version: 66.14
glider: 195
mission: 15
dive: 706
start: 2 27 118 8 38 0
data:
$ID,195
$MISSION,15
$DIVE,706
$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,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
$GPS1,270218,083249,4737.2900,-12255.7393,5,0.8,33,16.4,0.0,15.0,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.5
$GPS2,270218,083717,4737.3047,-12255.7158,12,0.8,12,16.4,0.0,0.0,10,0.0
$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,35.3,1757,-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,-244.4,171,1853,551,485,0.0,0.0,0,60,0.00,0.00,-47.95,0.000,16386,0.000,0.000,171,1853,1675,1725,1626,0,0,0,0,0,0,26.36,28.83,26.36,8.31,49.09
$GC,63,-0.79,-244.4,171,1853,1725,1626,2.2,-2.2,7,133,9.02,2.28,-49.25,0.000,18692,0.192,0.050,2540,3252,3246,3301,3191,0,0,0,0,0,0,25.00,23.50,25.35,8.41,49.72
$GC,321,-0.71,-244.4,2539,3252,3302,3192,38.0,-15.8,42,327,0.12,2.15,0.00,0.000,3078,0.121,0.026,2579,1833,3247,3302,3192,0,0,0,0,0,0,25.42,25.72,25.51,8.55,49.21
$GC,455,-0.71,-244.4,2579,1833,3302,3192,56.6,-13.1,55,465,0.00,2.17,0.00,0.000,516,0.000,0.040,2580,454,3246,3302,3191,0,0,0,0,0,0,26.46,25.39,26.48,8.55,50.00
$GC,480,-0.71,-244.4,2579,454,3302,3191,59.9,-13.4,57,488,0.00,2.17,0.00,0.000,1030,0.000,0.030,2573,1840,3246,3302,3191,0,0,0,0,0,0,25.71,25.69,25.74,8.55,49.52
$GC,609,-0.71,-244.4,2573,1840,3302,3191,76.4,-12.6,70,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1840,3246,3302,3191,0,0,0,0,0,0,26.48,26.48,26.48,8.56,49.92
$GC,729,-0.71,-244.4,2572,1840,3302,3191,91.2,-12.2,82,733,0.00,2.25,0.00,0.000,260,0.000,0.038,2563,3256,3247,3302,3192,0,0,0,0,0,0,26.48,25.41,26.48,8.56,50.63
$GC,774,-0.71,-244.4,2563,3257,3302,3192,96.6,-12.2,86,782,0.00,2.17,0.00,0.000,1030,0.000,0.027,2563,1845,3246,3302,3191,0,0,0,0,0,0,25.73,25.73,25.75,8.56,50.27
$GC,904,-0.71,-244.4,2562,1845,3302,3192,113.5,-13.2,99,913,0.00,2.17,0.00,0.000,516,0.000,0.039,2563,456,3246,3301,3192,0,0,0,0,0,0,26.48,25.35,26.48,8.57,50.74
$GC,962,-0.71,-244.4,2563,456,3302,3191,121.0,-13.9,104,970,0.00,2.20,0.00,0.000,1030,0.000,0.030,2555,1854,3246,3302,3191,0,0,0,0,0,0,25.67,25.64,25.70,8.58,50.15
$GC,1152,-0.71,-244.4,2554,1855,3302,3191,147.4,-13.6,123,1157,0.00,2.20,0.00,0.000,260,0.000,0.038,2545,3254,3246,3302,3191,0,0,0,0,0,0,26.48,25.40,26.49,8.58,51.02
$GC,1218,-0.71,-244.4,2544,3254,3302,3192,156.2,-13.7,129,1226,0.10,2.17,0.00,0.000,3078,0.106,0.027,2579,1840,3246,3302,3191,0,0,0,0,0,0,25.36,25.67,25.39,8.58,51.18
$STATE,1264,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1264,begin apogee
$GC,1270,-0.21,0.0,2578,1839,3302,3192,162.2,-11.7,134,1466,0.45,0.00,192.18,0.666,10246,0.092,0.000,2742,1839,2246,2371,2122,0,0,0,0,0,0,25.19,24.71,24.03,8.58,50.70
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1470,0.79,244.4,2741,1839,2370,2121,167.5,0.0,154,1687,0.88,2.33,202.62,0.644,10756,0.066,0.040,3061,458,1249,1352,1146,0,0,0,0,0,0,24.96,24.51,23.80,8.50,49.52
$GC,1817,0.70,244.4,3061,458,1351,1139,130.7,13.8,188,1825,0.00,2.20,0.00,0.000,1030,0.000,0.028,3061,1847,1245,1351,1139,0,0,0,0,0,0,25.54,25.51,25.58,8.42,48.50
$GC,2007,0.60,244.4,3061,1847,1351,1139,103.2,14.1,207,2017,0.15,2.22,0.00,0.000,4612,0.119,0.038,3017,452,1245,1351,1139,0,0,0,0,0,0,25.72,25.44,25.74,8.42,49.29
$GC,2033,0.53,244.4,3016,451,1351,1138,100.1,13.4,209,2041,0.10,2.17,0.00,0.000,5126,0.102,0.028,2982,1846,1244,1351,1138,0,0,0,0,0,0,25.47,25.74,25.51,8.41,49.40
$GC,2224,0.53,244.4,2981,1846,1351,1138,82.9,8.1,228,2233,0.00,2.22,0.00,0.000,516,0.000,0.041,2987,454,1244,1351,1138,0,0,0,0,0,0,26.44,25.45,26.45,8.42,49.80
$GC,2257,0.53,244.4,2987,454,1351,1137,79.8,8.6,231,2268,0.00,2.12,0.00,0.000,1030,0.000,0.028,2987,1845,1244,1351,1137,0,0,0,0,0,0,25.83,25.76,25.86,8.42,50.03
$GC,2388,0.53,244.4,2987,1846,1351,1137,68.3,8.2,244,2397,0.00,2.20,0.00,0.000,260,0.000,0.037,2987,3251,1244,1351,1137,0,0,0,0,0,0,26.46,25.55,26.46,8.41,49.52
$GC,2424,0.53,244.4,2987,3251,1351,1137,65.5,8.2,247,2433,0.00,2.17,0.00,0.000,1030,0.000,0.028,2987,1840,1244,1351,1137,0,0,0,0,0,0,25.77,25.74,25.80,8.40,49.96
$GC,2553,0.61,321.1,2987,1840,1351,1137,54.8,7.8,260,2625,0.00,2.30,64.72,0.594,8708,0.000,0.041,2987,445,933,1024,843,0,0,0,0,0,0,26.46,25.26,24.53,8.41,49.56
$GC,2706,0.66,321.1,2987,445,1025,841,42.0,9.8,275,2717,0.05,2.15,0.00,0.000,3078,0.072,0.026,3077,1852,932,1024,840,0,0,0,0,0,0,25.51,25.62,25.56,8.38,49.84
$GC,2837,0.60,321.1,3076,1853,1024,840,23.9,14.3,288,2847,0.20,2.17,0.00,0.000,4356,0.109,0.036,3007,3236,931,1024,839,0,0,0,0,0,0,25.61,25.53,25.65,8.37,49.29
$GC,2874,0.60,321.1,3006,3236,1025,839,20.4,11.0,291,2884,0.00,2.15,0.00,0.000,1030,0.000,0.028,3007,1842,932,1025,839,0,0,0,0,0,0,25.73,25.71,25.77,8.37,49.64
$GC,3014,0.83,460.2,3006,1841,1024,839,11.6,6.1,316,3078,0.12,2.28,56.72,0.502,10756,0.068,0.041,3097,449,494,528,461,0,0,0,0,0,0,26.15,25.34,24.68,8.36,49.48
$STATE,3104,end climb,SURFACE_DEPTH_REACHED
$STATE,3104,begin surface coast
$FINISH,0.7,1.021472
$STATE,3127,end surface coast,CONTROL_FINISHED_OK
$STATE,3127,begin surface
$SM_CCo,3207,0.00,0.000,0,0,485,432.22
$SM_GC,1.75,7.68,2.22,0.00,0.028,0.029,0.000,176,1831,485,-8.07,-1.53,432.22,0,0,0,0,0,0,25.77,25.58,25.81
$IRIDIUM_FIX,4737.86,-12251.79,270218,073503
$TT8_MAMPS,0.026215,0.246421
$HUMID,49.05
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,135.2,36.0
$24V_AH,23.50,108.778
$10V_AH,9.85,71.929
$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,18.875,52.875,516.250,0.000,0.000,0.000,0.000,177.600,2.750,0.000,12.589,801.532,963.478,509.644,1083.794,144.054,0.000,1217.351,0.000,720.012,0.000,21.238,0.000
$DEVICE_MAMPS,192.015,49.725,665.550,0.000,0.000,0.000,0.000,82.620,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.511,718.964,436.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312032
$DATA_FILE_SIZE,24562,334
$CAP_FILE_SIZE,57207,0
$CFSIZE,2097872896,2025291776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.102,228.72,1
$GPS,270218,093224,4737.354,-12255.340,5,0.8,16,16.4,0.0,0.0,10,4.9