version: 66.14
glider: 195
mission: 15
dive: 531
start: 2 20 118 13 41 10
data:
$ID,195
$MISSION,15
$DIVE,531
$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,41
$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
$GPS1,200218,133633,4737.7793,-12254.6641,24,0.9,26,16.4,0.0,0.0,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.5
$GPS2,200218,134029,4737.7852,-12254.5918,6,0.9,15,16.4,0.0,0.0,8,4.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$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,40.2,2088,-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,-244.4,183,1835,553,483,0.0,0.0,0,60,0.00,0.00,-48.42,0.000,16386,0.000,0.000,183,1835,1702,1751,1653,0,0,0,0,0,0,26.55,28.83,26.56,8.30,47.87
$GC,63,-0.79,-244.4,183,1836,1751,1654,2.4,-2.8,7,127,9.12,2.25,-48.28,0.000,18948,0.194,0.050,2551,450,3245,3311,3180,0,0,0,0,0,0,24.82,23.72,25.21,8.41,48.18
$GC,340,-0.71,-244.4,2550,450,3312,3182,46.3,-16.8,43,345,0.12,2.15,0.00,0.000,3078,0.128,0.031,2584,1849,3246,3312,3181,0,0,0,0,0,0,25.72,26.01,25.82,8.54,48.74
$GC,474,-0.71,-244.4,2583,1849,3313,3181,64.9,-12.9,56,483,0.00,2.17,0.00,0.000,260,0.000,0.040,2575,3247,3246,3312,3181,0,0,0,0,0,0,26.65,25.85,26.65,8.55,49.68
$GC,549,-0.71,-244.4,2575,3246,3312,3181,73.9,-12.2,63,557,0.00,2.12,0.00,0.000,1030,0.000,0.028,2575,1851,3246,3312,3181,0,0,0,0,0,0,26.08,26.04,26.11,8.55,49.25
$GC,677,-0.71,-244.4,2575,1851,3312,3181,90.6,-12.8,76,687,0.00,2.22,0.00,0.000,516,0.000,0.040,2575,446,3246,3312,3181,0,0,0,0,0,0,26.65,25.81,26.65,8.55,49.21
$GC,700,-0.71,-244.4,2574,444,3312,3181,93.6,-13.1,78,710,0.00,2.12,0.00,0.000,1030,0.000,0.030,2568,1840,3246,3312,3181,0,0,0,0,0,0,26.04,26.01,26.10,8.56,49.84
$GC,831,-0.71,-244.4,2567,1840,3312,3181,111.1,-14.1,91,835,0.00,2.22,0.00,0.000,260,0.000,0.039,2557,3257,3246,3312,3181,0,0,0,0,0,0,26.60,25.84,26.62,8.56,49.29
$GC,875,-0.71,-244.4,2557,3257,3312,3181,117.2,-13.4,95,880,0.00,2.15,0.00,0.000,1030,0.000,0.028,2558,1829,3246,3312,3181,0,0,0,0,0,0,26.11,26.03,26.14,8.56,49.52
$GC,1070,-0.66,-244.4,2557,1829,3312,3181,144.8,-14.6,114,1075,0.10,2.17,0.00,0.000,2564,0.140,0.038,2594,448,3246,3312,3181,0,0,0,0,0,0,26.13,25.79,26.15,8.57,50.03
$GC,1096,-0.66,-244.4,2593,448,3312,3181,147.9,-13.0,116,1103,0.00,2.17,0.00,0.000,1030,0.000,0.030,2587,1847,3246,3312,3181,0,0,0,0,0,0,26.03,26.01,26.06,8.57,50.39
$STATE,1122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1122,begin apogee
$GC,1127,-0.21,0.0,2587,1847,3312,3181,151.4,-11.5,119,1326,0.43,0.00,194.62,0.645,10246,0.093,0.000,2741,1847,2246,2370,2122,0,0,0,0,0,0,25.59,24.84,24.01,8.58,50.39
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1330,0.79,244.4,2741,1847,2369,2122,156.6,0.0,139,1546,0.88,2.28,203.23,0.626,10756,0.066,0.040,3065,454,1250,1353,1147,0,0,0,0,0,0,25.24,24.50,23.99,8.50,48.77
$GC,1580,0.70,244.4,3065,454,1352,1145,131.7,14.0,164,1585,0.00,2.17,0.00,0.000,1030,0.000,0.028,3065,1848,1248,1352,1145,0,0,0,0,0,0,25.75,25.68,25.78,8.41,47.24
$GC,1774,0.60,244.4,3065,1848,1352,1143,105.4,13.5,183,1779,0.15,2.22,0.00,0.000,4612,0.121,0.039,3020,454,1247,1352,1143,0,0,0,0,0,0,25.89,25.79,25.92,8.41,48.34
$GC,1818,0.60,244.4,3019,454,1352,1140,99.9,12.2,187,1824,0.00,2.15,0.00,0.000,1030,0.000,0.028,3019,1843,1246,1352,1140,0,0,0,0,0,0,26.10,26.03,26.13,8.41,48.50
$GC,1952,0.60,244.4,3019,1844,1352,1140,85.9,10.1,200,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1844,1246,1352,1140,0,0,0,0,0,0,26.59,26.60,26.60,8.41,48.97
$GC,2072,0.60,244.4,3019,1844,1352,1140,73.0,11.3,212,2082,0.00,2.17,0.00,0.000,516,0.000,0.041,3027,458,1246,1352,1140,0,0,0,0,0,0,26.61,25.85,26.63,8.41,48.89
$GC,2115,0.60,244.4,3027,458,1352,1140,68.6,10.1,216,2125,0.00,2.12,0.00,0.000,1030,0.000,0.028,3027,1851,1246,1352,1140,0,0,0,0,0,0,26.15,26.07,26.17,8.41,49.33
$GC,2245,0.60,244.4,3027,1851,1352,1140,55.5,9.9,229,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1851,1246,1352,1140,0,0,0,0,0,0,26.63,26.64,26.64,8.40,49.56
$GC,2365,0.60,244.4,3026,1851,1352,1140,43.9,9.5,241,2370,0.00,2.22,0.00,0.000,516,0.000,0.040,3035,449,1246,1352,1140,0,0,0,0,0,0,26.64,25.84,26.65,8.40,49.52
$GC,2410,0.60,244.4,3035,449,1352,1140,39.3,10.5,245,2418,0.00,2.15,0.00,0.000,1030,0.000,0.028,3035,1839,1246,1352,1140,0,0,0,0,0,0,26.10,26.07,26.13,8.39,49.29
$GC,2539,0.60,244.4,3035,1839,1352,1139,27.1,8.5,258,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1839,1246,1352,1140,0,0,0,0,0,0,26.64,26.65,26.65,8.38,48.74
$GC,2661,0.77,410.8,3035,1839,1352,1140,17.7,5.3,273,2758,0.00,2.28,91.20,0.513,8708,0.000,0.040,3042,455,568,622,514,0,0,0,0,0,0,26.65,25.12,24.33,8.38,49.37
$GC,2814,0.83,410.8,3041,455,616,508,6.7,8.1,297,2822,0.05,2.17,0.00,0.000,3078,0.076,0.028,3124,1852,562,616,508,0,0,0,0,0,0,25.74,25.84,25.78,8.32,48.26
$STATE,2849,end climb,SURFACE_DEPTH_REACHED
$STATE,2849,begin surface coast
$FINISH,0.6,1.001026
$STATE,2871,end surface coast,CONTROL_FINISHED_OK
$STATE,2871,begin surface
$SM_CCo,2888,3.62,0.054,0,0,532,420.20
$SM_GC,2.54,7.65,0.00,3.62,0.028,0.000,0.054,185,1853,532,-8.05,0.28,420.20,0,0,0,0,0,0,26.01,26.44,25.70
$IRIDIUM_FIX,4738.72,-12249.11,200218,125552
$TT8_MAMPS,0.026964,0.244174
$HUMID,48.34
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.7
$ALTIM_BOTTOM_PING,125.9,34.6
$24V_AH,23.72,94.351
$10V_AH,9.86,63.572
$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,18.500,43.725,489.050,3.625,0.000,0.000,0.000,151.625,2.250,0.000,16.813,739.132,870.689,487.493,951.434,112.018,0.000,1090.916,0.000,621.933,0.000,18.030,0.000
$DEVICE_MAMPS,194.310,50.490,644.895,54.315,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,203.995,660.907,401.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312012
$DATA_FILE_SIZE,21153,307
$CAP_FILE_SIZE,51353,0
$CFSIZE,2097872896,2042494976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,235.88,1
$GPS,200218,143024,4737.979,-12254.080,5,0.8,20,16.4,0.3,71.1,10,5.0