version: 66.14
glider: 195
mission: 15
dive: 525
start: 2 20 118 7 47 22
data:
$ID,195
$MISSION,15
$DIVE,525
$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,49
$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
$GPS1,200218,074236,4737.9253,-12254.4580,5,0.9,19,16.4,0.2,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.9
$GPS2,200218,074641,4737.9175,-12254.4189,6,0.9,20,16.4,0.2,111.5,9,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE3
$TGT_LATLONG,4737.343,-12255.988
$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,226.8,2229,-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,-244.4,173,1844,530,442,0.0,0.0,0,59,0.00,0.00,-47.72,0.000,16386,0.000,0.000,173,1844,1650,1705,1595,0,0,0,0,0,0,26.56,28.83,26.57,8.30,48.03
$GC,62,-0.79,-244.4,173,1844,1706,1596,2.3,-2.2,7,133,9.10,2.22,-53.47,0.000,18692,0.192,0.050,2540,3254,3243,3311,3176,0,0,0,0,0,0,24.79,25.51,25.18,8.41,48.54
$GC,241,-0.71,-244.4,2540,3254,3311,3177,25.9,-18.4,34,249,0.12,2.15,0.00,0.000,3078,0.113,0.028,2581,1838,3244,3311,3177,0,0,0,0,0,0,25.70,26.07,25.77,8.54,48.11
$GC,369,-0.71,-244.4,2580,1837,3311,3177,44.7,-13.7,47,378,0.00,2.20,0.00,0.000,260,0.000,0.040,2573,3250,3244,3311,3177,0,0,0,0,0,0,26.64,25.89,26.65,8.55,49.05
$GC,412,-0.71,-244.4,2573,3250,3311,3177,50.5,-13.5,51,416,0.00,2.12,0.00,0.000,1030,0.000,0.027,2573,1849,3244,3311,3177,0,0,0,0,0,0,26.10,26.06,26.17,8.55,48.62
$GC,545,-0.66,-244.4,2572,1850,3311,3177,68.4,-13.2,64,549,0.00,2.20,0.00,0.000,516,0.000,0.040,2573,454,3244,3311,3177,0,0,0,0,0,0,26.65,25.84,26.65,8.55,49.48
$GC,578,-0.60,-244.4,2572,453,3311,3177,73.2,-13.6,67,589,0.15,2.10,0.00,0.000,3078,0.110,0.030,2615,1834,3244,3311,3177,0,0,0,0,0,0,25.67,26.05,25.72,8.55,49.76
$GC,708,-0.60,-244.4,2615,1834,3311,3177,87.5,-10.3,80,712,0.00,2.22,0.00,0.000,260,0.000,0.040,2608,3250,3244,3311,3177,0,0,0,0,0,0,26.65,25.88,26.65,8.56,50.11
$GC,743,-0.60,-244.4,2607,3251,3311,3177,90.8,-10.2,83,750,0.00,2.15,0.00,0.000,1030,0.000,0.028,2608,1841,3244,3311,3177,0,0,0,0,0,0,26.10,26.06,26.11,8.57,49.52
$GC,871,-0.60,-244.4,2607,1841,3311,3177,104.4,-10.3,96,875,0.00,2.20,0.00,0.000,260,0.000,0.040,2599,3247,3244,3311,3177,0,0,0,0,0,0,26.65,25.88,26.65,8.57,50.27
$GC,900,-0.60,-244.4,2598,3247,3311,3177,107.3,-10.5,98,907,0.00,2.12,0.00,0.000,1030,0.000,0.028,2599,1847,3244,3311,3177,0,0,0,0,0,0,26.10,26.06,26.13,8.57,49.76
$GC,1089,-0.60,-244.4,2599,1847,3311,3177,127.5,-10.6,117,1094,0.00,2.20,0.00,0.000,516,0.000,0.040,2599,447,3244,3311,3177,0,0,0,0,0,0,26.65,25.83,26.66,8.57,50.31
$GC,1132,-0.60,-244.4,2599,447,3311,3177,132.4,-11.0,121,1137,0.00,2.15,0.00,0.000,1030,0.000,0.029,2590,1853,3244,3311,3177,0,0,0,0,0,0,26.11,26.03,26.15,8.58,50.07
$STATE,1263,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1263,begin apogee
$GC,1268,-0.21,0.0,2590,1853,3310,3177,147.3,-11.4,134,1466,0.43,0.00,192.45,0.649,10246,0.093,0.000,2745,1853,2246,2374,2118,0,0,0,0,0,0,25.63,24.84,23.99,8.58,50.19
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1467,begin climb
$GC,1469,0.79,244.4,2744,1853,2374,2118,154.3,0.0,154,1679,0.88,2.28,201.00,0.630,10756,0.067,0.041,3066,454,1248,1353,1144,0,0,0,0,0,0,25.22,24.87,23.99,8.50,48.38
$GC,1734,0.70,244.4,3066,454,1352,1141,128.1,13.6,180,1744,0.00,2.12,0.00,0.000,1030,0.000,0.028,3066,1837,1246,1352,1140,0,0,0,0,0,0,25.79,25.75,25.82,8.42,47.08
$GC,1923,0.62,244.4,3065,1837,1352,1139,101.6,13.7,199,1933,0.15,2.17,0.00,0.000,4612,0.121,0.038,3020,455,1245,1352,1139,0,0,0,0,0,0,25.91,25.82,25.95,8.41,49.09
$GC,1947,0.56,244.4,3020,454,1352,1138,98.6,13.6,201,1951,0.00,2.15,0.00,0.000,1030,0.000,0.028,3020,1843,1245,1352,1138,0,0,0,0,0,0,26.14,26.03,26.17,8.41,48.66
$GC,2080,0.56,244.4,3020,1843,1351,1138,83.8,10.9,214,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1843,1244,1352,1137,0,0,0,0,0,0,26.60,26.60,26.60,8.41,48.42
$GC,2200,0.56,244.4,3020,1843,1352,1138,71.3,10.3,226,2204,0.00,2.20,0.00,0.000,516,0.000,0.041,3028,452,1244,1350,1138,0,0,0,0,0,0,26.62,25.86,26.63,8.41,49.09
$GC,2265,0.56,244.4,3028,452,1350,1138,64.7,10.3,232,2273,0.10,2.15,0.00,0.000,5126,0.099,0.029,2992,1847,1244,1351,1138,0,0,0,0,0,0,25.83,26.09,25.90,8.41,49.01
$GC,2393,0.66,345.9,2991,1847,1351,1137,54.5,7.1,245,2484,0.00,2.30,84.95,0.585,8708,0.000,0.040,2999,452,832,914,751,0,0,0,0,0,0,26.64,25.10,24.25,8.41,49.01
$GC,2521,0.87,481.9,2998,452,913,749,46.4,6.2,257,2599,0.15,2.17,71.03,0.568,11270,0.032,0.028,3141,1846,498,540,457,0,0,0,0,0,0,25.82,25.80,24.15,8.37,47.95
$GC,2720,0.81,481.9,3140,1846,535,448,10.5,16.1,281,2728,0.20,2.20,0.00,0.000,4356,0.110,0.035,3070,3256,491,535,447,0,0,0,0,0,0,25.75,25.82,25.79,8.32,47.67
$GC,2746,0.81,481.9,3070,3256,535,447,6.9,13.6,285,2753,0.00,2.17,0.00,0.000,1030,0.000,0.029,3074,1845,491,535,447,0,0,0,0,0,0,25.98,25.94,26.07,8.33,48.38
$STATE,2785,end climb,SURFACE_DEPTH_REACHED
$STATE,2785,begin surface coast
$FINISH,0.8,1.009812
$STATE,2818,end surface coast,CONTROL_FINISHED_OK
$STATE,2818,begin surface
$SM_CCo,2894,0.00,0.000,0,0,488,431.48
$SM_GC,1.81,7.47,0.00,0.00,0.028,0.000,0.000,179,1841,488,-8.08,-0.08,431.48,0,0,0,0,0,0,26.15,26.53,26.18
$IRIDIUM_FIX,4737.86,-12251.79,200218,070256
$TT8_MAMPS,0.026964,0.265895
$HUMID,47.71
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.1,16.7
$ALTIM_BOTTOM_PING,115.6,41.4
$24V_AH,23.99,93.823
$10V_AH,9.83,63.266
$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,18.750,47.975,549.425,0.000,0.000,0.000,0.000,161.700,1.750,0.000,22.029,714.203,871.972,507.528,972.380,106.017,0.000,1152.259,0.000,630.616,0.000,14.849,0.000
$DEVICE_MAMPS,192.015,50.490,648.720,0.000,0.000,0.000,0.000,71.910,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.231,641.414,389.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21026,298
$CAP_FILE_SIZE,52497,0
$CFSIZE,2097872896,2043084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,65.16,1
$GPS,200218,083649,4737.826,-12254.929,4,0.8,33,16.4,0.4,49.6,10,4.6