version: 66.14
glider: 195
mission: 15
dive: 537
start: 2 20 118 19 50 15
data:
$ID,195
$MISSION,15
$DIVE,537
$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,41
$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
$GPS1,200218,194529,4738.0352,-12254.2988,5,0.9,14,16.4,0.4,73.8,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.1
$GPS2,200218,194925,4738.0483,-12254.2324,7,1.0,17,16.4,0.4,79.5,8,4.7
$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,229.7,551,-17.0,-10.000,-20.65,2359
$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,-0.86,-156.8,177,1828,527,441,0.0,0.0,0,58,0.00,0.00,-47.25,0.000,16386,0.000,0.000,177,1828,1629,1692,1566,0,0,0,0,0,0,26.55,28.83,26.56,8.30,48.30
$GC,61,-0.95,-244.4,177,1828,1693,1567,2.3,-1.9,7,131,8.98,2.20,-52.05,0.000,18948,0.194,0.050,2506,445,3243,3308,3179,0,0,0,0,0,0,24.77,25.48,25.17,8.41,48.97
$GC,140,-0.73,-244.4,2505,444,3308,3179,8.7,-16.0,18,148,0.20,2.17,0.00,0.000,3078,0.125,0.030,2574,1842,3244,3308,3180,0,0,0,0,0,0,25.36,25.98,25.53,8.55,48.14
$GC,219,-0.73,-244.4,2574,1841,3309,3180,23.5,-16.0,30,228,0.00,2.20,0.00,0.000,260,0.000,0.040,2567,3249,3244,3309,3180,0,0,0,0,0,0,26.60,25.83,26.61,8.55,48.89
$GC,265,-0.73,-244.4,2566,3250,3309,3180,30.3,-15.3,34,274,0.00,2.10,0.00,0.000,1030,0.000,0.027,2567,1840,3244,3309,3180,0,0,0,0,0,0,26.06,26.02,26.09,8.54,49.01
$GC,393,-0.73,-244.4,2566,1840,3309,3180,49.5,-15.0,47,396,0.00,2.17,0.00,0.000,516,0.000,0.040,2567,455,3244,3309,3180,0,0,0,0,0,0,26.63,25.80,26.63,8.55,49.01
$GC,479,-0.73,-244.4,2566,454,3309,3179,62.2,-15.0,55,488,0.00,2.15,0.00,0.000,1030,0.000,0.031,2558,1842,3244,3309,3180,0,0,0,0,0,0,26.04,26.01,26.07,8.55,49.40
$GC,608,-0.73,-244.4,2557,1842,3309,3179,81.6,-15.0,68,611,0.00,2.20,0.00,0.000,260,0.000,0.040,2548,3249,3244,3308,3180,0,0,0,0,0,0,26.64,25.84,26.65,8.56,49.64
$GC,703,-0.73,-244.4,2547,3251,3309,3180,95.1,-13.6,77,713,0.00,2.10,0.00,0.000,1030,0.000,0.027,2548,1846,3244,3309,3180,0,0,0,0,0,0,26.06,26.03,26.08,8.57,50.11
$GC,833,-0.73,-244.4,2547,1845,3309,3180,114.1,-14.9,90,843,0.00,2.17,0.00,0.000,260,0.000,0.039,2538,3245,3244,3309,3180,0,0,0,0,0,0,26.64,25.83,26.65,8.57,49.37
$GC,868,-0.73,-244.4,2537,3245,3309,3180,119.2,-14.5,93,880,0.10,2.12,0.00,0.000,3078,0.130,0.026,2577,1828,3244,3308,3180,0,0,0,0,0,0,25.75,26.03,25.80,8.57,49.96
$GC,1059,-0.73,-244.4,2576,1827,3308,3180,142.6,-12.4,112,1063,0.00,2.15,0.00,0.000,516,0.000,0.040,2577,456,3243,3308,3179,0,0,0,0,0,0,26.65,25.77,26.65,8.57,49.92
$GC,1102,-0.79,-244.4,2577,456,3308,3179,147.6,-11.5,116,1106,0.00,2.12,0.00,0.000,1030,0.000,0.029,2571,1851,3244,3309,3180,0,0,0,0,0,0,26.08,26.00,26.11,8.58,50.00
$STATE,1163,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1163,begin apogee
$GC,1168,-0.21,0.0,2571,1851,3309,3179,155.1,-11.7,122,1365,0.47,0.00,193.18,0.648,10246,0.090,0.000,2742,1851,2246,2377,2116,0,0,0,0,0,0,25.55,24.84,24.01,8.58,49.56
$STATE,1366,end apogee,CONTROL_FINISHED_OK
$STATE,1366,begin climb
$GC,1369,0.95,244.4,2742,1851,2377,2115,156.4,0.0,142,1585,1.00,2.28,201.62,0.630,10756,0.068,0.039,3109,454,1248,1353,1143,0,0,0,0,0,0,25.20,24.50,23.99,8.50,48.18
$GC,1652,0.87,244.4,3109,454,1352,1139,122.2,17.0,170,1662,0.00,2.12,0.00,0.000,1030,0.000,0.028,3110,1836,1245,1352,1139,0,0,0,0,0,0,25.82,25.79,25.84,8.41,47.55
$GC,1843,0.80,244.4,3109,1836,1352,1138,88.9,17.9,189,1853,0.12,2.20,0.00,0.000,4356,0.130,0.036,3067,3256,1245,1352,1138,0,0,0,0,0,0,25.96,25.86,25.98,8.41,48.54
$GC,1879,0.80,244.4,3066,3256,1351,1138,83.2,15.9,192,1889,0.00,2.15,0.00,0.000,1030,0.000,0.028,3073,1850,1245,1352,1138,0,0,0,0,0,0,26.02,25.99,26.06,8.41,48.26
$GC,2008,0.80,244.4,3072,1850,1352,1138,65.2,14.0,205,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1850,1245,1352,1138,0,0,0,0,0,0,26.59,26.60,26.60,8.41,48.50
$GC,2128,0.80,244.4,3071,1851,1352,1138,48.6,13.2,217,2132,0.00,2.20,0.00,0.000,516,0.000,0.041,3083,451,1245,1352,1138,0,0,0,0,0,0,26.61,25.82,26.62,8.40,49.33
$GC,2255,0.80,244.4,3083,451,1351,1136,31.5,13.7,229,2265,0.00,2.10,0.00,0.000,1030,0.000,0.028,3083,1835,1243,1351,1136,0,0,0,0,0,0,26.10,26.05,26.10,8.40,48.70
$GC,2387,0.80,244.4,3083,1835,1351,1136,14.3,10.4,246,2394,0.00,2.22,0.00,0.000,260,0.000,0.037,3083,3249,1243,1351,1136,0,0,0,0,0,0,26.63,25.90,26.64,8.39,49.09
$STATE,2492,end climb,SURFACE_DEPTH_REACHED
$STATE,2492,begin surface coast
$FINISH,0.7,1.011061
$STATE,2520,end surface coast,CONTROL_FINISHED_OK
$STATE,2520,begin surface
$SM_CCo,2539,84.38,0.051,0,0,533,420.20
$SM_GC,1.68,7.55,2.20,84.38,0.029,0.028,0.051,181,1838,533,-8.07,1.24,420.20,0,0,0,0,0,0,26.15,26.01,25.69
$IRIDIUM_FIX,4735.54,-12254.47,200218,190302
$TT8_MAMPS,0.026964,0.267393
$HUMID,47.36
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,125.5,39.4
$24V_AH,23.99,94.878
$10V_AH,9.82,63.877
$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,18.425,43.350,394.800,84.375,0.000,0.000,0.000,156.025,2.000,0.000,18.469,682.688,720.398,501.062,899.506,101.122,0.000,1085.542,0.000,579.167,0.000,15.152,0.000
$DEVICE_MAMPS,193.545,50.490,647.955,51.255,0.000,0.000,0.000,73.440,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.142,583.450,354.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312068
$DATA_FILE_SIZE,17620,271
$CAP_FILE_SIZE,48174,0
$CFSIZE,2097872896,2041905152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104,74.74,1
$GPS,200218,203526,4737.988,-12254.522,5,0.9,45,16.4,0.4,79.9,9,5.4