version: 66.14
glider: 195
mission: 15
dive: 561
start: 2 21 118 18 20 0
data:
$ID,195
$MISSION,15
$DIVE,561
$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,52
$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
$GPS1,210218,181422,4738.6089,-12253.2305,8,1.0,22,16.4,0.2,339.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.3
$GPS2,210218,181920,4738.6108,-12253.1904,7,0.8,19,16.4,0.0,0.0,10,4.9
$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,221.4,2216,-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,-244.4,171,1856,517,442,0.0,0.0,0,59,0.00,0.00,-48.08,0.000,16386,0.000,0.000,171,1857,1643,1697,1590,0,0,0,0,0,0,26.51,28.83,26.51,8.29,48.70
$GC,63,-0.79,-244.4,171,1856,1697,1591,2.3,-2.1,7,133,9.10,2.25,-52.05,0.000,18948,0.194,0.052,2549,454,3245,3313,3178,0,0,0,0,0,0,24.92,25.46,25.30,8.40,49.17
$GC,168,-0.66,-244.4,2549,453,3313,3179,12.5,-18.4,23,176,0.15,2.17,0.00,0.000,3078,0.119,0.032,2605,1841,3246,3313,3179,0,0,0,0,0,0,25.45,25.92,25.60,8.54,47.83
$GC,246,-0.66,-244.4,2604,1841,3313,3179,24.6,-14.1,34,255,0.00,2.20,0.00,0.000,260,0.000,0.041,2597,3246,3246,3314,3179,0,0,0,0,0,0,26.58,25.78,26.59,8.54,48.07
$GC,333,-0.66,-244.4,2596,3246,3313,3179,35.5,-11.7,42,343,0.00,2.10,0.00,0.000,1030,0.000,0.027,2597,1841,3246,3314,3179,0,0,0,0,0,0,26.02,25.99,26.06,8.54,48.62
$GC,461,-0.66,-244.4,2596,1840,3314,3179,51.0,-11.8,55,466,0.00,2.22,0.00,0.000,516,0.000,0.040,2597,453,3246,3313,3179,0,0,0,0,0,0,26.61,25.75,26.62,8.54,49.21
$GC,497,-0.66,-244.4,2596,452,3313,3179,55.1,-12.5,58,505,0.00,2.17,0.00,0.000,1030,0.000,0.031,2588,1846,3246,3314,3178,0,0,0,0,0,0,25.98,25.95,26.02,8.54,49.01
$GC,625,-0.66,-244.4,2588,1847,3314,3179,71.4,-12.7,71,636,0.00,2.20,0.00,0.000,260,0.000,0.041,2579,3250,3246,3313,3179,0,0,0,0,0,0,26.62,25.77,26.63,8.55,49.37
$GC,682,-0.66,-244.4,2578,3249,3313,3179,78.2,-12.1,76,690,0.00,2.15,0.00,0.000,1030,0.000,0.028,2579,1848,3246,3313,3179,0,0,0,0,0,0,25.99,25.96,26.03,8.55,49.37
$GC,811,-0.66,-244.4,2578,1847,3313,3179,94.3,-12.6,89,822,0.00,2.22,0.00,0.000,516,0.000,0.041,2578,441,3246,3313,3179,0,0,0,0,0,0,26.62,25.70,26.63,8.56,49.80
$GC,837,-0.66,-244.4,2578,441,3313,3179,97.4,-13.1,91,846,0.00,2.17,0.00,0.000,1030,0.000,0.031,2570,1837,3246,3313,3179,0,0,0,0,0,0,25.96,25.92,25.99,8.56,49.52
$GC,966,-0.66,-244.4,2569,1837,3313,3179,113.2,-12.2,104,976,0.00,2.22,0.00,0.000,260,0.000,0.041,2560,3248,3246,3313,3179,0,0,0,0,0,0,26.62,25.75,26.63,8.56,49.60
$GC,1022,-0.66,-244.4,2560,3248,3313,3179,120.0,-12.1,109,1036,0.10,2.12,0.00,0.000,3078,0.106,0.028,2595,1838,3246,3313,3179,0,0,0,0,0,0,25.68,25.95,25.72,8.56,50.19
$GC,1215,-0.66,-244.4,2594,1837,3313,3179,140.3,-10.8,128,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1838,3246,3313,3179,0,0,0,0,0,0,26.63,26.63,26.63,8.57,50.19
$STATE,1373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1373,begin apogee
$GC,1378,-0.21,0.0,2595,1837,3313,3179,157.4,-10.2,144,1576,0.40,0.00,193.30,0.663,10246,0.093,0.000,2744,1837,2246,2374,2119,0,0,0,0,0,0,25.55,24.84,24.02,8.58,50.27
$STATE,1577,end apogee,CONTROL_FINISHED_OK
$STATE,1577,begin climb
$GC,1579,0.79,244.4,2743,1837,2374,2118,162.6,0.0,164,1791,0.85,2.30,202.50,0.643,11012,0.063,0.043,3062,455,1248,1354,1143,0,0,0,0,0,0,25.21,24.86,24.00,8.49,47.91
$GC,1833,0.69,244.4,3061,455,1353,1141,138.2,13.8,189,1841,0.00,2.20,0.00,0.000,1030,0.000,0.031,3062,1841,1247,1353,1141,0,0,0,0,0,0,25.67,25.63,25.70,8.41,47.32
$GC,2023,0.59,244.4,3062,1841,1353,1139,110.5,14.5,208,2030,0.17,0.00,0.00,0.000,4102,0.114,0.000,3004,1841,1245,1353,1138,0,0,0,0,0,0,25.82,25.95,25.90,8.41,48.58
$GC,2212,0.59,244.4,3003,1841,1353,1138,91.3,9.6,227,2216,0.00,2.22,0.00,0.000,516,0.000,0.043,3012,452,1245,1353,1138,0,0,0,0,0,0,26.57,25.74,26.58,8.41,49.60
$GC,2274,0.59,244.4,3012,452,1351,1137,85.0,9.6,233,2279,0.00,2.15,0.00,0.000,1030,0.000,0.030,3012,1850,1244,1351,1137,0,0,0,0,0,0,26.06,25.98,26.09,8.41,49.25
$GC,2408,0.59,244.4,3011,1850,1351,1138,71.5,9.9,246,2417,0.00,2.17,0.00,0.000,260,0.000,0.040,3012,3248,1244,1351,1138,0,0,0,0,0,0,26.60,25.82,26.60,8.40,49.29
$GC,2431,0.59,244.4,3012,3248,1351,1138,69.3,9.9,248,2440,0.00,2.12,0.00,0.000,1030,0.000,0.029,3017,1846,1244,1352,1137,0,0,0,0,0,0,26.05,25.96,26.09,8.40,49.40
$GC,2561,0.59,244.4,3017,1847,1351,1137,56.0,10.0,261,2565,0.00,2.22,0.00,0.000,516,0.000,0.042,3028,451,1244,1351,1137,0,0,0,0,0,0,26.60,25.73,26.62,8.40,48.89
$GC,2636,0.59,244.4,3027,451,1351,1137,48.5,10.0,268,2644,0.00,2.17,0.00,0.000,1030,0.000,0.030,3028,1851,1244,1351,1137,0,0,0,0,0,0,26.03,25.99,26.06,8.40,49.01
$GC,2765,0.59,244.4,3027,1851,1351,1137,35.4,10.1,281,2769,0.00,2.20,0.00,0.000,260,0.000,0.039,3028,3255,1244,1351,1137,0,0,0,0,0,0,26.62,25.79,26.62,8.39,48.93
$GC,2798,0.59,244.4,3027,3255,1351,1137,32.0,10.1,284,2809,0.08,2.15,0.00,0.000,5126,0.116,0.029,3005,1840,1244,1351,1137,0,0,0,0,0,0,25.75,25.95,25.79,8.39,49.40
$GC,2929,0.67,321.9,3006,1840,1351,1137,21.5,7.8,297,2981,0.00,2.22,43.85,0.538,8708,0.000,0.041,3013,451,930,1019,842,0,0,0,0,0,0,26.62,24.90,24.44,8.39,48.93
$GC,3042,0.83,416.7,3012,451,1018,840,13.2,7.3,314,3099,0.12,2.17,50.65,0.500,11270,0.037,0.029,3126,1848,545,591,500,0,0,0,0,0,0,25.86,25.88,24.37,8.36,48.70
$STATE,3120,end climb,SURFACE_DEPTH_REACHED
$STATE,3120,begin surface coast
$FINISH,0.8,1.005067
$STATE,3138,end surface coast,CONTROL_FINISHED_OK
$STATE,3138,begin surface
$SM_CCo,3155,0.35,0.071,0,0,533,420.20
$SM_GC,2.19,7.65,0.00,0.35,0.027,0.000,0.071,172,1849,533,-8.06,0.17,420.20,0,0,0,0,0,0,25.96,26.28,25.77
$IRIDIUM_FIX,4738.72,-12249.11,210218,171700
$TT8_MAMPS,0.026964,0.267393
$HUMID,48.22
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,121.0,45.5
$24V_AH,24.00,96.864
$10V_AH,9.83,65.048
$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,18.625,52.550,490.300,0.350,0.000,0.000,0.000,200.850,2.000,0.000,20.538,792.496,987.862,520.566,1054.953,126.621,0.000,1209.267,0.000,662.152,0.000,16.467,0.000
$DEVICE_MAMPS,193.545,52.020,663.255,71.145,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.419,708.263,429.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24467,329
$CAP_FILE_SIZE,56625,0
$CFSIZE,2097872896,2039545856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089,49.75,1
$GPS,210218,191401,4738.465,-12253.685,9,0.9,43,16.4,0.3,72.1,9,4.8