version: 66.14
glider: 195
mission: 15
dive: 526
start: 2 20 118 8 42 21
data:
$ID,195
$MISSION,15
$DIVE,526
$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,44
$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
$GPS1,200218,083649,4737.8257,-12254.9287,4,0.8,33,16.4,0.4,49.6,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.9
$GPS2,200218,084141,4737.8584,-12254.8564,6,0.8,14,16.4,0.0,0.0,11,4.9
$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,221.2,1705,-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,-244.4,170,1841,526,442,0.0,0.0,0,60,0.00,0.00,-48.62,0.000,16386,0.000,0.000,171,1842,1664,1719,1610,0,0,0,0,0,0,26.54,28.83,26.55,8.29,47.87
$GC,63,-0.79,-244.4,171,1842,1719,1611,2.3,-2.4,7,133,9.07,2.25,-50.40,0.000,18692,0.192,0.051,2540,3249,3245,3312,3179,0,0,0,0,0,0,24.89,23.77,25.28,8.41,47.79
$GC,239,-0.71,-244.4,2540,3249,3313,3179,27.3,-18.1,34,244,0.12,2.12,0.00,0.000,3078,0.125,0.027,2580,1835,3246,3312,3180,0,0,0,0,0,0,25.77,26.06,25.87,8.55,47.67
$GC,374,-0.65,-244.4,2579,1834,3313,3180,45.7,-13.3,47,383,0.00,2.20,0.00,0.000,260,0.000,0.039,2573,3244,3246,3313,3179,0,0,0,0,0,0,26.63,25.91,26.64,8.55,48.38
$GC,409,-0.65,-244.4,2573,3244,3313,3179,50.1,-13.1,50,417,0.00,2.12,0.00,0.000,1030,0.000,0.028,2573,1846,3246,3313,3180,0,0,0,0,0,0,26.10,26.07,26.14,8.55,48.74
$GC,537,-0.59,-244.4,2572,1846,3313,3179,67.1,-13.7,63,548,0.12,2.17,0.00,0.000,2564,0.129,0.038,2618,447,3246,3313,3180,0,0,0,0,0,0,26.08,25.86,26.08,8.55,49.25
$GC,583,-0.59,-244.4,2617,447,3313,3179,72.6,-12.3,67,592,0.00,2.12,0.00,0.000,1030,0.000,0.030,2612,1843,3246,3312,3180,0,0,0,0,0,0,26.11,26.06,26.12,8.56,49.88
$GC,712,-0.59,-244.4,2611,1843,3312,3179,86.5,-10.7,80,716,0.00,2.20,0.00,0.000,260,0.000,0.039,2602,3248,3246,3313,3179,0,0,0,0,0,0,26.65,25.89,26.66,8.56,49.05
$GC,766,-0.59,-244.4,2601,3248,3313,3180,92.4,-10.9,85,774,0.00,2.12,0.00,0.000,1030,0.000,0.027,2602,1846,3246,3313,3179,0,0,0,0,0,0,26.10,26.07,26.13,8.56,49.13
$GC,895,-0.59,-244.4,2601,1846,3313,3179,106.7,-10.9,98,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1846,3246,3313,3180,0,0,0,0,0,0,26.65,26.65,26.65,8.57,49.44
$GC,1079,-0.59,-244.4,2601,1846,3313,3179,125.9,-10.3,116,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1846,3245,3312,3179,0,0,0,0,0,0,26.63,26.63,26.64,8.58,50.19
$GC,1267,-0.59,-244.4,2601,1846,3313,3179,146.9,-10.9,135,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1846,3246,3313,3180,0,0,0,0,0,0,26.65,26.66,26.65,8.58,50.00
$GC,1457,-0.79,-244.4,2601,1846,3313,3180,161.5,-0.2,154,1462,0.08,2.20,0.00,0.000,4612,0.095,0.038,2546,445,3246,3313,3179,0,0,0,0,0,0,26.44,25.81,26.45,8.58,49.96
$STATE,1572,end dive,NO_VERTICAL_VELOCITY
$STATE,1572,begin apogee
$GC,1580,-0.21,0.0,2545,1846,3312,3179,161.5,0.0,165,1781,0.55,0.00,193.82,0.652,10246,0.057,0.000,2758,1845,2246,2373,2120,0,0,0,0,0,0,25.91,24.50,23.99,8.58,49.72
$STATE,1784,end apogee,CONTROL_FINISHED_OK
$STATE,1784,begin climb
$GC,1786,0.79,244.4,2758,1845,2373,2120,161.5,0.0,186,2004,0.77,2.28,201.98,0.637,10500,0.047,0.037,3061,3250,1249,1354,1144,0,0,0,0,0,0,25.41,24.87,23.98,8.50,47.87
$GC,2010,0.68,244.4,3060,3250,1352,1144,148.5,12.6,208,2018,0.10,2.20,0.00,0.000,5126,0.121,0.028,3037,1843,1248,1353,1144,0,0,0,0,0,0,25.28,25.54,25.48,8.42,46.81
$GC,2198,0.68,244.4,3036,1843,1353,1140,124.0,12.1,227,2202,0.00,2.22,0.00,0.000,516,0.000,0.041,3045,439,1246,1353,1140,0,0,0,0,0,0,26.47,25.80,26.48,8.42,48.22
$GC,2306,0.68,244.4,3044,439,1352,1138,111.2,11.8,237,2314,0.00,2.17,0.00,0.000,1030,0.000,0.028,3045,1844,1245,1352,1138,0,0,0,0,0,0,26.08,26.05,26.10,8.42,48.58
$GC,2497,0.63,244.4,3044,1844,1352,1138,87.6,11.5,256,2504,0.10,0.00,0.00,0.000,4102,0.131,0.000,3008,1845,1245,1353,1138,0,0,0,0,0,0,26.15,26.20,26.17,8.42,49.05
$GC,2625,0.63,244.4,3007,1844,1352,1138,75.1,9.6,269,2634,0.00,2.20,0.00,0.000,516,0.000,0.041,3014,449,1245,1352,1138,0,0,0,0,0,0,26.63,25.86,26.64,8.42,49.01
$GC,2669,0.63,244.4,3013,449,1352,1137,70.9,9.8,273,2677,0.00,2.15,0.00,0.000,1030,0.000,0.028,3014,1840,1245,1352,1138,0,0,0,0,0,0,26.13,26.09,26.15,8.41,48.74
$GC,2798,0.63,244.4,3013,1840,1352,1137,58.7,9.3,286,2803,0.00,2.20,0.00,0.000,260,0.000,0.037,3014,3254,1244,1352,1137,0,0,0,0,0,0,26.64,25.93,26.65,8.41,49.64
$GC,2813,0.63,244.4,3013,3254,1352,1137,57.3,9.7,287,2821,0.00,2.15,0.00,0.000,1030,0.000,0.028,3015,1846,1244,1352,1137,0,0,0,0,0,0,26.10,26.06,26.13,8.41,48.93
$GC,2941,0.63,244.4,3015,1845,1352,1137,45.1,8.9,300,2946,0.00,2.20,0.00,0.000,516,0.000,0.041,3017,449,1244,1352,1137,0,0,0,0,0,0,26.65,25.85,26.65,8.41,49.29
$GC,3035,0.63,244.4,3016,449,1352,1137,37.1,8.5,309,3044,0.00,2.10,0.00,0.000,1030,0.000,0.028,3017,1840,1244,1352,1137,0,0,0,0,0,0,26.12,26.09,26.14,8.40,48.97
$GC,3165,0.63,244.4,3016,1840,1352,1136,26.6,8.2,322,3170,0.00,2.20,0.00,0.000,516,0.000,0.041,3022,451,1244,1352,1137,0,0,0,0,0,0,26.65,25.84,26.65,8.40,49.25
$GC,3228,0.73,344.8,3021,449,1352,1137,22.7,7.2,328,3293,0.00,2.12,56.62,0.539,9222,0.000,0.027,3022,1852,839,912,766,0,0,0,0,0,0,26.16,26.08,24.39,8.39,48.58
$GC,3359,0.92,455.3,3021,1852,912,765,13.5,6.9,347,3416,0.15,2.28,45.75,0.493,10756,0.055,0.040,3161,454,495,534,456,0,0,0,0,0,0,26.15,25.12,24.33,8.35,48.77
$STATE,3433,end climb,SURFACE_DEPTH_REACHED
$STATE,3433,begin surface coast
$FINISH,0.7,1.011380
$STATE,3451,end surface coast,CONTROL_FINISHED_OK
$STATE,3451,begin surface
$SM_CCo,3530,0.00,0.000,0,0,488,431.48
$SM_GC,1.77,7.75,2.20,0.00,0.028,0.030,0.000,179,1829,488,-8.07,-1.53,431.48,0,0,0,0,0,0,25.98,25.85,26.02
$IRIDIUM_FIX,4738.33,-12256.21,200218,074351
$TT8_MAMPS,0.026215,0.297353
$HUMID,47.75
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.7
$24V_AH,23.77,93.915
$10V_AH,9.83,63.323
$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,18.825,52.400,498.175,0.000,0.000,0.000,0.000,201.600,4.500,0.000,15.951,882.503,1164.951,498.373,1170.782,132.172,0.000,1240.098,0.000,746.303,0.000,34.741,0.000
$DEVICE_MAMPS,192.015,51.255,651.780,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,240.453,777.157,472.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312036
$DATA_FILE_SIZE,24516,361
$CAP_FILE_SIZE,60871,0
$CFSIZE,2097872896,2042986496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1860.93,0x2367ba,1,24
$CURRENT,0.054,342.44,1
$GPS,200218,094245,4737.818,-12255.531,49,0.9,54,16.4,0.5,180.0,9,4.9