version: 66.14
glider: 195
mission: 15
dive: 571
start: 2 22 118 3 49 56
data:
$ID,195
$MISSION,15
$DIVE,571
$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,40
$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
$GPS1,220218,034500,4737.8496,-12254.6826,33,0.9,38,16.4,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.7
$GPS2,220218,034915,4737.8481,-12254.6650,4,0.9,14,16.4,0.0,50.5,9,4.9
$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,47.4,2103,-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,-244.4,171,1845,548,487,0.0,0.0,0,59,0.00,0.00,-47.83,0.000,16386,0.000,0.000,171,1846,1678,1728,1629,0,0,0,0,0,0,26.51,28.83,26.52,8.29,47.99
$GC,63,-0.79,-244.4,171,1845,1729,1631,2.3,-2.3,7,132,9.12,2.25,-50.75,0.000,18948,0.194,0.051,2554,454,3246,3312,3180,0,0,0,0,0,0,24.89,23.68,25.27,8.41,48.03
$GC,240,-0.70,-244.4,2553,454,3312,3180,26.7,-18.6,34,246,0.12,2.15,0.00,0.000,3078,0.131,0.030,2585,1852,3246,3312,3180,0,0,0,0,0,0,25.60,25.91,25.71,8.54,48.30
$GC,374,-0.70,-244.4,2584,1852,3312,3180,45.5,-13.1,47,384,0.00,2.17,0.00,0.000,260,0.000,0.039,2577,3243,3246,3312,3180,0,0,0,0,0,0,26.60,25.76,26.61,8.55,49.13
$GC,428,-0.70,-244.4,2576,3243,3313,3180,52.1,-12.3,52,432,0.00,2.12,0.00,0.000,1030,0.000,0.028,2577,1835,3246,3312,3180,0,0,0,0,0,0,26.03,25.94,26.06,8.54,48.70
$GC,561,-0.70,-244.4,2576,1834,3312,3180,69.3,-13.4,65,570,0.00,2.17,0.00,0.000,516,0.000,0.040,2577,456,3246,3312,3180,0,0,0,0,0,0,26.61,25.68,26.62,8.55,49.37
$GC,593,-0.70,-244.4,2576,456,3312,3180,73.8,-13.5,68,598,0.00,2.12,0.00,0.000,1030,0.000,0.030,2569,1845,3246,3312,3180,0,0,0,0,0,0,26.00,25.91,26.03,8.56,49.44
$GC,727,-0.70,-244.4,2568,1845,3312,3180,91.6,-13.5,81,730,0.00,2.20,0.00,0.000,260,0.000,0.039,2559,3251,3246,3312,3180,0,0,0,0,0,0,26.61,25.72,26.62,8.57,49.88
$GC,761,-0.70,-244.4,2558,3251,3312,3180,96.0,-13.8,84,769,0.00,2.15,0.00,0.000,1030,0.000,0.027,2559,1845,3246,3312,3180,0,0,0,0,0,0,25.96,25.94,26.00,8.56,49.84
$GC,892,-0.65,-244.4,2558,1845,3312,3179,113.6,-13.8,97,905,0.12,0.00,0.00,0.000,2054,0.132,0.000,2602,1845,3245,3311,3180,0,0,0,0,0,0,26.01,26.06,26.03,8.57,50.31
$GC,1085,-0.65,-244.4,2602,1845,3312,3180,134.3,-10.0,116,1098,0.00,2.20,0.00,0.000,516,0.000,0.040,2602,449,3246,3312,3180,0,0,0,0,0,0,26.62,25.65,26.63,8.57,50.15
$GC,1122,-0.65,-244.4,2602,448,3312,3180,138.4,-10.4,119,1132,0.00,2.12,0.00,0.000,1030,0.000,0.029,2597,1844,3246,3312,3180,0,0,0,0,0,0,25.94,25.90,25.97,8.57,50.51
$STATE,1270,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1270,begin apogee
$GC,1275,-0.21,0.0,2596,1844,3312,3180,153.9,-10.3,134,1472,0.40,0.00,192.98,0.658,10246,0.090,0.000,2742,1844,2246,2369,2124,0,0,0,0,0,0,25.53,24.85,24.03,8.58,49.68
$STATE,1473,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1476,0.79,244.4,2742,1844,2368,2123,157.3,0.0,154,1686,0.88,2.30,201.32,0.643,10756,0.064,0.041,3067,455,1248,1350,1147,0,0,0,0,0,0,25.18,24.86,24.00,8.50,48.34
$GC,1769,0.68,244.4,3066,455,1349,1144,126.6,14.1,183,1780,0.10,2.12,0.00,0.000,5126,0.115,0.028,3034,1836,1246,1349,1143,0,0,0,0,0,0,25.48,25.76,25.53,8.42,47.91
$GC,1961,0.62,244.4,3033,1835,1349,1141,102.7,12.6,202,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1835,1245,1349,1141,0,0,0,0,0,0,26.50,26.51,26.50,8.41,48.70
$GC,2149,0.57,244.4,3033,1836,1349,1141,80.5,11.5,221,2159,0.10,2.17,0.00,0.000,4612,0.132,0.039,3002,454,1245,1349,1141,0,0,0,0,0,0,26.10,25.74,26.10,8.41,48.89
$GC,2193,0.57,244.4,3001,453,1349,1139,76.1,10.1,225,2203,0.00,2.12,0.00,0.000,1030,0.000,0.028,3002,1850,1244,1349,1139,0,0,0,0,0,0,26.01,26.00,26.03,8.41,49.21
$GC,2324,0.57,244.4,3001,1850,1349,1139,64.5,9.0,238,2328,0.00,2.20,0.00,0.000,260,0.000,0.038,3002,3257,1244,1349,1139,0,0,0,0,0,0,26.59,25.80,26.60,8.41,48.93
$GC,2357,0.57,244.4,3001,3257,1349,1139,61.1,9.5,241,2367,0.00,2.12,0.00,0.000,1030,0.000,0.028,3005,1838,1244,1349,1139,0,0,0,0,0,0,25.99,25.96,26.02,8.41,49.01
$GC,2487,0.57,244.4,3005,1839,1349,1139,48.7,9.3,254,2491,0.00,2.20,0.00,0.000,516,0.000,0.041,3015,453,1244,1349,1139,0,0,0,0,0,0,26.60,25.71,26.61,8.40,48.93
$GC,2552,0.57,244.4,3014,452,1349,1139,42.9,9.4,260,2560,0.00,2.15,0.00,0.000,1030,0.000,0.028,3015,1840,1244,1349,1139,0,0,0,0,0,0,26.01,25.98,26.04,8.39,49.56
$GC,2680,0.57,244.4,3015,1839,1349,1139,31.7,8.8,273,2690,0.00,2.17,0.00,0.000,516,0.000,0.041,3020,458,1243,1348,1139,0,0,0,0,0,0,26.60,25.71,26.62,8.39,49.56
$GC,2744,0.57,244.4,3020,458,1349,1139,26.1,8.8,279,2754,0.00,2.10,0.00,0.000,1030,0.000,0.028,3020,1841,1244,1349,1139,0,0,0,0,0,0,26.01,25.98,26.03,8.39,49.92
$GC,2877,0.69,367.4,3019,1842,1349,1139,16.2,6.5,297,2952,0.00,2.28,65.57,0.521,8708,0.000,0.041,3026,454,747,827,667,0,0,0,0,0,0,26.61,25.20,24.42,8.38,50.00
$GC,2982,0.89,485.1,3025,453,827,665,8.9,6.7,313,3024,0.12,2.17,33.45,0.478,11270,0.037,0.028,3140,1849,495,529,461,0,0,0,0,0,0,25.76,25.79,24.33,8.34,48.14
$STATE,3030,end climb,SURFACE_DEPTH_REACHED
$STATE,3030,begin surface coast
$FINISH,0.7,1.014837
$STATE,3053,end surface coast,CONTROL_FINISHED_OK
$STATE,3053,begin surface
$SM_CCo,3130,0.00,0.000,0,0,486,431.97
$SM_GC,1.70,7.72,0.00,0.00,0.028,0.000,0.000,177,1850,486,-8.06,0.20,431.97,0,0,0,0,0,0,25.93,26.26,25.96
$IRIDIUM_FIX,4739.20,-12253.53,220218,025108
$TT8_MAMPS,0.026964,0.241178
$HUMID,47.79
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,140.4,23.0
$24V_AH,23.68,97.688
$10V_AH,9.86,65.541
$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,18.700,47.800,493.325,0.000,0.000,0.000,0.000,166.175,3.750,0.000,16.852,769.120,994.013,497.049,1023.246,129.264,0.000,1168.448,0.000,666.265,0.000,31.282,0.000
$DEVICE_MAMPS,193.545,51.255,657.900,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.882,697.408,423.238,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312104
$DATA_FILE_SIZE,21094,324
$CAP_FILE_SIZE,54738,0
$CFSIZE,2097872896,2038562816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1961.33,0x2367ba,1,24
$CURRENT,0.045,280.01,1
$GPS,220218,044301,4738.024,-12254.079,3,1.0,15,16.4,0.0,216.3,9,5.0