version: 66.14
glider: 195
mission: 15
dive: 651
start: 2 25 118 7 18 11
data:
$ID,195
$MISSION,15
$DIVE,651
$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,47
$R_STBD_OVSHOOT,50
$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
$GPS1,250218,071155,4737.5283,-12255.1904,3,1.0,36,16.4,0.4,17.6,9,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-65.2
$GPS2,250218,071731,4737.5898,-12255.1436,10,1.0,34,16.4,0.2,27.0,8,3.0
$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,42.0,869,-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,-244.4,177,1850,556,485,0.0,0.0,0,39,0.00,0.00,-28.45,0.000,16386,0.000,0.000,178,1850,1221,1294,1149,0,0,0,0,0,0,26.43,28.83,26.44,8.30,48.42
$GC,42,-0.79,-244.4,178,1850,1294,1150,2.0,-2.1,4,123,9.05,2.25,-65.47,0.000,18692,0.192,0.050,2538,3238,3246,3312,3181,0,0,0,0,0,0,24.93,23.61,25.10,8.35,48.50
$GC,330,-0.69,-244.4,2538,3239,3312,3181,40.6,-14.9,42,339,0.15,2.15,0.00,0.000,3078,0.105,0.028,2588,1842,3246,3312,3181,0,0,0,0,0,0,25.33,25.74,25.38,8.53,48.70
$GC,458,-0.69,-244.4,2587,1841,3312,3181,57.6,-12.3,55,468,0.00,2.20,0.00,0.000,260,0.000,0.039,2580,3233,3247,3313,3181,0,0,0,0,0,0,26.52,25.47,26.53,8.55,49.37
$GC,492,-0.69,-244.4,2580,3233,3312,3181,61.8,-12.3,58,496,0.00,2.10,0.00,0.000,1030,0.000,0.027,2580,1842,3247,3313,3181,0,0,0,0,0,0,25.82,25.74,25.84,8.54,49.33
$GC,625,-0.69,-244.4,2579,1841,3313,3181,78.1,-12.4,71,629,0.00,2.22,0.00,0.000,516,0.000,0.039,2580,444,3246,3313,3180,0,0,0,0,0,0,26.53,25.39,26.53,8.55,50.31
$GC,690,-0.69,-244.4,2579,443,3313,3182,86.2,-12.1,77,699,0.00,2.17,0.00,0.000,1030,0.000,0.030,2571,1832,3247,3313,3181,0,0,0,0,0,0,25.72,25.69,25.75,8.55,50.31
$GC,821,-0.69,-244.4,2571,1832,3312,3181,103.1,-13.5,90,830,0.00,2.22,0.00,0.000,260,0.000,0.039,2562,3251,3246,3312,3181,0,0,0,0,0,0,26.53,25.43,26.53,8.56,49.84
$GC,900,-0.69,-244.4,2561,3251,3312,3181,113.4,-12.6,97,910,0.00,2.12,0.00,0.000,1030,0.000,0.027,2562,1836,3246,3312,3181,0,0,0,0,0,0,25.74,25.71,25.77,8.57,49.72
$GC,1090,-0.69,-244.4,2561,1836,3312,3181,137.9,-12.2,116,1094,0.00,2.20,0.00,0.000,516,0.000,0.040,2562,454,3246,3312,3181,0,0,0,0,0,0,26.53,25.35,26.54,8.57,50.55
$GC,1145,-0.69,-244.4,2561,454,3312,3181,145.0,-13.2,121,1154,0.10,2.17,0.00,0.000,3078,0.112,0.031,2587,1842,3247,3313,3181,0,0,0,0,0,0,25.32,25.65,25.37,8.57,50.59
$STATE,1262,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1262,begin apogee
$GC,1267,-0.21,0.0,2587,1842,3312,3181,158.9,-10.9,133,1464,0.43,0.00,192.77,0.651,10246,0.093,0.000,2742,1842,2246,2379,2114,0,0,0,0,0,0,25.25,24.82,24.07,8.58,50.23
$STATE,1465,end apogee,CONTROL_FINISHED_OK
$STATE,1466,begin climb
$GC,1468,0.79,244.4,2741,1842,2379,2113,160.9,0.0,153,1685,0.85,2.30,201.73,0.638,11012,0.054,0.036,3057,3250,1249,1354,1144,0,0,0,0,0,0,25.14,24.44,23.96,8.49,48.54
$GC,1773,0.71,244.4,3056,3251,1353,1143,132.4,13.9,183,1784,0.00,2.15,0.00,0.000,1030,0.000,0.028,3064,1845,1247,1352,1143,0,0,0,0,0,0,25.58,25.54,25.60,8.41,47.71
$GC,1963,0.60,244.4,3063,1845,1353,1140,104.8,14.5,202,1974,0.15,2.22,0.00,0.000,4612,0.124,0.039,3019,451,1246,1352,1140,0,0,0,0,0,0,25.73,25.50,25.76,8.41,49.17
$GC,2073,0.60,244.4,3018,450,1352,1137,92.5,10.6,212,2083,0.00,2.12,0.00,0.000,1030,0.000,0.028,3019,1838,1244,1351,1137,0,0,0,0,0,0,25.83,25.79,25.85,8.41,49.40
$GC,2202,0.60,244.4,3019,1838,1352,1137,78.8,10.2,225,2212,0.00,2.20,0.00,0.000,260,0.000,0.037,3019,3258,1244,1352,1137,0,0,0,0,0,0,26.48,25.59,26.49,8.41,49.13
$GC,2238,0.60,244.4,3018,3258,1352,1137,75.0,10.8,228,2246,0.00,2.17,0.00,0.000,1030,0.000,0.028,3026,1846,1244,1352,1137,0,0,0,0,0,0,25.80,25.77,25.83,8.41,49.29
$GC,2366,0.60,244.4,3025,1845,1352,1137,60.6,11.2,241,2377,0.00,2.22,0.00,0.000,516,0.000,0.041,3036,449,1244,1351,1137,0,0,0,0,0,0,26.51,25.47,26.51,8.40,49.72
$GC,2463,0.60,244.4,3035,449,1352,1137,50.4,10.3,250,2473,0.08,2.15,0.00,0.000,5126,0.106,0.028,3009,1855,1244,1352,1137,0,0,0,0,0,0,25.53,25.78,25.57,8.40,49.21
$GC,2593,0.60,244.4,3008,1855,1351,1137,38.3,9.0,263,2603,0.00,2.17,0.00,0.000,260,0.000,0.037,3009,3246,1244,1352,1137,0,0,0,0,0,0,26.52,25.55,26.53,8.39,49.56
$GC,2671,0.60,244.4,3009,3247,1352,1137,31.7,8.3,270,2679,0.00,2.17,0.00,0.000,1030,0.000,0.027,3012,1835,1244,1351,1137,0,0,0,0,0,0,25.77,25.75,25.81,8.39,49.05
$GC,2799,0.69,332.7,3011,1835,1351,1137,21.3,7.5,283,2855,0.00,2.28,48.95,0.537,8708,0.000,0.041,3012,448,887,977,798,0,0,0,0,0,0,26.53,25.30,24.54,8.38,49.92
$GC,2941,0.83,417.7,3012,448,977,794,10.7,7.6,306,2998,0.12,2.17,45.62,0.488,11270,0.037,0.026,3125,1846,538,583,493,0,0,0,0,0,0,25.70,25.75,24.48,8.35,49.37
$STATE,3014,end climb,SURFACE_DEPTH_REACHED
$STATE,3014,begin surface coast
$FINISH,0.6,1.019950
$STATE,3044,end surface coast,CONTROL_FINISHED_OK
$STATE,3044,begin surface
$SM_CCo,3122,0.00,0.000,0,0,531,420.93
$SM_GC,1.89,7.78,0.00,0.00,0.031,0.000,0.000,181,1848,531,-8.06,0.14,420.93,0,0,0,0,0,0,25.84,26.25,25.89
$IRIDIUM_FIX,4738.33,-12256.21,250218,060939
$TT8_MAMPS,0.026964,0.241178
$HUMID,48.30
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.0
$ALTIM_BOTTOM_PING,135.3,33.3
$24V_AH,23.61,104.240
$10V_AH,9.85,69.430
$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,18.700,48.175,489.075,0.000,0.000,0.000,0.000,217.775,2.750,0.000,35.508,779.083,954.083,488.482,1122.986,136.929,0.000,1216.738,0.000,703.313,0.000,22.766,0.000
$DEVICE_MAMPS,192.015,49.725,651.015,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.762,692.478,420.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312052
$DATA_FILE_SIZE,24550,322
$CAP_FILE_SIZE,54265,0
$CFSIZE,2097872896,2030698496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,301.94,1
$GPS,250218,081106,4737.709,-12254.843,4,1.0,13,16.4,0.0,47.2,8,5.0