version: 66.14
glider: 195
mission: 15
dive: 583
start: 2 22 118 15 5 52
data:
$ID,195
$MISSION,15
$DIVE,583
$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,51
$R_STBD_OVSHOOT,59
$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
$GPS1,220218,150014,4737.9463,-12254.5498,7,1.2,28,16.4,0.6,228.4,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.3
$GPS2,220218,150512,4737.9175,-12254.5840,9,1.2,24,16.4,0.3,246.8,9,4.9
$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,47.1,1952,-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,-244.4,168,1872,552,480,0.0,0.0,0,59,0.00,0.00,-47.42,0.000,16386,0.000,0.000,167,1872,1654,1709,1599,0,0,0,0,0,0,26.51,28.83,26.52,8.29,48.66
$GC,63,-0.79,-244.4,167,1872,1709,1600,2.1,-1.5,7,133,9.12,2.28,-52.67,0.000,18948,0.194,0.049,2549,447,3243,3311,3176,0,0,0,0,0,0,24.85,25.45,25.23,8.40,49.17
$GC,213,-0.79,-244.4,2549,447,3312,3177,19.3,-17.2,32,221,0.00,2.15,0.00,0.000,1030,0.000,0.031,2542,1824,3245,3312,3178,0,0,0,0,0,0,25.93,25.89,25.96,8.54,47.99
$GC,280,-0.68,-244.4,2541,1825,3312,3177,30.7,-16.6,39,288,0.15,0.00,0.00,0.000,2054,0.126,0.000,2589,1824,3245,3312,3178,0,0,0,0,0,0,25.93,26.02,25.98,8.54,48.54
$GC,410,-0.68,-244.4,2588,1824,3312,3177,46.5,-11.6,52,420,0.00,2.22,0.00,0.000,260,0.000,0.039,2581,3248,3244,3311,3178,0,0,0,0,0,0,26.60,25.70,26.60,8.55,49.33
$GC,445,-0.68,-244.4,2581,3248,3312,3177,50.8,-12.2,55,449,0.00,2.15,0.00,0.000,1030,0.000,0.027,2581,1839,3244,3312,3177,0,0,0,0,0,0,26.02,25.93,26.05,8.54,49.33
$GC,578,-0.68,-244.4,2580,1839,3311,3177,66.9,-11.7,68,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1839,3244,3312,3177,0,0,0,0,0,0,26.60,26.61,26.61,8.55,49.44
$GC,697,-0.68,-244.4,2581,1839,3312,3177,81.5,-12.7,80,708,0.00,2.17,0.00,0.000,516,0.000,0.040,2581,458,3244,3312,3177,0,0,0,0,0,0,26.60,25.65,26.62,8.56,49.88
$GC,743,-0.68,-244.4,2581,459,3312,3177,87.0,-12.3,84,752,0.00,2.15,0.00,0.000,1030,0.000,0.029,2573,1839,3244,3312,3177,0,0,0,0,0,0,25.92,25.89,25.95,8.55,49.52
$GC,872,-0.68,-244.4,2572,1839,3312,3177,102.0,-11.6,97,882,0.00,2.20,0.00,0.000,260,0.000,0.039,2563,3245,3244,3312,3177,0,0,0,0,0,0,26.60,25.73,26.61,8.56,49.92
$GC,941,-0.68,-244.4,2563,3245,3311,3177,110.0,-11.5,103,952,0.00,2.12,0.00,0.000,1030,0.000,0.027,2563,1850,3244,3312,3177,0,0,0,0,0,0,25.94,25.91,25.98,8.57,50.15
$GC,1131,-0.68,-244.4,2562,1849,3311,3177,133.1,-12.4,122,1135,0.00,2.20,0.00,0.000,516,0.000,0.039,2563,451,3244,3311,3177,0,0,0,0,0,0,26.60,25.62,26.61,8.57,50.86
$GC,1180,-0.68,-244.4,2563,451,3311,3177,139.2,-13.2,126,1191,0.10,2.12,0.00,0.000,3078,0.115,0.029,2588,1842,3244,3311,3177,0,0,0,0,0,0,25.56,25.89,25.61,8.58,49.96
$STATE,1348,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1348,begin apogee
$GC,1353,-0.21,0.0,2588,1842,3311,3177,157.1,-10.3,143,1551,0.43,0.00,193.23,0.656,10246,0.090,0.000,2745,1842,2246,2375,2118,0,0,0,0,0,0,25.48,24.85,24.05,8.58,50.43
$STATE,1552,end apogee,CONTROL_FINISHED_OK
$STATE,1552,begin climb
$GC,1555,0.79,244.4,2745,1842,2374,2117,159.9,0.0,163,1765,0.82,2.30,201.32,0.640,10756,0.049,0.041,3069,455,1248,1353,1144,0,0,0,0,0,0,25.27,24.87,24.03,8.50,48.85
$GC,1818,0.69,244.4,3069,455,1351,1140,134.7,14.9,189,1826,0.10,2.20,0.00,0.000,5126,0.116,0.028,3035,1853,1245,1351,1140,0,0,0,0,0,0,25.37,25.65,25.55,8.41,47.51
$GC,2008,0.63,244.4,3036,1853,1351,1138,110.6,11.9,208,2018,0.00,2.22,0.00,0.000,516,0.000,0.041,3044,452,1244,1351,1138,0,0,0,0,0,0,26.46,25.67,26.47,8.41,48.62
$GC,2055,0.57,244.4,3044,452,1350,1138,104.7,12.7,212,2065,0.12,2.12,0.00,0.000,5126,0.102,0.028,3000,1847,1244,1350,1138,0,0,0,0,0,0,25.62,25.93,25.66,8.41,49.37
$GC,2246,0.57,244.4,2999,1847,1350,1137,85.9,9.7,231,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1847,1243,1350,1137,0,0,0,0,0,0,26.56,26.57,26.57,8.41,49.17
$GC,2374,0.57,244.4,2999,1847,1349,1137,74.1,8.8,244,2383,0.00,2.22,0.00,0.000,516,0.000,0.041,3007,448,1243,1350,1137,0,0,0,0,0,0,26.58,25.70,26.59,8.41,48.89
$GC,2437,0.57,244.4,3007,448,1350,1137,68.3,9.1,250,2446,0.00,2.15,0.00,0.000,1030,0.000,0.028,3008,1857,1243,1350,1137,0,0,0,0,0,0,25.99,25.96,26.02,8.41,49.01
$GC,2567,0.57,244.4,3007,1857,1350,1137,55.8,9.7,263,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1857,1243,1350,1137,0,0,0,0,0,0,26.59,26.60,26.60,8.41,48.89
$GC,2687,0.57,244.4,3007,1857,1350,1136,44.3,9.8,275,2691,0.00,2.25,0.00,0.000,516,0.000,0.041,3011,449,1243,1350,1136,0,0,0,0,0,0,26.59,25.67,26.60,8.40,49.33
$GC,2732,0.57,244.4,3011,449,1350,1137,40.1,10.0,279,2740,0.00,2.17,0.00,0.000,1030,0.000,0.028,3012,1849,1243,1350,1137,0,0,0,0,0,0,25.98,25.94,26.01,8.40,49.56
$GC,2860,0.57,244.4,3011,1849,1350,1137,28.7,8.8,292,2869,0.00,2.17,0.00,0.000,260,0.000,0.037,3012,3252,1243,1350,1137,0,0,0,0,0,0,26.60,25.75,26.60,8.39,48.97
$GC,2884,0.57,244.4,3011,3252,1350,1136,26.6,8.5,294,2892,0.00,2.15,0.00,0.000,1030,0.000,0.028,3012,1849,1243,1350,1137,0,0,0,0,0,0,25.96,25.91,25.98,8.40,49.33
$GC,3016,0.73,406.1,3011,1850,1350,1136,17.4,5.5,311,3113,0.05,2.28,86.68,0.518,10756,0.135,0.041,3112,457,585,641,529,0,0,0,0,0,0,26.40,25.15,24.41,8.39,49.80
$STATE,3146,end climb,SURFACE_DEPTH_REACHED
$STATE,3146,begin surface coast
$FINISH,0.8,1.003399
$STATE,3168,end surface coast,CONTROL_FINISHED_OK
$STATE,3168,begin surface
$SM_CCo,3187,6.20,0.047,0,0,532,420.20
$SM_GC,2.37,7.65,2.20,6.20,0.027,0.025,0.047,172,1861,532,-8.07,-1.16,420.20,0,0,0,0,0,0,25.94,25.80,25.62
$IRIDIUM_FIX,4736.40,-12251.79,220218,140747
$TT8_MAMPS,0.026964,0.241178
$HUMID,47.87
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,156.0,11.1
$24V_AH,24.03,98.726
$10V_AH,9.86,66.114
$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,18.550,48.225,481.225,6.200,0.000,0.000,0.000,198.475,4.750,0.000,26.093,809.380,993.847,503.110,1083.655,131.284,0.000,1199.505,0.000,670.031,0.000,38.972,0.000
$DEVICE_MAMPS,193.545,48.960,656.370,47.430,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.393,721.146,437.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312144
$DATA_FILE_SIZE,24521,335
$CAP_FILE_SIZE,55867,0
$CFSIZE,2097872896,2037383168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,258.36,1
$GPS,220218,160027,4738.048,-12254.078,7,1.0,38,16.4,0.0,213.7,10,5.0