,2597,457,3312,3181,129.6,-11.9,117,1128,0.10,2.12,0.00,0.000,3078,0.132,0.030,2623,1849,3246,3312,3180,0,0,0,0,0,0,25.79,26.02,25.90,8.57,50.39
$GC,1308,-0.58,-244.4,2622,1850,3312,3181,148.0,-9.3,136,1318,0.00,2.17,0.00,0.000,260,0.000,0.040,2616,3248,3246,3312,3181,0,0,0,0,0,0,26.65,25.85,26.66,8.58,49.48
$GC,1377,-0.63,-244.4,2615,3248,3312,3181,153.9,-8.8,142,1385,0.00,2.12,0.00,0.000,1030,0.000,0.028,2616,1852,3246,3312,3181,0,0,0,0,0,0,26.08,26.05,26.10,8.58,49.80
$STATE,1443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1443,begin apogee
$GC,1448,-0.21,0.0,2615,1852,3312,3181,160.3,-9.0,149,1645,0.35,0.00,193.30,0.656,10246,0.096,0.000,2744,1852,2247,2374,2120,0,0,0,0,0,0,25.66,24.83,23.97,8.58,49.72
$STATE,1646,end apogee,CONTROL_FINISHED_OK
$STATE,1646,begin climb
$GC,1649,0.79,244.4,2744,1852,2374,2120,165.6,0.0,169,1865,0.85,2.28,201.70,0.634,11012,0.058,0.039,3068,450,1249,1354,1145,0,0,0,0,0,0,25.29,24.49,23.98,8.50,47.79
$GC,1943,0.69,244.4,3067,449,1354,1144,132.0,14.0,198,1954,0.10,2.12,0.00,0.000,5126,0.114,0.028,3033,1837,1248,1354,1143,0,0,0,0,0,0,25.56,25.83,25.62,8.42,47.12
$GC,2134,0.64,244.4,3033,1837,1353,1141,108.4,11.9,217,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1837,1247,1354,1141,0,0,0,0,0,0,26.53,26.55,26.54,8.42,48.38
$GC,2323,0.59,244.4,3033,1837,1354,1141,85.2,12.5,236,2333,0.10,2.20,0.00,0.000,4612,0.134,0.039,3002,442,1247,1354,1141,0,0,0,0,0,0,26.14,25.85,26.15,8.41,49.13
$GC,2348,0.59,244.4,3001,442,1353,1141,82.4,12.1,238,2356,0.00,2.17,0.00,0.000,1030,0.000,0.027,3001,1858,1247,1354,1140,0,0,0,0,0,0,26.13,26.08,26.15,8.42,48.62
$GC,2477,0.59,244.4,3001,1859,1354,1140,69.1,10.0,251,2481,0.00,2.22,0.00,0.000,516,0.000,0.041,3007,451,1247,1354,1140,0,0,0,0,0,0,26.63,25.85,26.63,8.41,49.17
$GC,2510,0.59,244.4,3007,451,1354,1140,65.9,9.6,254,2520,0.00,2.12,0.00,0.000,1030,0.000,0.028,3007,1844,1247,1354,1141,0,0,0,0,0,0,26.16,26.08,26.19,8.41,49.48
$GC,2640,0.59,244.4,3007,1845,1354,1140,54.2,8.3,267,2645,0.00,2.22,0.00,0.000,516,0.000,0.041,3012,445,1247,1354,1140,0,0,0,0,0,0,26.63,25.84,26.65,8.41,49.09
$GC,2655,0.59,244.4,3012,445,1354,1140,53.1,8.3,268,2663,0.00,2.15,0.00,0.000,1030,0.000,0.028,3012,1840,1247,1354,1140,0,0,0,0,0,0,26.11,26.08,26.14,8.41,49.01
$GC,2783,0.59,244.4,3012,1840,1354,1140,41.8,8.3,281,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1840,1247,1354,1140,0,0,0,0,0,0,26.64,26.65,26.65,8.40,48.62
$GC,2904,0.67,322.9,3012,1841,1353,1139,31.7,7.8,293,2967,0.00,2.25,57.40,0.571,8708,0.000,0.040,3013,452,928,1017,839,0,0,0,0,0,0,26.65,24.82,24.34,8.40,48.54
$GC,3007,0.85,441.5,3013,452,1017,839,24.5,6.7,303,3079,0.15,2.12,61.38,0.533,11270,0.051,0.027,3138,1847,496,536,457,0,0,0,0,0,0,25.89,25.86,24.23,8.37,47.83
$GC,3145,0.77,441.5,3138,1847,532,450,5.0,15.3,323,3153,0.22,2.22,0.00,0.000,4612,0.107,0.040,3069,454,491,532,450,0,0,0,0,0,0,25.64,25.70,25.70,8.32,47.99
$STATE,3159,end climb,SURFACE_DEPTH_REACHED
$STATE,3159,begin surface coast
$FINISH,1.5,1.021354
$STATE,3172,end surface coast,CONTROL_FINISHED_OK
$STATE,3172,begin surface
$SM_CCo,3250,0.00,0.000,0,0,488,431.48
$SM_GC,1.76,7.43,2.17,0.00,0.022,0.026,0.000,179,1842,488,-8.07,-1.55,431.48,0,0,0,0,0,0,26.02,25.94,26.06
$IRIDIUM_FIX,4738.33,-12256.21,200218,095014
$TT8_MAMPS,0.026964,0.266644
$HUMID,47.71
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,17.5
$ALTIM_BOTTOM_PING,115.2,54.6
$24V_AH,23.76,94.108
$10V_AH,9.82,63.433
$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,18.650,56.500,513.775,0.000,0.000,0.000,0.000,211.675,1.500,0.000,14.398,787.796,1054.840,516.369,1092.764,124.620,0.000,1256.382,0.000,693.791,0.000,12.009,0.000
$DEVICE_MAMPS,195.075,52.020,655.605,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.627,703.821,427.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312040
$DATA_FILE_SIZE,24650,327
$CAP_FILE_SIZE,58686,0
$CFSIZE,2097872896,2042789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,215.01,1
$GPS,200218,115253,4737.488,-12255.389,8,0.9,21,16.4,0.3,60.6,9,5.0