version: 66.14
glider: 195
mission: 15
dive: 572
start: 2 22 118 4 48 21
data:
$ID,195
$MISSION,15
$DIVE,572
$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,50
$R_STBD_OVSHOOT,44
$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
$GPS1,220218,044301,4738.0244,-12254.0791,3,1.0,15,16.4,0.0,216.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-67.7
$GPS2,220218,044742,4738.0234,-12254.0635,3,1.1,18,16.4,0.0,154.1,8,4.8
$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,44.4,1295,-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,-244.4,176,1850,511,445,0.0,0.0,0,60,0.00,0.00,-48.72,0.000,16386,0.000,0.000,176,1850,1633,1693,1574,0,0,0,0,0,0,26.50,28.83,26.51,8.29,48.18
$GC,64,-0.79,-244.4,176,1850,1693,1574,2.2,-2.2,7,134,9.12,2.28,-54.17,0.000,18948,0.195,0.050,2553,451,3245,3312,3178,0,0,0,0,0,0,24.93,22.94,25.31,8.40,48.85
$GC,260,-0.71,-244.4,2553,450,3313,3179,28.0,-17.4,37,265,0.12,2.15,0.00,0.000,3078,0.129,0.031,2585,1847,3245,3312,3179,0,0,0,0,0,0,25.63,25.93,25.73,8.54,48.22
$GC,394,-0.71,-244.4,2584,1847,3313,3179,45.9,-12.5,50,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1847,3246,3313,3179,0,0,0,0,0,0,26.60,26.61,26.60,8.54,48.50
$GC,514,-0.71,-244.4,2584,1847,3313,3179,60.6,-12.4,62,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1847,3246,3313,3179,0,0,0,0,0,0,26.60,26.62,26.62,8.55,49.29
$GC,634,-0.71,-244.4,2584,1847,3313,3179,75.2,-12.0,74,638,0.00,2.20,0.00,0.000,260,0.000,0.041,2577,3242,3246,3313,3179,0,0,0,0,0,0,26.61,25.72,26.62,8.55,50.31
$GC,676,-0.71,-244.4,2576,3243,3313,3179,80.1,-11.9,78,680,0.00,2.10,0.00,0.000,1030,0.000,0.028,2577,1843,3245,3312,3179,0,0,0,0,0,0,26.01,25.94,26.05,8.55,49.96
$GC,808,-0.71,-244.4,2576,1843,3313,3179,96.3,-12.5,91,813,0.00,2.20,0.00,0.000,516,0.000,0.041,2577,451,3246,3313,3179,0,0,0,0,0,0,26.61,25.65,26.62,8.56,49.84
$GC,853,-0.71,-244.4,2576,451,3313,3179,101.8,-12.5,95,858,0.00,2.15,0.00,0.000,1030,0.000,0.031,2569,1843,3246,3313,3179,0,0,0,0,0,0,25.98,25.89,26.01,8.55,50.11
$GC,1046,-0.71,-244.4,2568,1842,3313,3179,126.4,-12.6,114,1050,0.00,2.20,0.00,0.000,260,0.000,0.041,2559,3251,3246,3313,3179,0,0,0,0,0,0,26.60,25.70,26.61,8.57,50.82
$GC,1103,-0.71,-244.4,2558,3252,3312,3179,133.2,-12.1,119,1113,0.00,2.12,0.00,0.000,1030,0.000,0.028,2559,1836,3245,3312,3179,0,0,0,0,0,0,25.97,25.92,25.98,8.57,50.78
$STATE,1283,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1283,begin apogee
$GC,1288,-0.21,0.0,2558,1836,3312,3179,156.5,-12.7,137,1491,0.52,0.00,193.12,0.662,10246,0.098,0.000,2742,1836,2245,2374,2117,0,0,0,0,0,0,25.32,24.85,24.03,8.57,50.31
$STATE,1492,end apogee,CONTROL_FINISHED_OK
$STATE,1492,begin climb
$GC,1496,0.79,244.4,2742,1836,2374,2117,164.4,0.0,158,1703,0.85,0.00,202.52,0.644,10246,0.065,0.000,3051,1836,1249,1353,1145,0,0,0,0,0,0,25.21,24.77,23.99,8.49,48.18
$GC,1884,0.70,244.4,3050,1835,1352,1140,119.5,13.8,197,1894,0.00,2.20,0.00,0.000,516,0.000,0.043,3061,452,1246,1353,1139,0,0,0,0,0,0,26.40,25.67,26.41,8.40,48.26
$GC,1951,0.61,244.4,3061,453,1351,1139,110.2,14.4,203,1959,0.15,2.17,0.00,0.000,5126,0.104,0.031,2995,1843,1244,1350,1139,0,0,0,0,0,0,25.51,25.91,25.65,8.41,48.50
$GC,2141,0.61,244.4,2994,1843,1351,1138,91.7,9.1,222,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1843,1244,1351,1138,0,0,0,0,0,0,26.56,26.57,26.57,8.41,49.72
$GC,2269,0.61,244.4,2994,1843,1351,1138,79.7,9.1,235,2279,0.00,2.20,0.00,0.000,516,0.000,0.043,3003,457,1244,1351,1138,0,0,0,0,0,0,26.58,25.70,26.59,8.41,49.76
$GC,2325,0.61,244.4,3002,457,1350,1138,74.6,9.7,240,2332,0.00,2.15,0.00,0.000,1030,0.000,0.030,3003,1838,1244,1350,1138,0,0,0,0,0,0,25.99,25.96,26.03,8.41,48.97
$GC,2452,0.61,244.4,3002,1838,1351,1138,62.9,9.3,253,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1838,1244,1351,1137,0,0,0,0,0,0,26.60,26.60,26.60,8.40,49.09
$GC,2573,0.61,244.4,3002,1838,1351,1138,51.6,9.1,265,2582,0.00,2.20,0.00,0.000,516,0.000,0.042,3010,451,1244,1351,1138,0,0,0,0,0,0,26.60,25.70,26.61,8.40,49.33
$GC,2608,0.61,244.4,3010,451,1350,1138,48.3,9.2,268,2616,0.00,2.17,0.00,0.000,1030,0.000,0.030,3010,1847,1244,1350,1138,0,0,0,0,0,0,25.98,25.95,26.02,8.40,49.56
$GC,2736,0.61,244.4,3010,1848,1350,1138,36.8,8.4,281,2740,0.00,2.20,0.00,0.000,260,0.000,0.039,3011,3255,1244,1350,1138,0,0,0,0,0,0,26.60,25.76,26.61,8.39,49.88
$GC,2760,0.61,244.4,3010,3255,1350,1137,34.7,8.7,283,2768,0.00,2.17,0.00,0.000,1030,0.000,0.029,3012,1839,1244,1350,1138,0,0,0,0,0,0,25.96,25.92,25.98,8.39,49.56
$GC,2888,0.61,244.4,3011,1839,1351,1137,23.7,8.5,296,2893,0.00,2.20,0.00,0.000,516,0.000,0.043,3012,452,1244,1350,1138,0,0,0,0,0,0,26.60,25.66,26.61,8.39,49.17
$GC,2973,0.73,362.5,3011,452,1351,1138,17.7,6.7,307,3043,0.03,2.17,62.85,0.526,11270,0.128,0.029,3085,1853,765,845,686,0,0,0,0,0,0,25.82,25.94,24.45,8.39,49.25
$STATE,3108,end climb,SURFACE_DEPTH_REACHED
$STATE,3108,begin surface coast
$FINISH,0.6,1.012621
$STATE,3135,end surface coast,CONTROL_FINISHED_OK
$STATE,3135,begin surface
$SM_CCo,3152,28.27,0.051,0,0,533,420.20
$SM_GC,1.87,7.57,0.00,28.27,0.028,0.000,0.051,177,1854,533,-8.06,0.31,420.20,0,0,0,0,0,0,26.02,26.40,25.65
$IRIDIUM_FIX,4739.20,-12253.53,220218,034624
$TT8_MAMPS,0.026964,0.265895
$HUMID,48.26
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,141.0,24.6
$24V_AH,22.94,97.775
$10V_AH,9.84,65.592
$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,18.375,39.250,458.500,28.275,0.000,0.000,0.000,184.025,3.250,0.000,19.516,810.794,1019.233,510.184,1019.719,128.655,0.000,1133.934,0.000,632.823,0.000,26.984,0.000
$DEVICE_MAMPS,195.075,49.725,662.490,51.255,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.077,718.987,436.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312152
$DATA_FILE_SIZE,24517,334
$CAP_FILE_SIZE,51929,0
$CFSIZE,2097872896,2038464512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,255.27,1
$GPS,220218,054232,4738.231,-12253.422,8,0.9,28,16.4,0.0,190.6,9,4.1