version: 66.14
glider: 195
mission: 15
dive: 546
start: 2 21 118 3 41 14
data:
$ID,195
$MISSION,15
$DIVE,546
$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,49
$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
$GPS1,210218,033639,4737.8428,-12254.5205,5,1.0,15,16.4,0.0,0.0,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-62.1
$GPS2,210218,034033,4737.8271,-12254.5410,6,1.0,15,16.4,0.0,0.0,8,4.8
$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,42.4,1992,-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,-244.4,176,1856,550,479,0.0,0.0,0,60,0.00,0.00,-48.60,0.000,16386,0.000,0.000,176,1856,1696,1753,1639,0,0,0,0,0,0,26.54,28.83,26.55,8.29,48.50
$GC,63,-0.79,-244.4,176,1856,1753,1640,2.2,-2.2,7,127,9.12,2.30,-48.55,0.000,18948,0.194,0.051,2552,448,3245,3310,3180,0,0,0,0,0,0,24.84,23.70,25.23,8.41,48.11
$GC,161,-0.63,-244.4,2551,448,3312,3181,12.5,-19.4,22,170,0.17,2.15,0.00,0.000,3078,0.115,0.030,2612,1830,3246,3312,3181,0,0,0,0,0,0,25.44,25.96,25.59,8.54,47.51
$GC,240,-0.63,-244.4,2611,1830,3311,3181,23.4,-13.5,34,249,0.00,2.20,0.00,0.000,260,0.000,0.040,2604,3248,3246,3312,3181,0,0,0,0,0,0,26.60,25.80,26.61,8.54,48.42
$GC,314,-0.63,-244.4,2603,3248,3312,3181,33.3,-12.0,41,325,0.00,2.12,0.00,0.000,1030,0.000,0.028,2604,1840,3246,3312,3181,0,0,0,0,0,0,26.07,25.99,26.10,8.54,48.38
$GC,445,-0.63,-244.4,2603,1840,3312,3181,48.9,-12.1,54,449,0.00,2.17,0.00,0.000,516,0.000,0.041,2604,454,3246,3312,3181,0,0,0,0,0,0,26.63,25.75,26.64,8.55,48.62
$GC,540,-0.63,-244.4,2603,454,3311,3180,60.4,-11.7,63,550,0.00,2.12,0.00,0.000,1030,0.000,0.030,2596,1846,3246,3312,3180,0,0,0,0,0,0,26.00,25.97,26.03,8.55,49.05
$GC,671,-0.63,-244.4,2595,1846,3312,3181,75.3,-11.5,76,674,0.00,2.20,0.00,0.000,260,0.000,0.039,2586,3245,3246,3312,3181,0,0,0,0,0,0,26.64,25.79,26.65,8.55,49.25
$GC,735,-0.63,-244.4,2586,3246,3312,3181,82.1,-10.7,82,744,0.00,2.10,0.00,0.000,1030,0.000,0.027,2586,1840,3246,3312,3181,0,0,0,0,0,0,26.02,26.00,26.06,8.55,49.68
$GC,864,-0.63,-244.4,2586,1840,3312,3181,96.6,-11.2,95,868,0.00,2.20,0.00,0.000,516,0.000,0.041,2586,447,3246,3312,3180,0,0,0,0,0,0,26.64,25.73,26.65,8.56,50.00
$GC,888,-0.63,-244.4,2586,447,3312,3180,99.2,-11.1,97,898,0.00,2.17,0.00,0.000,1030,0.000,0.030,2578,1843,3246,3312,3181,0,0,0,0,0,0,26.01,25.96,26.03,8.56,49.21
$GC,1017,-0.63,-244.4,2578,1844,3311,3181,113.9,-11.2,110,1027,0.10,2.17,0.00,0.000,2308,0.135,0.038,2606,3245,3246,3312,3181,0,0,0,0,0,0,26.15,25.77,26.13,8.56,49.44
$GC,1078,-0.63,-244.4,2606,3245,3311,3181,119.5,-8.7,115,1091,0.00,2.15,0.00,0.000,1030,0.000,0.027,2606,1834,3246,3312,3181,0,0,0,0,0,0,26.03,25.99,26.05,8.57,49.96
$GC,1269,-0.63,-244.4,2606,1834,3312,3181,138.6,-10.5,134,1279,0.00,2.17,0.00,0.000,516,0.000,0.041,2607,452,3246,3312,3181,0,0,0,0,0,0,26.64,25.71,26.65,8.57,49.60
$GC,1314,-0.63,-244.4,2606,451,3312,3180,143.4,-10.8,138,1318,0.00,2.12,0.00,0.000,1030,0.000,0.030,2598,1843,3246,3312,3180,0,0,0,0,0,0,26.04,25.96,26.08,8.57,50.19
$STATE,1384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1384,begin apogee
$GC,1390,-0.21,0.0,2598,1844,3312,3181,150.5,-9.8,145,1588,0.40,0.00,194.88,0.640,10246,0.090,0.000,2745,1843,2246,2374,2119,0,0,0,0,0,0,25.59,24.83,24.02,8.58,50.07
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1590,begin climb
$GC,1593,0.79,244.4,2744,1843,2374,2118,157.1,0.0,165,1808,0.85,2.28,203.57,0.625,10756,0.066,0.040,3061,455,1248,1353,1143,0,0,0,0,0,0,25.21,24.50,23.99,8.50,47.71
$GC,1896,0.70,244.4,3060,455,1352,1138,126.3,14.4,195,1906,0.00,2.12,0.00,0.000,1030,0.000,0.028,3061,1840,1245,1352,1138,0,0,0,0,0,0,25.84,25.80,25.87,8.41,48.03
$GC,2086,0.61,244.4,3060,1840,1352,1137,99.6,13.6,214,2094,0.15,0.00,0.00,0.000,4102,0.117,0.000,3011,1840,1244,1352,1137,0,0,0,0,0,0,25.94,26.04,26.00,8.41,48.58
$GC,2215,0.61,244.4,3011,1840,1352,1136,86.0,10.2,227,2224,0.00,2.17,0.00,0.000,516,0.000,0.041,3019,458,1244,1353,1135,0,0,0,0,0,0,26.58,25.79,26.58,8.40,49.09
$GC,2258,0.61,244.4,3018,458,1352,1136,81.6,10.2,231,2267,0.00,2.12,0.00,0.000,1030,0.000,0.028,3019,1848,1243,1351,1136,0,0,0,0,0,0,26.10,26.01,26.13,8.41,48.93
$GC,2388,0.61,244.4,3018,1848,1352,1135,68.3,10.2,244,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1848,1243,1351,1135,0,0,0,0,0,0,26.61,26.62,26.61,8.41,48.70
$GC,2508,0.61,244.4,3018,1848,1352,1135,56.7,9.4,256,2512,0.00,2.22,0.00,0.000,516,0.000,0.041,3027,451,1243,1351,1135,0,0,0,0,0,0,26.62,25.78,26.63,8.40,48.85
$GC,2542,0.61,244.4,3027,451,1351,1135,53.6,9.3,259,2550,0.00,2.15,0.00,0.000,1030,0.000,0.028,3027,1839,1243,1352,1135,0,0,0,0,0,0,26.08,26.03,26.11,8.40,48.93
$GC,2671,0.61,244.4,3027,1839,1352,1135,41.3,9.7,272,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1839,1243,1351,1135,0,0,0,0,0,0,26.63,26.64,26.63,8.39,49.13
$GC,2791,0.61,244.4,3026,1839,1351,1135,30.5,8.2,284,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1839,1243,1351,1135,0,0,0,0,0,0,26.63,26.64,26.64,8.39,49.25
$GC,2911,0.61,244.4,3027,1839,1351,1134,20.5,8.1,296,2915,0.00,2.20,0.00,0.000,516,0.000,0.041,3035,455,1243,1352,1135,0,0,0,0,0,0,26.63,25.75,26.64,8.39,49.13
$GC,2944,0.61,244.4,3034,455,1351,1135,17.6,8.8,301,2951,0.00,2.15,0.00,0.000,1030,0.000,0.028,3035,1843,1243,1351,1135,0,0,0,0,0,0,26.05,26.01,26.08,8.38,48.89
$GC,3015,0.70,333.9,3034,1844,1351,1135,12.1,7.5,314,3070,0.00,2.25,46.42,0.494,8452,0.000,0.038,3035,3255,882,961,804,0,0,0,0,0,0,26.63,25.25,24.46,8.38,49.13
$GC,3109,0.70,333.9,3034,3255,961,801,4.5,8.5,329,3116,0.00,2.17,0.00,0.000,1030,0.000,0.029,3039,1846,881,961,801,0,0,0,0,0,0,25.90,25.86,25.93,8.34,48.03
$STATE,3128,end climb,SURFACE_DEPTH_REACHED
$STATE,3128,begin surface coast
$FINISH,0.7,1.008775
$STATE,3159,end surface coast,CONTROL_FINISHED_OK
$STATE,3160,begin surface
$SM_CCo,3176,41.10,0.052,0,0,534,420.20
$SM_GC,1.65,7.45,0.00,41.10,0.028,0.000,0.052,174,1846,534,-8.08,0.08,420.20,0,0,0,0,0,0,26.08,26.47,25.72
$IRIDIUM_FIX,4737.86,-12251.79,210218,025701
$TT8_MAMPS,0.026964,0.244923
$HUMID,48.50
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,135.4,24.6
$24V_AH,23.70,95.551
$10V_AH,9.85,64.296
$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,18.250,52.225,444.875,41.100,0.000,0.000,0.000,149.350,3.000,0.000,17.140,830.681,979.248,510.052,1044.751,119.739,0.000,1161.016,0.000,686.781,0.000,25.381,0.000
$DEVICE_MAMPS,193.545,51.255,640.305,52.020,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.511,727.572,441.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24614,338
$CAP_FILE_SIZE,57849,0
$CFSIZE,2097872896,2041020416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.018,270.08,1
$GPS,210218,043549,4738.043,-12253.934,8,1.1,15,16.4,0.0,0.0,8,4.7