version: 66.14
glider: 195
mission: 15
dive: 568
start: 2 22 118 0 56 1
data:
$ID,195
$MISSION,15
$DIVE,568
$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,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
$GPS1,220218,005117,4737.2285,-12256.0723,5,0.9,13,16.4,0.0,358.3,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.9
$GPS2,220218,005520,4737.2329,-12256.0547,10,0.9,16,16.4,0.0,201.9,10,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$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,36.0,2178,-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,7,begin dive
$GC,10,-0.79,-244.4,167,1843,550,481,0.0,0.0,0,59,0.00,0.00,-47.35,0.000,16386,0.000,0.000,168,1843,1676,1728,1625,0,0,0,0,0,0,26.52,28.83,26.53,8.29,48.70
$GC,63,-0.79,-244.4,168,1843,1728,1626,2.3,-2.2,7,133,9.12,2.28,-50.05,0.000,19204,0.194,0.052,2548,452,3246,3313,3179,0,0,0,0,0,0,24.87,23.75,25.25,8.41,48.81
$GC,343,-0.71,-244.4,2548,452,3313,3180,42.8,-16.1,44,351,0.12,2.17,0.00,0.000,3078,0.115,0.031,2582,1847,3246,3313,3180,0,0,0,0,0,0,25.55,25.92,25.73,8.54,48.58
$GC,471,-0.71,-244.4,2581,1847,3313,3180,59.9,-12.7,57,474,0.00,2.20,0.00,0.000,260,0.000,0.040,2574,3250,3246,3313,3180,0,0,0,0,0,0,26.61,25.74,26.62,8.55,49.13
$GC,535,-0.71,-244.4,2573,3251,3313,3180,67.6,-11.9,63,542,0.00,2.15,0.00,0.000,1030,0.000,0.028,2573,1842,3246,3313,3180,0,0,0,0,0,0,25.99,25.95,26.01,8.55,49.25
$GC,663,-0.71,-244.4,2573,1841,3313,3180,83.8,-12.2,76,668,0.00,2.20,0.00,0.000,516,0.000,0.040,2573,450,3246,3313,3180,0,0,0,0,0,0,26.62,25.68,26.63,8.55,49.40
$GC,698,-0.71,-244.4,2573,448,3313,3180,88.1,-12.9,79,706,0.00,2.17,0.00,0.000,1030,0.000,0.030,2566,1847,3246,3313,3180,0,0,0,0,0,0,25.96,25.92,25.99,8.56,49.09
$GC,826,-0.71,-244.4,2565,1847,3313,3180,104.9,-12.5,92,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1847,3246,3313,3180,0,0,0,0,0,0,26.62,26.63,26.63,8.56,50.00
$GC,1008,-0.71,-244.4,2565,1847,3313,3180,127.1,-12.6,110,1017,0.00,2.17,0.00,0.000,260,0.000,0.039,2556,3242,3246,3313,3180,0,0,0,0,0,0,26.62,25.73,26.63,8.57,49.88
$GC,1052,-0.71,-244.4,2555,3242,3313,3180,133.0,-13.0,114,1061,0.00,2.12,0.00,0.000,1030,0.000,0.027,2556,1833,3246,3313,3180,0,0,0,0,0,0,26.00,25.94,26.01,8.57,50.31
$GC,1242,-0.66,-244.4,2555,1833,3313,3180,158.2,-13.2,133,1253,0.12,2.17,0.00,0.000,2564,0.127,0.039,2599,451,3246,3313,3180,0,0,0,0,0,0,26.03,25.65,26.04,8.58,49.96
$GC,1279,-0.66,-244.4,2598,451,3313,3180,162.2,-12.4,136,1286,0.00,2.15,0.00,0.000,1030,0.000,0.028,2594,1839,3246,3313,3180,0,0,0,0,0,0,25.96,25.93,25.99,8.58,50.00
$STATE,1295,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1295,begin apogee
$GC,1301,-0.21,0.0,2594,1839,3313,3180,164.5,-11.4,138,1498,0.40,0.00,193.85,0.662,10246,0.092,0.000,2739,1839,2247,2375,2119,0,0,0,0,0,0,25.53,24.84,24.02,8.58,49.92
$STATE,1499,end apogee,CONTROL_FINISHED_OK
$STATE,1500,begin climb
$GC,1503,0.79,244.4,2739,1839,2374,2118,166.8,0.0,158,1718,0.88,2.25,202.43,0.643,10756,0.064,0.040,3065,458,1248,1354,1142,0,0,0,0,0,0,25.19,24.51,24.01,8.50,47.95
$GC,1796,0.69,244.4,3064,458,1352,1139,136.2,14.4,187,1806,0.08,2.12,0.00,0.000,5126,0.122,0.028,3038,1842,1245,1353,1138,0,0,0,0,0,0,25.51,25.76,25.56,8.42,47.28
$GC,1987,0.62,244.4,3038,1841,1352,1136,110.0,13.7,206,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1842,1244,1352,1136,0,0,0,0,0,0,26.50,26.51,26.51,8.42,48.46
$GC,2175,0.56,244.4,3038,1842,1352,1136,85.6,12.9,225,2180,0.12,2.20,0.00,0.000,4612,0.123,0.039,2999,454,1244,1352,1136,0,0,0,0,0,0,26.03,25.73,26.04,8.41,49.56
$GC,2222,0.56,244.4,2998,454,1352,1134,81.0,10.5,229,2230,0.00,2.15,0.00,0.000,1030,0.000,0.028,2999,1839,1243,1352,1134,0,0,0,0,0,0,26.01,25.99,26.04,8.41,49.60
$GC,2349,0.56,244.4,2998,1840,1352,1134,69.8,8.9,242,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1839,1243,1352,1134,0,0,0,0,0,0,26.60,26.60,26.60,8.41,49.56
$GC,2469,0.56,244.4,2998,1839,1352,1134,59.1,9.1,254,2478,0.00,2.17,0.00,0.000,516,0.000,0.041,3006,455,1243,1352,1134,0,0,0,0,0,0,26.60,25.73,26.61,8.40,49.21
$GC,2532,0.56,244.4,3005,455,1352,1134,53.5,8.9,260,2541,0.00,2.10,0.00,0.000,1030,0.000,0.028,3006,1841,1243,1352,1134,0,0,0,0,0,0,26.02,25.98,26.05,8.40,49.80
$GC,2662,0.56,244.4,3006,1841,1352,1134,41.9,9.2,273,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1841,1243,1352,1134,0,0,0,0,0,0,26.61,26.62,26.62,8.40,49.37
$GC,2782,0.56,244.4,3005,1841,1352,1134,31.3,9.3,285,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1841,1243,1352,1134,0,0,0,0,0,0,26.61,26.62,26.62,8.40,49.96
$GC,2902,0.64,326.5,3005,1841,1352,1134,21.9,7.7,297,2958,0.00,2.25,45.78,0.545,8708,0.000,0.041,3012,458,912,999,826,0,0,0,0,0,0,26.61,25.27,24.44,8.39,49.44
$GC,3004,0.85,439.0,3011,458,999,824,15.3,6.8,311,3067,0.12,2.15,55.20,0.507,11270,0.039,0.028,3127,1842,497,533,461,0,0,0,0,0,0,25.84,25.86,24.34,8.35,48.81
$STATE,3099,end climb,SURFACE_DEPTH_REACHED
$STATE,3100,begin surface coast
$FINISH,0.8,1.021406
$STATE,3117,end surface coast,CONTROL_FINISHED_OK
$STATE,3117,begin surface
$SM_CCo,3194,0.00,0.000,0,0,487,431.73
$SM_GC,1.79,7.68,0.00,0.00,0.026,0.000,0.000,170,1842,487,-8.09,-0.03,431.73,0,0,0,0,0,0,25.94,26.29,25.98
$IRIDIUM_FIX,4738.24,-12244.69,220218,001126
$TT8_MAMPS,0.026964,0.244174
$HUMID,48.34
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,150.2,23.9
$24V_AH,23.75,97.430
$10V_AH,9.85,65.389
$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,18.650,39.200,497.250,0.000,0.000,0.000,0.000,156.225,3.500,0.000,17.668,786.209,1047.462,484.123,1030.152,118.880,0.000,1132.287,0.000,676.828,0.000,26.022,0.000
$DEVICE_MAMPS,193.545,52.020,661.725,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.602,708.185,429.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,24493,329
$CAP_FILE_SIZE,53479,0
$CFSIZE,2097872896,2038857728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.052,221.06,1
$GPS,220218,015011,4737.414,-12255.601,6,0.9,16,16.4,0.0,0.0,9,4.6