version: 66.14
glider: 195
mission: 15
dive: 371
start: 2 14 118 2 34 26
data:
$ID,195
$MISSION,15
$DIVE,371
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,140218,022901,4738.3828,-12253.2773,5,1.1,25,16.4,0.4,75.5,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.6
$GPS2,140218,023346,4738.3916,-12253.2139,6,0.9,23,16.4,0.0,0.0,9,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$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,225.7,1970,-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,-244.4,176,1844,550,483,0.0,0.0,0,39,0.00,0.00,-27.77,0.000,16386,0.000,0.000,176,1844,1210,1278,1143,0,0,0,0,0,0,26.60,28.83,26.61,8.29,47.08
$GC,41,-0.79,-244.4,177,1844,1279,1144,2.3,-3.4,4,119,9.02,2.25,-61.75,0.000,18692,0.193,0.052,2544,3249,3245,3313,3178,0,0,0,0,0,0,24.93,23.84,25.32,8.36,47.24
$GC,264,-0.70,-244.4,2544,3249,3315,3179,33.7,-16.1,34,273,0.12,2.10,0.00,0.000,3078,0.108,0.029,2586,1843,3246,3314,3179,0,0,0,0,0,0,25.84,26.15,25.91,8.53,47.71
$GC,393,-0.70,-244.4,2586,1843,3315,3179,51.5,-12.9,47,403,0.00,2.17,0.00,0.000,516,0.000,0.041,2586,453,3247,3314,3180,0,0,0,0,0,0,26.71,25.98,26.71,8.54,47.51
$GC,438,-0.70,-244.4,2586,452,3315,3179,57.0,-12.5,51,447,0.00,2.15,0.00,0.000,1030,0.000,0.033,2581,1835,3247,3315,3179,0,0,0,0,0,0,26.19,26.14,26.21,8.54,48.50
$GC,568,-0.70,-244.4,2581,1835,3315,3179,72.6,-12.4,64,577,0.00,2.17,0.00,0.000,260,0.000,0.042,2571,3251,3246,3314,3179,0,0,0,0,0,0,26.72,26.02,26.73,8.54,47.75
$GC,634,-0.70,-244.4,2570,3251,3314,3179,80.7,-12.0,70,642,0.00,2.12,0.00,0.000,1030,0.000,0.029,2570,1847,3246,3314,3179,0,0,0,0,0,0,26.22,26.18,26.24,8.55,48.58
$GC,763,-0.70,-244.4,2570,1848,3315,3179,96.9,-12.4,83,766,0.00,2.20,0.00,0.000,516,0.000,0.042,2570,445,3246,3314,3179,0,0,0,0,0,0,26.72,25.98,26.73,8.55,48.50
$GC,796,-0.70,-244.4,2570,444,3314,3179,101.1,-12.9,86,800,0.00,2.17,0.00,0.000,1030,0.000,0.033,2563,1861,3246,3314,3179,0,0,0,0,0,0,26.23,26.15,26.27,8.56,48.66
$GC,992,-0.70,-244.4,2562,1861,3314,3179,125.4,-12.4,105,1002,0.00,2.15,0.00,0.000,260,0.000,0.041,2553,3247,3246,3314,3179,0,0,0,0,0,0,26.70,26.02,26.71,8.57,49.37
$GC,1040,-0.70,-244.4,2552,3247,3314,3179,131.8,-12.9,109,1050,0.08,2.12,0.00,0.000,3078,0.114,0.028,2580,1846,3246,3314,3179,0,0,0,0,0,0,25.94,26.18,25.99,8.56,49.37
$GC,1229,-0.70,-244.4,2580,1846,3314,3179,152.8,-10.8,128,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1846,3246,3314,3179,0,0,0,0,0,0,26.72,26.73,26.73,8.57,48.34
$STATE,1287,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1287,begin apogee
$GC,1292,-0.21,0.0,2580,1846,3314,3179,159.4,-11.0,134,1491,0.43,0.00,194.68,0.667,10246,0.092,0.000,2740,1846,2247,2379,2115,0,0,0,0,0,0,25.79,24.71,23.77,8.57,48.58
$STATE,1492,end apogee,CONTROL_FINISHED_OK
$STATE,1492,begin climb
$GC,1495,0.79,244.4,2739,1846,2378,2114,163.9,0.0,154,1711,0.88,2.25,203.55,0.647,10756,0.065,0.042,3066,454,1248,1355,1141,0,0,0,0,0,0,25.34,24.36,23.82,8.49,46.96
$GC,1768,0.68,244.4,3065,454,1354,1139,136.1,14.1,181,1776,0.10,2.17,0.00,0.000,5126,0.114,0.030,3032,1838,1246,1354,1139,0,0,0,0,0,0,25.59,25.83,25.65,8.40,46.06
$GC,1958,0.62,244.4,3031,1838,1354,1138,112.5,11.7,200,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1838,1245,1354,1137,0,0,0,0,0,0,26.58,26.58,26.58,8.40,47.40
$GC,2146,0.57,244.4,3031,1838,1354,1137,90.1,11.9,219,2151,0.10,2.20,0.00,0.000,4612,0.133,0.041,3000,453,1245,1354,1137,0,0,0,0,0,0,26.20,26.01,26.22,8.41,47.83
$GC,2202,0.57,244.4,3000,452,1353,1136,84.7,9.4,224,2210,0.00,2.15,0.00,0.000,1030,0.000,0.031,3000,1839,1244,1352,1136,0,0,0,0,0,0,26.22,26.18,26.25,8.40,47.63
$GC,2330,0.57,244.4,3000,1839,1353,1136,72.4,9.2,237,2335,0.00,2.20,0.00,0.000,516,0.000,0.043,3007,451,1244,1353,1136,0,0,0,0,0,0,26.70,26.02,26.70,8.40,48.14
$GC,2365,0.57,244.4,3007,451,1353,1136,69.3,9.7,240,2373,0.00,2.15,0.00,0.000,1030,0.000,0.031,3007,1839,1244,1353,1136,0,0,0,0,0,0,26.23,26.20,26.27,8.41,48.22
$GC,2493,0.57,244.4,3007,1839,1353,1136,56.7,9.4,253,2498,0.00,2.22,0.00,0.000,260,0.000,0.040,3007,3269,1244,1353,1135,0,0,0,0,0,0,26.70,26.08,26.71,8.40,48.03
$GC,2539,0.57,244.4,3007,3270,1353,1136,52.3,10.0,257,2546,0.00,2.17,0.00,0.000,1030,0.000,0.030,3012,1848,1244,1353,1136,0,0,0,0,0,0,26.23,26.19,26.26,8.39,47.95
$GC,2666,0.57,244.4,3011,1848,1353,1136,40.4,8.8,270,2670,0.00,2.20,0.00,0.000,516,0.000,0.043,3012,446,1244,1353,1135,0,0,0,0,0,0,26.72,26.01,26.72,8.38,48.07
$GC,2750,0.57,244.4,3011,445,1353,1135,33.0,8.7,278,2759,0.00,2.17,0.00,0.000,1030,0.000,0.030,3012,1855,1244,1353,1135,0,0,0,0,0,0,26.24,26.20,26.27,8.38,47.99
$GC,2879,0.57,244.4,3011,1855,1353,1135,22.2,8.1,291,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1855,1244,1353,1135,0,0,0,0,0,0,26.72,26.73,26.73,8.39,48.62
$GC,3005,0.70,372.8,3012,1855,1352,1135,13.2,6.4,312,3080,0.00,2.28,67.57,0.506,8708,0.000,0.042,3012,450,724,822,626,0,0,0,0,0,0,26.72,24.67,24.21,8.38,47.67
$GC,3121,0.99,528.6,3011,449,821,624,6.6,5.6,330,3158,0.22,2.17,30.52,0.470,11270,0.030,0.028,3189,1851,496,538,455,0,0,0,0,0,0,25.98,25.94,24.27,8.33,47.16
$STATE,3164,end climb,SURFACE_DEPTH_REACHED
$STATE,3164,begin surface coast
$FINISH,0.6,1.009570
$STATE,3187,end surface coast,CONTROL_FINISHED_OK
$STATE,3187,begin surface
$SM_CCo,3263,0.00,0.000,0,0,487,431.73
$SM_GC,2.04,7.88,0.00,0.00,0.029,0.000,0.000,182,1851,487,-8.07,0.23,431.73,0,0,0,0,0,0,26.00,26.34,26.04
$IRIDIUM_FIX,4740.06,-12250.84,140218,013007
$TT8_MAMPS,0.026964,0.242676
$HUMID,47.28
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,150.6,18.1
$24V_AH,23.77,81.283
$10V_AH,9.81,55.619
$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,18.825,47.975,496.325,0.000,0.000,0.000,0.000,195.875,3.250,0.000,25.686,824.551,1052.062,492.811,1096.802,109.447,0.000,1180.962,0.000,690.724,0.000,23.139,0.000
$DEVICE_MAMPS,192.780,52.020,667.080,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.318,731.918,444.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312072
$DATA_FILE_SIZE,24537,340
$CAP_FILE_SIZE,56221,0
$CFSIZE,2097872896,2058223616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,62.92,1
$GPS,140218,032946,4738.333,-12253.652,5,0.9,18,16.4,0.0,66.9,9,4.6