version: 66.14
glider: 195
mission: 15
dive: 557
start: 2 21 118 14 40 48
data:
$ID,195
$MISSION,15
$DIVE,557
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,210218,143600,4737.8462,-12254.6182,8,0.8,16,16.4,0.2,179.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.6
$GPS2,210218,144007,4737.8208,-12254.6338,7,0.8,18,16.4,0.2,0.0,10,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$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,43.4,2095,-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,-244.4,178,1847,550,482,0.0,0.0,0,60,0.00,0.00,-48.60,0.000,16386,0.000,0.000,178,1848,1701,1760,1642,0,0,0,0,0,0,26.53,28.83,26.54,8.30,48.30
$GC,64,-0.79,-244.4,178,1847,1760,1643,2.3,-2.4,7,134,9.10,2.25,-49.60,0.000,18948,0.193,0.052,2553,457,3246,3312,3180,0,0,0,0,0,0,24.85,23.68,25.24,8.41,47.99
$GC,200,-0.68,-244.4,2553,457,3312,3180,17.8,-17.7,29,208,0.12,2.17,0.00,0.000,3078,0.112,0.032,2588,1845,3246,3312,3180,0,0,0,0,0,0,25.56,25.91,25.75,8.54,48.42
$GC,277,-0.68,-244.4,2587,1845,3312,3180,30.0,-14.3,37,281,0.00,2.20,0.00,0.000,260,0.000,0.041,2580,3249,3246,3312,3180,0,0,0,0,0,0,26.60,25.74,26.61,8.54,48.42
$GC,344,-0.68,-244.4,2579,3249,3312,3180,38.6,-13.3,43,352,0.00,2.15,0.00,0.000,1030,0.000,0.028,2580,1845,3246,3312,3180,0,0,0,0,0,0,26.00,25.96,26.02,8.54,48.54
$GC,470,-0.68,-244.4,2579,1845,3312,3180,56.2,-13.3,56,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1845,3246,3312,3180,0,0,0,0,0,0,26.63,26.63,26.63,8.55,48.58
$GC,591,-0.68,-244.4,2579,1845,3312,3180,71.5,-12.5,68,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1845,3246,3312,3180,0,0,0,0,0,0,26.63,26.64,26.63,8.54,49.05
$GC,711,-0.68,-244.4,2579,1845,3312,3180,86.8,-12.6,80,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1845,3246,3312,3180,0,0,0,0,0,0,26.63,26.64,26.64,8.55,49.37
$GC,832,-0.68,-244.4,2579,1845,3312,3180,101.5,-11.9,92,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1845,3246,3312,3180,0,0,0,0,0,0,26.63,26.64,26.63,8.56,49.68
$GC,1021,-0.68,-244.4,2579,1845,3312,3180,124.5,-12.3,111,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1845,3246,3313,3180,0,0,0,0,0,0,26.63,26.65,26.64,8.56,50.39
$GC,1206,-0.68,-244.4,2579,1845,3312,3180,146.0,-11.8,129,1216,0.00,2.20,0.00,0.000,260,0.000,0.041,2569,3248,3246,3312,3180,0,0,0,0,0,0,26.61,25.75,26.62,8.57,49.96
$GC,1243,-0.68,-244.4,2569,3248,3312,3180,150.5,-11.6,132,1252,0.00,2.10,0.00,0.000,1030,0.000,0.028,2569,1848,3246,3312,3180,0,0,0,0,0,0,25.98,25.95,26.01,8.57,49.88
$GC,1433,-0.98,-244.4,2569,1848,3312,3180,157.3,-0.3,151,1443,0.17,2.20,0.00,0.000,4612,0.065,0.041,2488,457,3246,3312,3180,0,0,0,0,0,0,26.25,25.64,26.25,8.58,49.76
$STATE,1465,end dive,NO_VERTICAL_VELOCITY
$STATE,1465,begin apogee
$GC,1473,-0.21,0.0,2488,1849,3312,3180,157.2,0.0,154,1677,0.65,0.00,194.02,0.656,10246,0.041,0.000,2754,1849,2245,2374,2117,0,0,0,0,0,0,25.98,24.84,24.02,8.58,49.76
$STATE,1679,end apogee,CONTROL_FINISHED_OK
$STATE,1680,begin climb
$GC,1682,0.79,244.4,2754,1849,2373,2117,157.2,0.0,175,1889,0.82,0.00,201.25,0.642,10502,0.038,0.000,3088,1849,1250,1353,1147,0,0,0,0,0,0,25.44,24.77,23.99,8.50,47.99
$GC,2069,0.66,244.4,3087,1849,1352,1139,106.8,16.6,214,2075,0.17,2.22,0.00,0.000,4612,0.122,0.041,3036,453,1245,1352,1139,0,0,0,0,0,0,25.72,25.69,25.75,8.41,48.54
$GC,2134,0.66,244.4,3036,452,1351,1138,98.2,11.6,220,2139,0.00,2.15,0.00,0.000,1030,0.000,0.029,3036,1845,1244,1351,1138,0,0,0,0,0,0,26.01,25.94,26.05,8.41,48.77
$GC,2268,0.61,244.4,3036,1846,1351,1138,82.0,12.1,233,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1846,1244,1351,1137,0,0,0,0,0,0,26.55,26.57,26.56,8.41,48.81
$GC,2387,0.61,244.4,3036,1845,1351,1137,67.7,11.3,245,2397,0.00,2.20,0.00,0.000,516,0.000,0.042,3045,454,1244,1351,1138,0,0,0,0,0,0,26.58,25.75,26.60,8.41,49.56
$GC,2410,0.61,244.4,3045,454,1351,1138,65.0,11.5,247,2420,0.08,2.15,0.00,0.000,5126,0.109,0.029,3018,1866,1244,1351,1137,0,0,0,0,0,0,25.76,25.98,25.80,8.40,49.01
$GC,2541,0.61,244.4,3017,1867,1351,1137,52.0,9.5,260,2545,0.00,2.25,0.00,0.000,516,0.000,0.041,3025,452,1244,1351,1137,0,0,0,0,0,0,26.60,25.75,26.61,8.40,48.81
$GC,2585,0.61,244.4,3024,452,1351,1137,47.7,9.8,264,2590,0.00,2.12,0.00,0.000,1030,0.000,0.030,3025,1844,1244,1351,1137,0,0,0,0,0,0,26.06,25.98,26.10,8.40,49.48
$GC,2718,0.61,244.4,3024,1845,1351,1137,34.6,9.8,277,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1845,1244,1351,1137,0,0,0,0,0,0,26.61,26.63,26.63,8.40,48.77
$GC,2839,0.61,244.4,3025,1845,1351,1137,24.2,8.3,289,2848,0.00,2.20,0.00,0.000,516,0.000,0.042,3031,454,1244,1351,1137,0,0,0,0,0,0,26.62,25.72,26.63,8.39,48.77
$GC,2907,0.61,244.4,3030,454,1351,1137,18.3,8.1,297,2915,0.00,2.15,0.00,0.000,1030,0.000,0.030,3031,1843,1244,1351,1137,0,0,0,0,0,0,26.01,25.98,26.05,8.39,48.97
$GC,2979,0.70,335.2,3030,1843,1351,1136,12.7,7.5,310,3034,0.00,0.00,47.62,0.507,8454,0.000,0.000,3031,1843,877,956,799,0,0,0,0,0,0,26.62,24.91,24.46,8.39,48.77
$GC,3099,0.82,457.0,3030,1843,956,796,4.1,6.6,330,3116,0.08,0.00,14.40,0.441,10754,0.092,0.000,3127,1843,755,840,670,0,0,0,0,0,0,26.20,28.83,26.20,8.34,48.34
$STATE,3117,end climb,SURFACE_DEPTH_REACHED
$STATE,3117,begin surface coast
$FINISH,0.7,1.009416
$STATE,3154,end surface coast,CONTROL_FINISHED_OK
$STATE,3155,begin surface
$SM_CCo,3171,26.70,0.054,0,0,533,420.20
$SM_GC,1.90,7.68,0.00,26.70,0.028,0.000,0.054,173,1843,533,-8.08,0.00,420.20,0,0,0,0,0,0,26.05,26.41,25.72
$IRIDIUM_FIX,4735.54,-12254.47,210218,134959
$TT8_MAMPS,0.026215,0.241178
$HUMID,48.58
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,9.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$24V_AH,23.68,96.488
$10V_AH,9.86,64.866
$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,18.875,34.925,457.300,26.700,0.000,0.000,0.000,157.850,4.750,0.000,19.607,826.967,1014.733,485.752,1028.873,120.830,0.000,1112.133,0.000,647.808,0.000,40.184,0.000
$DEVICE_MAMPS,192.780,52.020,656.370,53.550,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.577,729.885,443.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312092
$DATA_FILE_SIZE,24523,339
$CAP_FILE_SIZE,54429,0
$CFSIZE,2097872896,2039939072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,242.40,1
$GPS,210218,153531,4737.996,-12254.121,19,1.0,42,16.4,0.2,0.0,11,4.6