version: 66.14
glider: 195
mission: 15
dive: 521
start: 2 20 118 4 13 52
data:
$ID,195
$MISSION,15
$DIVE,521
$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,51
$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
$GPS1,200218,040859,4738.5215,-12253.1758,5,0.9,12,16.4,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.9
$GPS2,200218,041311,4738.4956,-12253.1709,7,0.9,15,16.4,0.0,166.8,9,4.9
$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,224.8,2114,-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,-244.4,184,1830,554,482,0.0,0.0,0,53,0.00,0.00,-41.92,0.000,16386,0.000,0.000,184,1830,1543,1586,1500,0,0,0,0,0,0,26.55,28.83,26.56,8.31,48.03
$GC,57,-0.79,-244.4,184,1830,1586,1500,2.0,-1.2,6,133,9.10,2.28,-55.70,0.000,18692,0.194,0.050,2540,3255,3245,3312,3179,0,0,0,0,0,0,24.82,23.75,25.21,8.41,47.87
$GC,235,-0.67,-244.4,2540,3255,3313,3180,28.1,-21.3,33,246,0.15,2.10,0.00,0.000,3078,0.105,0.027,2590,1844,3246,3313,3180,0,0,0,0,0,0,25.67,26.06,25.74,8.56,47.87
$GC,365,-0.62,-244.4,2589,1844,3313,3180,48.1,-14.9,46,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1844,3246,3313,3180,0,0,0,0,0,0,26.64,26.65,26.65,8.56,48.81
$GC,486,-0.62,-244.4,2589,1844,3313,3180,64.8,-13.9,58,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1844,3246,3313,3180,0,0,0,0,0,0,26.65,26.66,26.66,8.55,48.85
$GC,606,-0.62,-244.4,2589,1844,3313,3180,80.7,-13.0,70,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1844,3246,3313,3180,0,0,0,0,0,0,26.65,26.67,26.67,8.56,48.58
$GC,726,-0.62,-244.4,2589,1844,3313,3179,95.3,-11.8,82,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1844,3246,3313,3180,0,0,0,0,0,0,26.66,26.67,26.66,8.56,49.60
$GC,846,-0.62,-244.4,2589,1844,3313,3180,109.8,-12.1,94,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1844,3246,3312,3180,0,0,0,0,0,0,26.66,26.67,26.67,8.56,49.80
$GC,1026,-0.62,-244.4,2589,1844,3313,3180,131.8,-12.1,112,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1844,3246,3313,3180,0,0,0,0,0,0,26.65,26.67,26.66,8.57,50.27
$GC,1215,-0.62,-244.4,2589,1844,3313,3179,154.9,-12.0,131,1230,0.00,2.17,0.00,0.000,516,0.000,0.040,2590,456,3246,3313,3180,0,0,0,0,0,0,26.66,25.82,26.67,8.57,49.76
$GC,1253,-0.62,-244.4,2589,456,3313,3179,159.8,-12.7,134,1258,0.00,2.12,0.00,0.000,1030,0.000,0.030,2583,1844,3246,3313,3180,0,0,0,0,0,0,26.12,26.03,26.15,8.57,49.56
$STATE,1274,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1275,begin apogee
$GC,1280,-0.21,0.0,2583,1844,3313,3180,162.7,-12.7,136,1477,0.45,0.00,193.48,0.664,10246,0.094,0.000,2744,1844,2247,2379,2115,0,0,0,0,0,0,25.58,24.82,23.96,8.57,49.80
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1480,0.79,244.4,2744,1844,2378,2114,165.1,0.0,156,1691,0.85,2.30,201.88,0.642,10756,0.038,0.041,3091,444,1248,1353,1143,0,0,0,0,0,0,25.40,24.85,23.96,8.49,48.54
$GC,1774,0.68,244.4,3091,443,1352,1139,134.8,14.9,185,1784,0.17,2.15,0.00,0.000,5126,0.105,0.028,3032,1841,1245,1352,1138,0,0,0,0,0,0,25.48,25.83,25.55,8.40,47.16
$GC,1964,0.68,244.4,3032,1841,1352,1137,112.6,10.8,204,1974,0.00,2.17,0.00,0.000,260,0.000,0.038,3032,3250,1244,1352,1137,0,0,0,0,0,0,26.54,25.89,26.55,8.40,48.34
$GC,1998,0.68,244.4,3032,3250,1352,1137,108.7,10.8,207,2009,0.00,2.10,0.00,0.000,1030,0.000,0.028,3037,1850,1244,1352,1137,0,0,0,0,0,0,26.07,26.03,26.09,8.41,49.29
$GC,2188,0.68,244.4,3037,1850,1351,1136,87.2,10.8,226,2192,0.00,2.20,0.00,0.000,516,0.000,0.041,3048,449,1244,1352,1137,0,0,0,0,0,0,26.62,25.87,26.63,8.41,48.93
$GC,2306,0.68,244.4,3047,449,1351,1135,74.4,11.4,237,2314,0.00,2.15,0.00,0.000,1030,0.000,0.028,3048,1839,1242,1351,1134,0,0,0,0,0,0,26.12,26.09,26.15,8.41,49.33
$GC,2434,0.68,244.4,3047,1839,1351,1134,59.9,11.0,250,2438,0.00,2.20,0.00,0.000,260,0.000,0.038,3048,3253,1242,1351,1134,0,0,0,0,0,0,26.64,25.94,26.65,8.40,49.29
$GC,2467,0.68,244.4,3047,3254,1351,1134,56.1,12.0,253,2476,0.00,2.10,0.00,0.000,1030,0.000,0.028,3054,1843,1243,1351,1135,0,0,0,0,0,0,26.10,26.06,26.14,8.40,49.29
$GC,2597,0.68,244.4,3053,1843,1351,1134,41.2,11.8,266,2607,0.00,2.15,0.00,0.000,516,0.000,0.041,3063,456,1242,1351,1134,0,0,0,0,0,0,26.65,25.86,26.65,8.40,49.44
$GC,2684,0.68,244.4,3063,455,1351,1134,31.2,11.7,274,2695,0.08,2.10,0.00,0.000,5126,0.109,0.028,3035,1848,1242,1350,1134,0,0,0,0,0,0,25.86,26.09,25.89,8.40,48.81
$GC,2814,0.83,392.0,3034,1848,1351,1134,21.3,5.9,287,2906,0.08,2.28,81.30,0.535,10756,0.094,0.041,3134,452,646,732,560,0,0,0,0,0,0,26.44,25.13,24.34,8.40,49.48
$GC,2926,0.76,392.0,3134,452,732,558,8.7,13.2,302,2935,0.17,2.17,0.00,0.000,5126,0.093,0.028,3059,1842,644,732,557,0,0,0,0,0,0,25.46,25.79,25.60,8.34,48.18
$STATE,2981,end climb,SURFACE_DEPTH_REACHED
$STATE,2981,begin surface coast
$FINISH,0.7,1.002654
$STATE,3020,end surface coast,CONTROL_FINISHED_OK
$STATE,3020,begin surface
$SM_CCo,3036,13.85,0.054,0,0,532,420.20
$SM_GC,1.62,7.45,0.00,13.85,0.027,0.000,0.054,184,1843,532,-8.07,0.00,420.20,0,0,0,0,0,0,26.05,26.45,25.73
$IRIDIUM_FIX,4738.72,-12249.11,200218,032348
$TT8_MAMPS,0.026964,0.242676
$HUMID,47.91
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,9.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$ALTIM_BOTTOM_PING,156.1,15.4
$24V_AH,23.75,93.458
$10V_AH,9.86,63.091
$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,18.500,34.750,476.650,13.850,0.000,0.000,0.000,167.700,3.750,0.000,16.737,764.744,969.732,486.247,1001.642,112.587,0.000,1125.182,0.000,641.972,0.000,27.554,0.000
$DEVICE_MAMPS,193.545,49.725,664.020,53.550,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.213,686.621,417.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312100
$DATA_FILE_SIZE,21140,319
$CAP_FILE_SIZE,51618,0
$CFSIZE,2097872896,2043478016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050,62.39,1
$GPS,200218,050544,4738.369,-12253.699,8,1.0,19,16.4,0.0,0.0,9,4.9