version: 66.14
glider: 195
mission: 15
dive: 554
start: 2 21 118 11 51 13
data:
$ID,195
$MISSION,15
$DIVE,554
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,210218,114531,4737.5010,-12255.5166,9,0.8,34,16.4,0.4,227.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.5
$GPS2,210218,115033,4737.4673,-12255.5791,7,0.8,15,16.4,0.0,0.0,10,4.8
$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,41.7,1444,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.79,-244.4,170,1838,550,487,0.0,0.0,0,58,0.00,0.00,-47.33,0.000,16386,0.000,0.000,170,1838,1669,1721,1617,0,0,0,0,0,0,26.51,28.83,26.52,8.29,47.91
$GC,61,-0.79,-244.4,170,1838,1721,1617,2.3,-1.9,7,131,9.12,2.25,-50.80,0.000,18948,0.194,0.053,2550,448,3246,3312,3180,0,0,0,0,0,0,24.90,23.70,25.28,8.40,48.14
$GC,160,-0.66,-244.4,2550,448,3313,3180,11.6,-18.9,22,168,0.15,2.17,0.00,0.000,3078,0.116,0.032,2606,1837,3246,3313,3180,0,0,0,0,0,0,25.45,25.92,25.60,8.54,47.63
$GC,233,-0.60,-244.4,2605,1837,3313,3181,22.7,-12.4,33,238,0.00,2.20,0.00,0.000,260,0.000,0.041,2598,3248,3246,3313,3180,0,0,0,0,0,0,26.59,25.77,26.60,8.53,47.99
$GC,268,-0.60,-244.4,2597,3248,3313,3181,26.9,-12.3,36,276,0.00,2.15,0.00,0.000,1030,0.000,0.029,2598,1846,3246,3312,3181,0,0,0,0,0,0,26.00,25.96,26.01,8.53,47.75
$GC,396,-0.60,-244.4,2597,1846,3313,3180,43.9,-13.2,49,401,0.00,2.22,0.00,0.000,516,0.000,0.041,2598,450,3246,3313,3180,0,0,0,0,0,0,26.61,25.72,26.63,8.54,49.09
$GC,490,-0.60,-244.4,2597,449,3313,3180,55.7,-12.0,58,499,0.00,2.12,0.00,0.000,1030,0.000,0.031,2589,1839,3246,3313,3180,0,0,0,0,0,0,25.96,25.93,26.00,8.54,48.89
$GC,620,-0.60,-244.4,2588,1839,3313,3180,71.9,-12.3,71,625,0.00,2.20,0.00,0.000,260,0.000,0.041,2579,3248,3246,3313,3180,0,0,0,0,0,0,26.63,25.75,26.63,8.55,49.13
$GC,695,-0.60,-244.4,2578,3248,3313,3180,80.1,-10.6,78,704,0.10,2.15,0.00,0.000,3078,0.104,0.028,2615,1842,3245,3311,3180,0,0,0,0,0,0,25.68,25.96,25.72,8.55,49.96
$GC,824,-0.60,-244.4,2614,1841,3313,3180,93.2,-9.8,91,828,0.00,2.20,0.00,0.000,516,0.000,0.041,2614,448,3246,3313,3180,0,0,0,0,0,0,26.63,25.68,26.64,8.55,49.72
$GC,857,-0.60,-244.4,2614,448,3313,3180,96.4,-9.7,94,867,0.00,2.17,0.00,0.000,1030,0.000,0.031,2609,1853,3246,3312,3180,0,0,0,0,0,0,25.98,25.91,26.01,8.55,50.00
$GC,987,-0.60,-244.4,2608,1854,3313,3180,109.1,-10.1,107,992,0.00,2.20,0.00,0.000,260,0.000,0.041,2599,3248,3246,3312,3180,0,0,0,0,0,0,26.63,25.72,26.64,8.56,49.84
$GC,1034,-0.60,-244.4,2598,3248,3313,3181,113.6,-9.9,111,1042,0.00,2.15,0.00,0.000,1030,0.000,0.028,2599,1846,3246,3313,3180,0,0,0,0,0,0,25.98,25.94,26.01,8.56,50.51
$GC,1224,-0.60,-244.4,2598,1846,3314,3180,132.9,-10.7,130,1228,0.00,2.20,0.00,0.000,516,0.000,0.041,2598,450,3246,3312,3180,0,0,0,0,0,0,26.63,25.67,26.64,8.57,50.15
$GC,1249,-0.60,-244.4,2598,450,3312,3180,135.6,-10.9,132,1257,0.00,2.17,0.00,0.000,1030,0.000,0.031,2590,1843,3246,3313,3180,0,0,0,0,0,0,25.94,25.91,25.98,8.57,49.68
$GC,1437,-0.60,-244.4,2590,1843,3313,3180,156.8,-10.9,151,1441,0.00,2.22,0.00,0.000,260,0.000,0.041,2580,3253,3246,3313,3180,0,0,0,0,0,0,26.63,25.71,26.64,8.58,49.96
$STATE,1478,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1478,begin apogee
$GC,1486,-0.21,0.0,2580,1842,3313,3180,161.6,-11.2,155,1691,0.45,0.00,197.35,0.640,10246,0.091,0.000,2742,1842,2246,2370,2122,0,0,0,0,0,0,25.49,24.52,24.01,8.58,50.35
$STATE,1692,end apogee,CONTROL_FINISHED_OK
$STATE,1692,begin climb
$GC,1696,0.79,244.4,2742,1842,2370,2121,164.5,0.0,176,1912,0.85,2.28,205.07,0.626,10756,0.066,0.041,3059,451,1248,1351,1146,0,0,0,0,0,0,25.22,24.50,24.00,8.50,48.34
$GC,1981,0.70,244.4,3058,451,1350,1141,136.3,13.6,204,1988,0.00,2.20,0.00,0.000,1030,0.000,0.030,3059,1845,1246,1351,1141,0,0,0,0,0,0,25.77,25.74,25.81,8.41,47.67
$GC,2168,0.60,244.4,3058,1844,1350,1140,110.7,13.9,223,2176,0.15,0.00,0.00,0.000,4102,0.121,0.000,3009,1845,1244,1350,1139,0,0,0,0,0,0,25.91,26.01,25.97,8.41,48.97
$GC,2357,0.60,244.4,3009,1845,1350,1139,90.5,10.8,242,2362,0.00,2.22,0.00,0.000,516,0.000,0.042,3017,451,1245,1351,1139,0,0,0,0,0,0,26.58,25.75,26.59,8.40,49.33
$GC,2451,0.60,244.4,3016,451,1349,1138,81.1,10.0,251,2460,0.00,2.15,0.00,0.000,1030,0.000,0.030,3017,1849,1243,1349,1138,0,0,0,0,0,0,26.06,25.99,26.09,8.40,49.09
$GC,2581,0.60,244.4,3016,1849,1349,1138,67.8,9.8,264,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1849,1243,1349,1138,0,0,0,0,0,0,26.61,26.62,26.62,8.40,49.25
$GC,2701,0.60,244.4,3016,1849,1349,1139,55.9,9.8,276,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1849,1243,1349,1138,0,0,0,0,0,0,26.62,26.63,26.63,8.40,49.05
$GC,2821,0.60,244.4,3016,1849,1349,1139,45.2,9.2,288,2825,0.00,2.25,0.00,0.000,516,0.000,0.042,3025,445,1243,1349,1138,0,0,0,0,0,0,26.62,25.72,26.63,8.40,49.29
$GC,2877,0.60,244.4,3024,444,1349,1138,40.5,9.0,293,2884,0.00,2.17,0.00,0.000,1030,0.000,0.031,3025,1841,1243,1349,1138,0,0,0,0,0,0,26.01,25.98,26.05,8.39,48.97
$GC,3004,0.60,244.4,3025,1842,1349,1139,29.0,8.4,306,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1841,1243,1349,1138,0,0,0,0,0,0,26.63,26.63,26.63,8.39,49.21
$GC,3127,0.60,244.4,3025,1842,1349,1138,18.9,8.0,319,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1842,1243,1349,1138,0,0,0,0,0,0,26.63,26.63,26.63,8.39,48.70
$GC,3198,0.73,369.1,3025,1842,1349,1138,13.7,6.5,332,3274,0.00,2.28,65.05,0.498,8708,0.000,0.042,3025,452,738,821,656,0,0,0,0,0,0,26.63,25.20,24.44,8.38,49.33
$GC,3310,0.93,480.2,3024,452,821,654,6.0,6.9,349,3342,0.15,2.17,25.35,0.456,11266,0.036,0.029,3173,1845,547,590,505,0,0,0,0,0,0,25.83,25.81,25.90,8.33,48.22
$STATE,3343,end climb,SURFACE_DEPTH_REACHED
$STATE,3343,begin surface coast
$FINISH,0.8,1.012276
$STATE,3349,end surface coast,CONTROL_FINISHED_OK
$STATE,3349,begin surface
$SM_CCo,3366,0.70,0.062,0,0,533,420.20
$SM_GC,2.39,7.78,0.00,0.70,0.027,0.000,0.062,183,1846,533,-8.05,0.08,420.20,0,0,0,0,0,0,25.91,26.23,25.66
$IRIDIUM_FIX,4739.20,-12253.53,210218,104529
$TT8_MAMPS,0.026964,0.240429
$HUMID,47.99
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,115.3,55.9
$24V_AH,23.70,96.248
$10V_AH,9.86,64.722
$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,18.750,52.725,492.825,0.700,0.000,0.000,0.000,208.775,1.500,0.000,16.457,861.449,1075.513,491.023,1138.872,130.067,0.000,1221.535,0.000,721.513,0.000,12.017,0.000
$DEVICE_MAMPS,193.545,52.785,640.305,61.965,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.984,762.123,462.841,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24612,354
$CAP_FILE_SIZE,59023,0
$CFSIZE,2097872896,2040233984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.085,245.56,1
$GPS,210218,124818,4737.587,-12255.132,11,0.9,15,16.4,0.3,220.4,8,4.7