version: 66.14
glider: 195
mission: 15
dive: 705
start: 2 27 118 7 38 46
data:
$ID,195
$MISSION,15
$DIVE,705
$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,51
$R_STBD_OVSHOOT,41
$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
$GPS1,270218,073337,4737.2183,-12256.1904,4,0.9,13,16.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.3
$GPS2,270218,073804,4737.2241,-12256.1777,5,0.9,17,16.4,0.0,341.5,9,4.8
$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,40.1,2317,-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,10,-0.79,-244.4,174,1849,545,482,0.0,0.0,0,60,0.00,0.00,-47.95,0.000,16386,0.000,0.000,174,1850,1692,1740,1644,0,0,0,0,0,0,26.39,28.83,26.39,8.30,48.74
$GC,63,-0.79,-244.4,174,1849,1740,1645,2.4,-2.6,7,127,9.07,2.28,-48.60,0.000,19204,0.194,0.050,2542,3248,3245,3302,3188,0,0,0,0,0,0,24.98,23.50,25.34,8.41,49.13
$GC,321,-0.72,-244.4,2542,3248,3305,3189,36.9,-14.5,42,326,0.12,2.15,0.00,0.000,3078,0.119,0.026,2582,1830,3247,3305,3189,0,0,0,0,0,0,25.41,25.72,25.50,8.55,49.29
$GC,455,-0.72,-244.4,2582,1830,3305,3189,54.4,-12.5,55,458,0.00,2.20,0.00,0.000,516,0.000,0.039,2582,450,3247,3305,3189,0,0,0,0,0,0,26.48,25.39,26.48,8.55,49.56
$GC,479,-0.72,-244.4,2582,449,3305,3189,57.6,-13.1,57,488,0.00,2.12,0.00,0.000,1030,0.000,0.028,2576,1837,3246,3304,3189,0,0,0,0,0,0,25.72,25.69,25.75,8.55,50.19
$GC,607,-0.72,-244.4,2576,1837,3305,3189,74.3,-13.2,70,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1837,3247,3305,3189,0,0,0,0,0,0,26.48,26.49,26.49,8.56,49.72
$GC,727,-0.72,-244.4,2576,1837,3305,3189,89.6,-12.5,82,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1837,3247,3305,3189,0,0,0,0,0,0,26.48,26.50,26.50,8.56,50.15
$GC,847,-0.72,-244.4,2575,1837,3304,3189,104.4,-12.5,94,852,0.00,2.25,0.00,0.000,260,0.000,0.038,2566,3254,3247,3305,3189,0,0,0,0,0,0,26.48,25.40,26.49,8.56,50.23
$GC,905,-0.72,-244.4,2565,3254,3304,3189,111.0,-12.1,99,913,0.00,2.15,0.00,0.000,1030,0.000,0.026,2566,1852,3247,3305,3189,0,0,0,0,0,0,25.72,25.69,25.75,8.57,50.55
$GC,1094,-0.72,-244.4,2565,1852,3304,3189,135.2,-12.7,118,1103,0.00,2.22,0.00,0.000,516,0.000,0.039,2566,452,3246,3304,3189,0,0,0,0,0,0,26.48,25.33,26.50,8.58,50.90
$GC,1127,-0.72,-244.4,2565,452,3304,3189,139.7,-13.0,121,1132,0.00,2.15,0.00,0.000,1030,0.000,0.029,2557,1844,3247,3305,3189,0,0,0,0,0,0,25.72,25.65,25.76,8.58,50.55
$STATE,1319,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1319,begin apogee
$GC,1325,-0.21,0.0,2556,1845,3304,3188,165.2,-13.2,140,1522,0.52,0.00,192.77,0.666,10246,0.097,0.000,2739,1845,2246,2367,2126,0,0,0,0,0,0,24.98,24.70,24.01,8.59,50.51
$STATE,1523,end apogee,CONTROL_FINISHED_OK
$STATE,1523,begin climb
$GC,1528,0.79,244.4,2739,1845,2367,2124,168.7,0.0,160,1742,0.90,2.33,202.20,0.651,10756,0.069,0.038,3064,454,1248,1349,1147,0,0,0,0,0,0,24.94,24.23,23.77,8.51,49.05
$GC,1881,0.69,244.4,3063,454,1349,1141,130.9,14.3,195,1885,0.00,2.17,0.00,0.000,1030,0.000,0.028,3064,1853,1245,1349,1141,0,0,0,0,0,0,25.60,25.52,25.63,8.42,48.74
$GC,2074,0.60,244.4,3063,1853,1349,1140,103.1,14.0,214,2082,0.17,0.00,0.00,0.000,4102,0.115,0.000,3007,1853,1244,1349,1140,0,0,0,0,0,0,25.67,25.78,25.73,8.42,49.40
$GC,2264,0.60,244.4,3006,1853,1349,1139,84.4,9.3,233,2273,0.00,2.25,0.00,0.000,516,0.000,0.040,3015,448,1243,1348,1139,0,0,0,0,0,0,26.43,25.46,26.44,8.42,49.52
$GC,2331,0.60,244.4,3015,448,1349,1139,78.1,9.8,239,2339,0.00,2.17,0.00,0.000,1030,0.000,0.028,3015,1841,1244,1349,1139,0,0,0,0,0,0,25.79,25.76,25.81,8.42,50.47
$GC,2458,0.60,244.4,3014,1841,1349,1139,64.6,10.1,252,2463,0.00,2.22,0.00,0.000,516,0.000,0.040,3022,448,1244,1349,1139,0,0,0,0,0,0,26.46,25.44,26.46,8.41,49.72
$GC,2483,0.60,244.4,3022,448,1350,1139,62.1,10.8,254,2488,0.00,2.15,0.00,0.000,1030,0.000,0.028,3023,1841,1243,1349,1138,0,0,0,0,0,0,25.82,25.75,25.86,8.42,49.88
$GC,2616,0.60,244.4,3022,1842,1349,1139,47.8,10.2,267,2620,0.00,2.20,0.00,0.000,260,0.000,0.037,3022,3252,1244,1349,1139,0,0,0,0,0,0,26.46,25.51,26.47,8.40,49.64
$GC,2649,0.60,244.4,3022,3252,1349,1139,44.4,10.4,270,2654,0.00,2.15,0.00,0.000,1030,0.000,0.028,3028,1843,1244,1349,1139,0,0,0,0,0,0,25.79,25.71,25.83,8.41,49.92
$GC,2783,0.60,244.4,3027,1842,1349,1139,31.2,10.1,283,2792,0.00,2.22,0.00,0.000,516,0.000,0.040,3037,446,1244,1349,1139,0,0,0,0,0,0,26.47,25.40,26.48,8.40,49.96
$GC,2869,0.60,244.4,3037,446,1349,1139,22.9,10.0,291,2877,0.08,2.20,0.00,0.000,5126,0.103,0.028,3009,1851,1243,1348,1139,0,0,0,0,0,0,25.48,25.70,25.52,8.39,50.39
$GC,3003,0.74,389.6,3009,1852,1348,1138,12.7,5.9,313,3086,0.08,0.00,75.25,0.522,10758,0.095,0.000,3106,1852,654,731,578,0,0,0,0,0,0,26.25,25.23,24.63,8.39,49.37
$STATE,3102,end climb,SURFACE_DEPTH_REACHED
$STATE,3102,begin surface coast
$FINISH,0.7,1.010613
$STATE,3132,end surface coast,CONTROL_FINISHED_OK
$STATE,3132,begin surface
$SM_CCo,3150,15.30,0.054,0,0,534,420.20
$SM_GC,1.64,7.70,0.00,15.30,0.026,0.000,0.054,172,1852,534,-8.07,0.28,420.20,0,0,0,0,0,0,25.75,26.16,25.33
$IRIDIUM_FIX,4738.33,-12256.21,270218,065344
$TT8_MAMPS,0.026964,0.244174
$HUMID,48.58
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,111.0,64.2
$24V_AH,23.50,108.682
$10V_AH,9.85,71.876
$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,18.650,39.600,470.225,15.300,0.000,0.000,0.000,173.700,1.250,0.000,18.502,811.599,996.513,461.353,1059.818,135.867,0.000,1121.267,0.000,685.029,0.000,10.435,0.000
$DEVICE_MAMPS,193.545,49.725,666.315,53.550,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.321,716.746,435.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,24603,333
$CAP_FILE_SIZE,51943,0
$CFSIZE,2097872896,2025390080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,228.59,1
$GPS,270218,083249,4737.290,-12255.739,5,0.8,33,16.4,0.0,15.0,10,4.5