version: 66.14
glider: 195
mission: 15
dive: 527
start: 2 20 118 9 53 53
data:
$ID,195
$MISSION,15
$DIVE,527
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,200218,094245,4737.8184,-12255.5312,49,0.9,54,16.4,0.5,180.0,9,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.2
$GPS2,200218,095313,4737.9731,-12255.5420,6,0.9,23,16.4,0.5,356.7,9,5.0
$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,182.6,1294,-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,-244.4,178,1831,519,443,0.0,0.0,0,60,0.00,0.00,-48.88,0.000,16386,0.000,0.000,178,1831,1657,1712,1603,0,0,0,0,0,0,26.55,28.83,26.56,8.29,48.11
$GC,64,-0.79,-244.4,178,1831,1712,1604,2.3,-2.0,7,127,9.15,2.30,-48.25,0.000,18692,0.196,0.049,2540,3263,3246,3312,3180,0,0,0,0,0,0,24.86,23.76,25.26,8.40,48.70
$GC,185,-0.69,-244.4,2539,3263,3313,3180,16.7,-17.2,26,193,0.12,2.17,0.00,0.000,3078,0.112,0.028,2581,1831,3247,3313,3181,0,0,0,0,0,0,25.67,26.04,25.86,8.54,47.91
$GC,257,-0.62,-244.4,2581,1831,3313,3180,29.5,-17.1,34,267,0.10,2.15,0.00,0.000,2564,0.142,0.039,2619,460,3246,3313,3180,0,0,0,0,0,0,26.12,25.82,26.14,8.54,47.87
$GC,312,-0.62,-244.4,2619,460,3313,3180,36.4,-11.6,39,323,0.00,2.15,0.00,0.000,1030,0.000,0.031,2614,1858,3246,3313,3180,0,0,0,0,0,0,26.10,26.02,26.14,8.54,48.22
$GC,443,-0.62,-244.4,2613,1858,3313,3181,51.1,-11.5,52,447,0.00,2.20,0.00,0.000,260,0.000,0.040,2604,3246,3246,3313,3180,0,0,0,0,0,0,26.64,25.88,26.65,8.54,48.74
$GC,490,-0.62,-244.4,2603,3246,3313,3180,56.0,-11.2,56,497,0.00,2.12,0.00,0.000,1030,0.000,0.028,2604,1849,3247,3313,3181,0,0,0,0,0,0,26.10,26.06,26.13,8.55,48.89
$GC,617,-0.62,-244.4,2603,1850,3313,3181,71.8,-12.1,69,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1849,3246,3313,3180,0,0,0,0,0,0,26.65,26.66,26.65,8.55,49.37
$GC,737,-0.62,-244.4,2604,1849,3313,3180,84.7,-10.2,81,748,0.00,2.15,0.00,0.000,260,0.000,0.040,2595,3245,3247,3313,3181,0,0,0,0,0,0,26.65,25.86,26.66,8.56,49.56
$GC,773,-0.62,-244.4,2594,3245,3313,3180,88.5,-10.8,84,781,0.00,2.12,0.00,0.000,1030,0.000,0.028,2594,1846,3246,3313,3180,0,0,0,0,0,0,26.08,26.03,26.10,8.56,49.56
$GC,902,-0.62,-244.4,2594,1846,3313,3180,103.4,-11.5,97,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1846,3247,3313,3181,0,0,0,0,0,0,26.65,26.66,26.66,8.57,49.44
$GC,1082,-0.62,-244.4,2594,1847,3313,3180,123.8,-11.2,115,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1846,3246,3313,3180,0,0,0,0,0,0,26.65,26.66,26.66,8.57,49.29
$GC,1263,-0.62,-244.4,2594,1846,3313,3180,143.8,-10.9,133,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1846,3247,3313,3181,0,0,0,0,0,0,26.65,26.66,26.66,8.58,49.92
$GC,1452,-0.62,-244.4,2594,1846,3313,3180,164.2,-10.9,152,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1846,3246,3313,3180,0,0,0,0,0,0,26.65,26.67,26.66,8.58,50.27
$STATE,1630,end dive,NO_VERTICAL_VELOCITY
$STATE,1630,begin apogee
$GC,1635,-0.21,0.0,2594,1846,3313,3180,166.0,0.0,170,1833,0.40,0.00,193.82,0.656,10246,0.055,0.000,2758,1846,2246,2370,2123,0,0,0,0,0,0,26.04,24.84,23.99,8.58,49.84
$STATE,1834,end apogee,CONTROL_FINISHED_OK
$STATE,1836,begin climb
$GC,1838,0.79,244.4,2758,1846,2369,2122,166.0,0.0,190,2046,0.80,0.00,202.25,0.640,10502,0.058,0.000,3057,1846,1250,1352,1148,0,0,0,0,0,0,25.29,24.77,23.99,8.50,48.34
$GC,2226,0.68,244.4,3057,1846,1352,1144,117.4,15.2,229,2235,0.00,2.20,0.00,0.000,516,0.000,0.041,3067,446,1248,1352,1144,0,0,0,0,0,0,26.45,25.78,26.46,8.41,48.07
$GC,2311,0.59,244.4,3067,446,1351,1142,104.9,14.7,237,2321,0.17,2.10,0.00,0.000,5126,0.102,0.028,3006,1842,1246,1350,1142,0,0,0,0,0,0,25.65,26.03,25.72,8.42,48.46
$GC,2501,0.59,244.4,3006,1841,1351,1141,85.6,9.9,256,2505,0.00,2.20,0.00,0.000,516,0.000,0.040,3014,448,1245,1350,1141,0,0,0,0,0,0,26.60,25.85,26.61,8.41,48.85
$GC,2553,0.59,244.4,3013,448,1350,1141,80.2,10.2,261,2558,0.00,2.12,0.00,0.000,1030,0.000,0.028,3014,1853,1246,1351,1141,0,0,0,0,0,0,26.15,26.07,26.18,8.42,48.42
$GC,2687,0.59,244.4,3013,1853,1350,1140,66.9,9.7,274,2696,0.00,2.15,0.00,0.000,260,0.000,0.037,3014,3245,1245,1350,1141,0,0,0,0,0,0,26.63,25.92,26.64,8.41,49.29
$GC,2729,0.59,244.4,3013,3245,1350,1141,62.5,10.3,278,2739,0.00,2.12,0.00,0.000,1030,0.000,0.028,3015,1834,1245,1350,1141,0,0,0,0,0,0,26.14,26.06,26.17,8.41,49.17
$GC,2860,0.59,244.4,3014,1834,1350,1141,50.0,9.8,291,2864,0.00,2.20,0.00,0.000,516,0.000,0.041,3015,447,1246,1351,1141,0,0,0,0,0,0,26.64,25.84,26.65,8.41,48.58
$GC,2945,0.59,244.4,3014,447,1350,1140,42.3,9.3,299,2953,0.00,2.15,0.00,0.000,1030,0.000,0.028,3015,1842,1245,1350,1140,0,0,0,0,0,0,26.11,26.08,26.14,8.41,48.81
$GC,3074,0.66,316.3,3014,1842,1350,1141,31.0,8.0,312,3134,0.00,2.25,50.53,0.568,8708,0.000,0.041,3015,457,954,1045,864,0,0,0,0,0,0,26.65,25.23,24.38,8.40,48.93
$GC,3148,0.83,435.9,3014,457,1045,864,25.7,6.6,319,3224,0.12,2.15,65.65,0.536,11270,0.060,0.027,3131,1855,496,536,456,0,0,0,0,0,0,25.84,25.84,24.22,8.37,48.30
$GC,3290,0.76,435.9,3130,1856,532,449,5.9,15.4,339,3298,0.20,2.17,0.00,0.000,4356,0.106,0.035,3060,3246,490,532,449,0,0,0,0,0,0,25.70,25.76,25.75,8.32,47.59
$STATE,3314,end climb,SURFACE_DEPTH_REACHED
$STATE,3314,begin surface coast
$FINISH,0.7,1.011683
$STATE,3340,end surface coast,CONTROL_FINISHED_OK
$STATE,3340,begin surface
$SM_CCo,3419,0.00,0.000,0,0,487,431.73
$SM_GC,1.77,7.45,2.20,0.00,0.028,0.028,0.000,185,1837,487,-8.06,1.36,431.73,0,0,0,0,0,0,26.04,25.91,26.09
$IRIDIUM_FIX,4738.33,-12256.21,200218,094810
$TT8_MAMPS,0.026964,0.266644
$HUMID,47.87
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,17.7
$ALTIM_BOTTOM_PING,155.9,23.4
$24V_AH,23.76,94.014
$10V_AH,9.83,63.381
$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,18.525,43.400,512.250,0.000,0.000,0.000,0.000,407.300,4.000,0.000,24.955,845.008,1281.350,505.518,1312.360,127.725,0.000,1413.493,0.000,689.670,0.000,30.291,0.000
$DEVICE_MAMPS,195.840,48.960,656.370,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.999,749.099,455.135,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24513,348
$CAP_FILE_SIZE,59931,0
$CFSIZE,2097872896,2042888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,238.42,1
$GPS,200218,105201,4737.464,-12255.966,4,0.9,29,16.4,0.0,98.7,9,4.2