version: 66.14
glider: 195
mission: 15
dive: 532
start: 2 20 118 14 35 50
data:
$ID,195
$MISSION,15
$DIVE,532
$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,52
$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
$GPS1,200218,143024,4737.9790,-12254.0801,5,0.8,20,16.4,0.3,71.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.3
$GPS2,200218,143510,4737.9893,-12254.0127,6,0.8,21,16.4,0.3,78.2,10,5.0
$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,35.5,1282,-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,7,begin dive
$GC,9,-0.79,-244.4,184,1852,565,486,0.0,0.0,0,59,0.00,0.00,-47.45,0.000,16386,0.000,0.000,184,1853,1675,1724,1626,0,0,0,0,0,0,26.53,28.83,26.54,8.29,48.46
$GC,63,-0.79,-244.4,184,1853,1724,1626,2.3,-2.5,7,133,9.07,2.25,-50.95,0.000,18948,0.194,0.050,2550,456,3246,3312,3180,0,0,0,0,0,0,24.89,23.74,25.29,8.40,49.05
$GC,281,-0.73,-244.4,2549,456,3313,3181,35.0,-17.5,38,287,0.10,2.12,0.00,0.000,3078,0.139,0.030,2573,1841,3247,3313,3181,0,0,0,0,0,0,25.75,26.01,25.86,8.53,48.70
$GC,416,-0.67,-244.4,2572,1841,3313,3180,55.2,-14.1,51,419,0.00,2.17,0.00,0.000,516,0.000,0.039,2573,455,3247,3313,3181,0,0,0,0,0,0,26.63,25.82,26.65,8.54,49.05
$GC,458,-0.62,-244.4,2572,455,3313,3180,60.9,-13.3,55,469,0.12,2.15,0.00,0.000,3078,0.127,0.030,2609,1854,3247,3313,3181,0,0,0,0,0,0,25.72,26.01,25.81,8.54,49.01
$GC,588,-0.62,-244.4,2609,1854,3313,3180,75.3,-10.8,68,592,0.00,2.17,0.00,0.000,260,0.000,0.041,2602,3246,3246,3312,3181,0,0,0,0,0,0,26.64,25.84,26.65,8.55,49.44
$GC,683,-0.62,-244.4,2601,3246,3312,3181,84.8,-10.0,77,691,0.00,2.12,0.00,0.000,1030,0.000,0.027,2602,1851,3247,3313,3181,0,0,0,0,0,0,26.08,26.04,26.10,8.55,50.03
$GC,812,-0.62,-244.4,2601,1851,3313,3181,98.6,-10.7,90,817,0.00,2.20,0.00,0.000,516,0.000,0.040,2601,449,3247,3313,3181,0,0,0,0,0,0,26.65,25.79,26.65,8.56,50.03
$GC,850,-0.62,-244.4,2601,448,3313,3181,102.5,-10.5,93,858,0.00,2.15,0.00,0.000,1030,0.000,0.030,2594,1836,3246,3312,3181,0,0,0,0,0,0,26.05,26.01,26.09,8.56,49.88
$GC,1040,-0.62,-244.4,2593,1836,3312,3180,123.2,-11.4,112,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1836,3246,3313,3180,0,0,0,0,0,0,26.65,26.65,26.65,8.57,50.03
$GC,1229,-0.62,-244.4,2593,1836,3312,3180,144.4,-11.1,131,1233,0.00,2.20,0.00,0.000,260,0.000,0.039,2583,3247,3246,3313,3180,0,0,0,0,0,0,26.65,25.83,26.66,8.58,49.68
$GC,1254,-0.62,-244.4,2583,3248,3312,3180,146.8,-10.6,133,1261,0.00,2.12,0.00,0.000,1030,0.000,0.028,2584,1848,3246,3312,3180,0,0,0,0,0,0,26.07,26.02,26.09,8.58,49.96
$STATE,1420,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1420,begin apogee
$GC,1425,-0.21,0.0,2583,1848,3312,3181,166.1,-11.7,150,1624,0.45,0.00,194.68,0.651,10246,0.093,0.000,2745,1848,2246,2373,2120,0,0,0,0,0,0,25.56,24.83,23.99,8.57,50.27
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1629,0.79,244.4,2744,1847,2373,2120,168.1,0.0,170,1843,0.85,2.28,203.60,0.631,10756,0.065,0.039,3061,452,1248,1353,1144,0,0,0,0,0,0,25.23,24.47,23.98,8.50,47.91
$GC,1921,0.71,244.4,3061,452,1352,1140,138.0,13.7,199,1928,0.00,2.17,0.00,0.000,1030,0.000,0.028,3061,1838,1246,1352,1140,0,0,0,0,0,0,25.84,25.82,25.89,8.41,47.32
$GC,2108,0.61,244.4,3061,1838,1352,1139,111.1,13.7,218,2118,0.15,2.17,0.00,0.000,4612,0.119,0.039,3016,457,1245,1352,1139,0,0,0,0,0,0,25.92,25.80,25.95,8.41,49.13
$GC,2162,0.61,244.4,3015,457,1352,1138,104.8,11.0,223,2166,0.00,2.12,0.00,0.000,1030,0.000,0.028,3016,1854,1244,1352,1137,0,0,0,0,0,0,26.10,26.03,26.13,8.41,48.77
$GC,2355,0.61,244.4,3015,1855,1352,1137,84.3,10.0,242,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1854,1244,1352,1137,0,0,0,0,0,0,26.61,26.62,26.62,8.40,49.09
$GC,2475,0.61,244.4,3015,1855,1352,1137,72.7,9.7,254,2479,0.00,2.22,0.00,0.000,516,0.000,0.041,3024,452,1244,1352,1137,0,0,0,0,0,0,26.63,25.83,26.63,8.40,49.01
$GC,2510,0.61,244.4,3023,452,1352,1137,69.4,10.1,257,2517,0.00,2.15,0.00,0.000,1030,0.000,0.028,3024,1851,1244,1352,1137,0,0,0,0,0,0,26.10,26.07,26.11,8.41,49.13
$GC,2638,0.61,244.4,3023,1852,1352,1137,56.0,10.4,270,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1852,1244,1352,1137,0,0,0,0,0,0,26.63,26.65,26.64,8.40,49.37
$GC,2758,0.61,244.4,3023,1852,1352,1137,43.6,10.1,282,2762,0.00,2.22,0.00,0.000,516,0.000,0.041,3031,451,1244,1352,1137,0,0,0,0,0,0,26.64,25.82,26.65,8.39,49.52
$GC,2833,0.61,244.4,3030,451,1352,1137,36.4,9.7,289,2841,0.00,2.15,0.00,0.000,1030,0.000,0.028,3031,1842,1244,1352,1137,0,0,0,0,0,0,26.10,26.06,26.13,8.39,48.85
$GC,2962,0.61,244.4,3030,1843,1352,1137,25.0,8.1,302,2966,0.00,2.22,0.00,0.000,516,0.000,0.041,3039,445,1244,1352,1137,0,0,0,0,0,0,26.64,25.82,26.65,8.39,49.13
$GC,2985,0.61,244.4,3038,445,1352,1137,22.9,8.6,304,2989,0.00,2.12,0.00,0.000,1030,0.000,0.028,3039,1851,1244,1352,1137,0,0,0,0,0,0,26.13,26.06,26.17,8.39,49.17
$GC,3118,0.70,330.2,3038,1851,1352,1137,13.0,7.6,325,3174,0.00,2.25,45.50,0.496,8708,0.000,0.040,3045,458,897,977,818,0,0,0,0,0,0,26.65,25.25,24.45,8.39,49.09
$GC,3208,0.70,330.2,3045,458,977,817,6.1,8.7,339,3216,0.00,2.15,0.00,0.000,1030,0.000,0.028,3045,1841,896,977,816,0,0,0,0,0,0,25.94,25.91,25.99,8.35,48.42
$STATE,3247,end climb,SURFACE_DEPTH_REACHED
$STATE,3247,begin surface coast
$FINISH,0.6,1.010500
$STATE,3284,end surface coast,CONTROL_FINISHED_OK
$STATE,3284,begin surface
$SM_CCo,3300,43.35,0.051,0,0,532,420.20
$SM_GC,1.55,7.43,0.00,43.35,0.028,0.000,0.051,187,1841,532,-8.06,-0.06,420.20,0,0,0,0,0,0,26.08,26.51,25.76
$IRIDIUM_FIX,4735.54,-12254.47,200218,133753
$TT8_MAMPS,0.025466,0.244923
$HUMID,48.03
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.8
$ALTIM_BOTTOM_PING,130.9,44.9
$24V_AH,23.74,94.434
$10V_AH,9.86,63.626
$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,18.175,47.925,443.775,43.350,0.000,0.000,0.000,191.275,2.500,0.000,24.038,873.732,1047.324,493.094,1124.564,121.102,0.000,1177.843,0.000,704.875,0.000,19.665,0.000
$DEVICE_MAMPS,194.310,50.490,651.015,51.255,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.459,759.872,461.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,24570,353
$CAP_FILE_SIZE,56527,0
$CFSIZE,2097872896,2042396672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.010,26.99,1
$GPS,200218,153311,4738.293,-12253.389,14,1.0,54,16.4,0.4,66.7,10,8.5