version: 66.14
glider: 195
mission: 15
dive: 562
start: 2 21 118 19 20 48
data:
$ID,195
$MISSION,15
$DIVE,562
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,210218,191401,4738.4648,-12253.6846,9,0.9,43,16.4,0.3,72.1,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.2
$GPS2,210218,192007,4738.4644,-12253.6260,10,0.8,14,16.4,0.0,0.0,9,4.7
$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,212.4,1624,-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,-244.4,172,1850,567,487,0.0,0.0,0,59,0.00,0.00,-47.88,0.000,16386,0.000,0.000,171,1850,1690,1738,1643,0,0,0,0,0,0,26.50,28.83,26.51,8.30,48.07
$GC,63,-0.79,-244.4,172,1850,1738,1644,2.4,-2.2,7,127,9.07,2.28,-49.15,0.000,18692,0.194,0.052,2544,3254,3246,3315,3178,0,0,0,0,0,0,24.94,23.72,25.32,8.40,48.18
$GC,162,-0.63,-244.4,2543,3254,3316,3179,11.5,-18.1,22,170,0.15,2.17,0.00,0.000,3078,0.103,0.029,2609,1842,3247,3315,3179,0,0,0,0,0,0,25.54,25.94,25.67,8.54,48.30
$GC,240,-0.63,-244.4,2608,1842,3316,3179,23.0,-13.7,34,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1842,3247,3316,3179,0,0,0,0,0,0,26.58,26.59,26.58,8.54,48.22
$GC,360,-0.63,-244.4,2608,1842,3316,3179,37.9,-12.0,46,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1842,3247,3316,3179,0,0,0,0,0,0,26.60,26.61,26.60,8.54,48.74
$GC,481,-0.63,-244.4,2608,1842,3317,3179,52.0,-11.3,58,490,0.00,2.20,0.00,0.000,260,0.000,0.041,2602,3241,3247,3316,3179,0,0,0,0,0,0,26.61,25.76,26.62,8.55,49.72
$GC,504,-0.63,-244.4,2601,3240,3316,3179,54.6,-10.9,60,514,0.00,2.10,0.00,0.000,1030,0.000,0.028,2602,1845,3247,3316,3179,0,0,0,0,0,0,25.99,25.96,26.03,8.55,49.01
$GC,634,-0.63,-244.4,2602,1845,3316,3179,69.0,-10.9,73,644,0.00,2.17,0.00,0.000,516,0.000,0.041,2602,450,3247,3316,3179,0,0,0,0,0,0,26.62,25.72,26.63,8.55,49.52
$GC,668,-0.63,-244.4,2601,450,3316,3179,73.1,-11.8,76,678,0.00,2.12,0.00,0.000,1030,0.000,0.031,2594,1838,3247,3316,3179,0,0,0,0,0,0,25.96,25.91,25.98,8.54,48.89
$GC,798,-0.63,-244.4,2594,1838,3316,3179,88.2,-11.2,89,808,0.00,2.22,0.00,0.000,260,0.000,0.041,2584,3254,3247,3316,3179,0,0,0,0,0,0,26.62,25.75,26.63,8.56,49.76
$GC,845,-0.63,-244.4,2583,3253,3316,3179,93.1,-10.8,93,854,0.00,2.17,0.00,0.000,1030,0.000,0.028,2584,1836,3247,3316,3179,0,0,0,0,0,0,25.98,25.95,26.00,8.56,50.00
$GC,974,-0.63,-244.4,2583,1836,3315,3179,107.9,-11.4,106,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1836,3247,3316,3179,0,0,0,0,0,0,26.62,26.63,26.63,8.57,49.88
$GC,1153,-0.63,-244.4,2584,1836,3316,3179,128.0,-10.7,124,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1836,3247,3316,3179,0,0,0,0,0,0,26.62,26.63,26.63,8.57,49.60
$GC,1336,-0.63,-244.4,2583,1836,3315,3179,148.5,-11.4,142,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1836,3247,3316,3179,0,0,0,0,0,0,26.63,26.63,26.63,8.57,50.59
$STATE,1401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1401,begin apogee
$GC,1407,-0.21,0.0,2584,1836,3316,3179,156.5,-11.6,149,1604,0.45,0.00,192.95,0.662,10246,0.093,0.000,2746,1836,2246,2369,2124,0,0,0,0,0,0,25.47,24.84,24.02,8.58,50.39
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1607,0.79,244.4,2745,1836,2368,2123,162.9,0.0,169,1819,0.85,2.28,202.15,0.641,10756,0.066,0.041,3061,455,1249,1351,1147,0,0,0,0,0,0,25.19,24.78,24.00,8.50,48.46
$GC,1866,0.70,244.4,3061,455,1350,1145,137.3,14.1,194,1873,0.00,2.20,0.00,0.000,1030,0.000,0.030,3061,1841,1247,1350,1145,0,0,0,0,0,0,25.68,25.65,25.71,8.41,47.44
$GC,2054,0.60,244.4,3060,1841,1350,1142,110.3,13.8,213,2056,0.17,0.00,0.00,0.000,4102,0.115,0.000,3003,1841,1246,1350,1142,0,0,0,0,0,0,25.82,25.94,25.90,8.40,49.13
$GC,2234,0.60,244.4,3002,1841,1350,1141,91.7,9.5,231,2244,0.00,2.20,0.00,0.000,516,0.000,0.042,3011,457,1245,1350,1141,0,0,0,0,0,0,26.56,25.77,26.57,8.41,49.48
$GC,2310,0.60,244.4,3011,455,1349,1140,84.6,9.8,238,2318,0.00,2.17,0.00,0.000,1030,0.000,0.030,3011,1848,1244,1349,1140,0,0,0,0,0,0,26.01,25.96,26.04,8.41,48.81
$GC,2438,0.60,244.4,3011,1849,1349,1140,71.7,9.8,251,2448,0.00,2.17,0.00,0.000,260,0.000,0.039,3011,3252,1244,1348,1140,0,0,0,0,0,0,26.60,25.82,26.60,8.41,48.97
$GC,2454,0.60,244.4,3010,3252,1349,1140,70.9,9.6,252,2461,0.00,2.17,0.00,0.000,1030,0.000,0.029,3012,1839,1244,1349,1140,0,0,0,0,0,0,25.99,25.96,26.03,8.41,49.48
$GC,2581,0.60,244.4,3012,1839,1349,1140,57.6,9.7,265,2585,0.00,2.20,0.00,0.000,516,0.000,0.043,3022,450,1244,1349,1140,0,0,0,0,0,0,26.60,25.72,26.61,8.40,48.77
$GC,2645,0.60,244.4,3021,449,1349,1140,51.4,9.9,271,2653,0.00,2.17,0.00,0.000,1030,0.000,0.030,3022,1847,1244,1349,1140,0,0,0,0,0,0,26.01,25.98,26.04,8.40,49.68
$GC,2774,0.60,244.4,3021,1848,1348,1140,38.9,9.7,284,2779,0.00,2.22,0.00,0.000,516,0.000,0.042,3029,449,1244,1349,1140,0,0,0,0,0,0,26.61,25.72,26.62,8.40,49.68
$GC,2799,0.60,244.4,3029,449,1349,1140,36.6,9.7,286,2804,0.00,2.12,0.00,0.000,1030,0.000,0.030,3029,1845,1244,1349,1140,0,0,0,0,0,0,26.06,25.97,26.08,8.39,49.21
$GC,2932,0.60,244.4,3028,1845,1349,1140,23.6,9.5,299,2936,0.00,2.20,0.00,0.000,260,0.000,0.038,3029,3256,1244,1349,1140,0,0,0,0,0,0,26.62,25.81,26.63,8.39,49.40
$GC,2964,0.60,244.4,3028,3256,1349,1140,20.5,9.5,302,2970,0.10,2.15,0.00,0.000,5126,0.126,0.028,3001,1830,1244,1349,1140,0,0,0,0,0,0,25.75,25.97,25.84,8.39,49.13
$GC,3097,0.80,396.4,3001,1830,1349,1140,12.0,5.7,326,3183,0.12,1.80,79.22,0.496,10755,0.062,0.039,3129,711,626,697,556,0,0,0,0,0,0,26.40,25.18,24.43,8.38,49.01
$STATE,3184,end climb,SURFACE_DEPTH_REACHED
$STATE,3184,begin surface coast
$FINISH,0.8,1.011255
$STATE,3207,end surface coast,CONTROL_FINISHED_OK
$STATE,3207,begin surface
$SM_CCo,3226,11.45,0.054,0,0,532,420.20
$SM_GC,2.00,7.70,1.80,11.45,0.028,0.025,0.054,177,1867,532,-8.06,-0.90,420.20,0,0,0,0,0,0,25.89,25.79,25.58
$IRIDIUM_FIX,4741.99,-12255.26,210218,181547
$TT8_MAMPS,0.026964,0.240429
$HUMID,48.11
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.4
$ALTIM_BOTTOM_PING,140.5,25.1
$24V_AH,23.72,96.954
$10V_AH,9.85,65.102
$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,18.625,47.325,474.325,11.450,0.000,0.000,0.000,274.450,3.000,0.000,16.680,834.954,1034.502,510.089,1098.167,155.590,0.000,1250.371,0.000,649.199,0.000,22.840,0.000
$DEVICE_MAMPS,193.545,52.020,661.725,53.550,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,228.078,736.181,447.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312188
$DATA_FILE_SIZE,24535,342
$CAP_FILE_SIZE,57728,0
$CFSIZE,2097872896,2039447552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.089,51.90,1
$GPS,210218,201543,4738.286,-12254.090,8,0.8,14,16.4,0.3,0.0,10,4.7