version: 66.14
glider: 195
mission: 15
dive: 553
start: 2 21 118 10 49 41
data:
$ID,195
$MISSION,15
$DIVE,553
$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,45
$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
$GPS1,210218,104358,4737.4458,-12255.9180,18,0.9,23,16.4,0.2,216.9,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.0
$GPS2,210218,104901,4737.4136,-12255.9619,7,0.9,17,16.4,0.0,0.0,9,4.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$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,46.5,1910,-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,-244.4,178,1851,544,470,0.0,0.0,0,53,0.00,0.00,-41.70,0.000,16386,0.000,0.000,179,1851,1514,1562,1467,0,0,0,0,0,0,26.51,28.83,26.52,8.30,48.26
$GC,56,-0.79,-244.4,179,1851,1563,1469,2.0,-1.3,6,133,9.05,2.25,-59.33,0.000,19204,0.192,0.051,2553,446,3245,3311,3179,0,0,0,0,0,0,24.92,25.46,25.30,8.39,48.18
$GC,199,-0.68,-244.4,2553,445,3312,3179,16.4,-17.6,29,208,0.12,2.17,0.00,0.000,3078,0.117,0.031,2586,1842,3245,3312,3179,0,0,0,0,0,0,25.59,25.96,25.77,8.54,48.18
$GC,272,-0.61,-244.4,2585,1842,3312,3179,28.0,-15.5,37,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1842,3245,3312,3179,0,0,0,0,0,0,26.60,26.60,26.60,8.54,47.51
$GC,392,-0.61,-244.4,2586,1842,3313,3179,45.3,-13.8,49,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1842,3246,3313,3180,0,0,0,0,0,0,26.62,26.63,26.62,8.54,48.89
$GC,512,-0.61,-244.4,2585,1842,3312,3179,60.4,-12.4,61,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1842,3246,3313,3179,0,0,0,0,0,0,26.63,26.63,26.63,8.54,48.42
$GC,632,-0.61,-244.4,2585,1842,3312,3179,75.4,-12.2,73,636,0.00,2.22,0.00,0.000,260,0.000,0.040,2578,3256,3245,3312,3179,0,0,0,0,0,0,26.63,25.79,26.64,8.55,49.40
$GC,667,-0.61,-244.4,2577,3255,3312,3179,79.4,-12.4,76,675,0.10,2.15,0.00,0.000,3078,0.104,0.028,2613,1848,3245,3312,3179,0,0,0,0,0,0,25.71,25.99,25.76,8.55,49.05
$GC,795,-0.61,-244.4,2613,1848,3312,3179,93.1,-10.0,89,799,0.00,2.20,0.00,0.000,516,0.000,0.041,2613,449,3245,3312,3179,0,0,0,0,0,0,26.63,25.72,26.64,8.55,49.33
$GC,841,-0.61,-244.4,2613,448,3313,3179,97.7,-10.5,93,848,0.00,2.17,0.00,0.000,1030,0.000,0.030,2608,1845,3245,3312,3179,0,0,0,0,0,0,25.99,25.95,26.01,8.55,49.37
$GC,970,-0.61,-244.4,2607,1845,3312,3179,111.2,-10.4,106,979,0.00,2.17,0.00,0.000,260,0.000,0.039,2598,3243,3245,3312,3179,0,0,0,0,0,0,26.63,25.77,26.63,8.56,49.60
$GC,1044,-0.61,-244.4,2597,3243,3312,3179,119.2,-10.5,113,1048,0.00,2.12,0.00,0.000,1030,0.000,0.028,2598,1834,3245,3312,3179,0,0,0,0,0,0,26.06,25.97,26.08,8.57,49.56
$GC,1237,-0.61,-244.4,2597,1834,3312,3179,139.5,-10.0,132,1241,0.00,2.17,0.00,0.000,516,0.000,0.041,2598,451,3245,3312,3179,0,0,0,0,0,0,26.63,25.70,26.64,8.57,49.88
$GC,1310,-0.61,-244.4,2597,451,3312,3179,147.4,-10.6,139,1320,0.00,2.15,0.00,0.000,1030,0.000,0.030,2590,1857,3245,3312,3179,0,0,0,0,0,0,26.03,25.94,26.06,8.57,49.56
$STATE,1409,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1409,begin apogee
$GC,1414,-0.21,0.0,2589,1857,3313,3179,158.1,-10.6,149,1620,0.43,0.00,196.88,0.643,10246,0.091,0.000,2744,1857,2245,2376,2114,0,0,0,0,0,0,25.54,24.53,24.03,8.57,49.84
$STATE,1621,end apogee,CONTROL_FINISHED_OK
$STATE,1621,begin climb
$GC,1625,0.79,244.4,2744,1857,2376,2114,162.0,0.0,170,1842,0.85,2.30,205.40,0.627,10756,0.063,0.040,3063,454,1249,1353,1145,0,0,0,0,0,0,25.25,24.51,24.00,8.49,47.87
$GC,1921,0.70,244.4,3062,452,1352,1142,131.7,14.6,199,1929,0.00,2.17,0.00,0.000,1030,0.000,0.028,3063,1834,1246,1352,1140,0,0,0,0,0,0,25.82,25.79,25.84,8.41,47.24
$GC,2109,0.61,244.4,3062,1834,1351,1139,104.2,13.9,218,2119,0.15,2.17,0.00,0.000,4356,0.119,0.036,3009,3249,1245,1352,1139,0,0,0,0,0,0,25.90,25.83,25.93,8.41,48.42
$GC,2154,0.61,244.4,3009,3249,1352,1139,99.0,11.5,222,2158,0.00,2.15,0.00,0.000,1030,0.000,0.028,3012,1848,1245,1351,1139,0,0,0,0,0,0,26.06,25.96,26.08,8.41,48.62
$GC,2287,0.61,244.4,3012,1848,1352,1139,86.2,9.5,235,2297,0.00,2.20,0.00,0.000,516,0.000,0.041,3022,454,1245,1351,1139,0,0,0,0,0,0,26.58,25.77,26.59,8.41,48.81
$GC,2364,0.61,244.4,3021,454,1351,1138,78.3,10.6,242,2373,0.00,2.17,0.00,0.000,1030,0.000,0.028,3022,1857,1244,1351,1138,0,0,0,0,0,0,26.07,26.01,26.08,8.41,48.62
$GC,2493,0.61,244.4,3021,1857,1351,1138,64.8,10.0,255,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1857,1244,1351,1138,0,0,0,0,0,0,26.61,26.62,26.62,8.40,48.66
$GC,2613,0.61,244.4,3021,1857,1351,1138,52.7,10.0,267,2623,0.00,2.22,0.00,0.000,516,0.000,0.041,3029,449,1245,1352,1138,0,0,0,0,0,0,26.62,25.75,26.63,8.40,48.93
$GC,2649,0.61,244.4,3028,449,1351,1138,49.3,9.8,270,2658,0.00,2.17,0.00,0.000,1030,0.000,0.028,3029,1850,1244,1351,1138,0,0,0,0,0,0,26.05,26.02,26.08,8.40,49.40
$GC,2778,0.61,244.4,3029,1850,1351,1138,36.9,9.2,283,2788,0.00,2.15,0.00,0.000,260,0.000,0.039,3029,3247,1244,1351,1138,0,0,0,0,0,0,26.62,25.82,26.63,8.39,49.37
$GC,2803,0.61,244.4,3029,3248,1351,1138,34.7,9.3,285,2812,0.00,2.15,0.00,0.000,1030,0.000,0.029,3036,1844,1244,1351,1138,0,0,0,0,0,0,26.02,25.98,26.04,8.39,48.97
$GC,2932,0.61,244.4,3036,1844,1351,1138,23.2,8.6,298,2942,0.00,2.20,0.00,0.000,516,0.000,0.041,3045,452,1244,1351,1138,0,0,0,0,0,0,26.63,25.75,26.63,8.39,48.81
$GC,3136,0.72,358.8,3044,452,1351,1138,7.2,6.8,333,3198,0.00,2.15,57.20,0.469,9218,0.000,0.031,3045,1838,782,869,695,0,0,0,0,0,0,26.01,25.98,26.04,8.38,48.89
$STATE,3199,end climb,SURFACE_DEPTH_REACHED
$STATE,3199,begin surface coast
$FINISH,0.7,1.000941
$STATE,3226,end surface coast,CONTROL_FINISHED_OK
$STATE,3226,begin surface
$SM_CCo,3243,30.05,0.053,0,0,533,420.20
$SM_GC,2.02,7.47,0.00,30.05,0.028,0.000,0.053,179,1838,533,-8.08,-0.14,420.20,0,0,0,0,0,0,25.98,26.32,25.65
$IRIDIUM_FIX,4736.40,-12251.79,210218,094042
$TT8_MAMPS,0.026964,0.265895
$HUMID,48.38
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,9.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.2
$ALTIM_BOTTOM_PING,130.4,37.5
$24V_AH,24.00,96.159
$10V_AH,9.83,64.667
$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,18.175,48.025,459.475,30.050,0.000,0.000,0.000,208.600,2.500,0.000,18.228,840.751,1011.916,505.778,1116.814,128.817,0.000,1217.422,0.000,700.129,0.000,19.574,0.000
$DEVICE_MAMPS,192.015,51.255,642.600,52.785,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.676,747.060,453.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312104
$DATA_FILE_SIZE,24574,347
$CAP_FILE_SIZE,57159,0
$CFSIZE,2097872896,2040332288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,239.26,1
$GPS,210218,114531,4737.501,-12255.517,9,0.8,34,16.4,0.4,227.7,10,4.9