version: 66.14
glider: 195
mission: 15
dive: 727
start: 2 28 118 2 56 32
data:
$ID,195
$MISSION,15
$DIVE,727
$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,52
$R_STBD_OVSHOOT,42
$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
$GPS1,280218,025109,4738.5708,-12253.1084,5,0.9,23,16.4,0.4,64.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.8
$GPS2,280218,025549,4738.6021,-12253.0371,6,0.9,39,16.4,0.4,66.6,9,5.0
$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,218.5,2362,-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,-244.4,172,1843,550,482,0.0,0.0,0,54,0.00,0.00,-42.03,0.000,16386,0.000,0.000,172,1843,1538,1586,1491,0,0,0,0,0,0,26.39,28.83,26.39,8.31,49.33
$GC,57,-0.79,-244.4,172,1843,1586,1494,2.0,-1.4,6,133,9.10,2.22,-58.03,0.000,18948,0.194,0.048,2553,451,3243,3308,3178,0,0,0,0,0,0,25.01,25.32,25.37,8.41,49.68
$GC,280,-0.69,-244.4,2552,451,3310,3179,31.2,-15.5,38,291,0.12,2.12,0.00,0.000,3078,0.114,0.028,2586,1842,3244,3310,3179,0,0,0,0,0,0,25.44,25.82,25.48,8.55,49.13
$GC,410,-0.69,-244.4,2585,1842,3311,3179,49.8,-13.5,51,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1841,3244,3310,3179,0,0,0,0,0,0,26.48,26.48,26.48,8.55,50.19
$GC,531,-0.69,-244.4,2585,1842,3310,3179,65.8,-13.6,63,540,0.00,2.20,0.00,0.000,260,0.000,0.037,2577,3249,3244,3310,3179,0,0,0,0,0,0,26.48,25.63,26.48,8.56,50.31
$GC,577,-0.69,-244.4,2577,3249,3310,3179,71.7,-13.3,67,584,0.00,2.15,0.00,0.000,1030,0.000,0.025,2577,1836,3244,3310,3179,0,0,0,0,0,0,25.89,25.85,25.91,8.56,50.94
$GC,706,-0.69,-244.4,2577,1836,3310,3179,89.1,-13.1,80,716,0.00,2.17,0.00,0.000,516,0.000,0.037,2577,454,3244,3310,3179,0,0,0,0,0,0,26.48,25.56,26.49,8.57,50.59
$GC,730,-0.69,-244.4,2577,454,3310,3179,92.1,-12.8,82,740,0.00,2.12,0.00,0.000,1030,0.000,0.028,2569,1848,3244,3310,3179,0,0,0,0,0,0,25.84,25.82,25.88,8.56,50.43
$GC,860,-0.69,-244.4,2569,1848,3310,3179,108.9,-13.0,95,864,0.00,2.17,0.00,0.000,260,0.000,0.037,2560,3245,3244,3310,3179,0,0,0,0,0,0,26.48,25.61,26.49,8.57,49.96
$GC,916,-0.69,-244.4,2560,3245,3310,3179,116.0,-12.7,100,924,0.00,2.15,0.00,0.000,1030,0.000,0.024,2560,1836,3244,3310,3179,0,0,0,0,0,0,25.87,25.87,25.89,8.57,50.31
$GC,1105,-0.63,-244.4,2560,1836,3310,3179,141.8,-13.3,119,1116,0.12,2.15,0.00,0.000,2564,0.132,0.036,2604,460,3244,3310,3179,0,0,0,0,0,0,25.88,25.54,25.89,8.58,50.70
$GC,1144,-0.63,-244.4,2603,460,3310,3179,146.1,-12.3,122,1151,0.00,2.15,0.00,0.000,1030,0.000,0.028,2598,1845,3244,3310,3179,0,0,0,0,0,0,25.84,25.80,25.86,8.58,50.78
$STATE,1159,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1159,begin apogee
$GC,1165,-0.21,0.0,2598,1844,3310,3179,148.3,-11.0,124,1361,0.40,0.00,191.68,0.659,10246,0.093,0.000,2742,1844,2246,2376,2116,0,0,0,0,0,0,25.37,24.67,24.01,8.58,50.90
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin climb
$GC,1365,0.79,244.4,2741,1844,2376,2116,153.7,0.0,144,1582,0.88,2.35,203.05,0.640,10756,0.066,0.038,3061,460,1248,1353,1143,0,0,0,0,0,0,24.91,24.40,23.73,8.50,49.09
$GC,1651,0.71,244.4,3060,460,1351,1138,126.1,13.6,172,1659,0.00,2.20,0.00,0.000,1030,0.000,0.026,3061,1837,1245,1352,1138,0,0,0,0,0,0,25.25,25.22,25.27,8.42,48.38
$GC,1839,0.62,244.4,3060,1837,1351,1137,100.0,13.5,191,1847,0.15,0.00,0.00,0.000,4102,0.119,0.000,3012,1837,1244,1351,1137,0,0,0,0,0,0,25.68,25.78,25.74,8.41,49.17
$GC,1968,0.62,244.4,3012,1837,1351,1136,86.8,9.7,204,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1837,1243,1351,1136,0,0,0,0,0,0,26.38,26.39,26.39,8.41,49.64
$GC,2088,0.62,244.4,3012,1837,1351,1136,74.9,9.9,216,2092,0.00,2.20,0.00,0.000,516,0.000,0.039,3020,458,1243,1351,1136,0,0,0,0,0,0,26.43,25.60,26.44,8.41,49.84
$GC,2123,0.62,244.4,3019,458,1351,1136,71.7,9.6,219,2130,0.00,2.15,0.00,0.000,1030,0.000,0.027,3020,1842,1242,1350,1135,0,0,0,0,0,0,25.90,25.87,25.92,8.41,49.96
$GC,2251,0.62,244.4,3019,1842,1351,1135,58.7,10.4,232,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1842,1243,1351,1136,0,0,0,0,0,0,26.46,26.47,26.46,8.41,50.00
$GC,2371,0.62,244.4,3019,1842,1350,1135,47.1,9.3,244,2380,0.00,2.17,0.00,0.000,516,0.000,0.038,3028,466,1243,1351,1136,0,0,0,0,0,0,26.46,25.60,26.47,8.40,50.70
$GC,2414,0.62,244.4,3027,466,1351,1135,43.0,9.6,248,2424,0.00,2.08,0.00,0.000,1030,0.000,0.026,3027,1837,1242,1350,1135,0,0,0,0,0,0,25.90,25.87,25.93,8.40,50.55
$GC,2545,0.62,244.4,3027,1838,1351,1135,30.1,9.5,261,2549,0.00,2.20,0.00,0.000,516,0.000,0.038,3034,456,1243,1351,1135,0,0,0,0,0,0,26.47,25.59,26.48,8.40,50.00
$GC,2578,0.62,244.4,3034,455,1351,1135,27.2,8.8,264,2587,0.00,2.10,0.00,0.000,1030,0.000,0.026,3034,1840,1243,1351,1135,0,0,0,0,0,0,25.89,25.86,25.92,8.40,49.80
$GC,2715,0.70,320.6,3033,1840,1350,1135,14.9,7.9,282,2763,0.00,2.22,39.80,0.526,8452,0.000,0.035,3034,3259,939,1029,850,0,0,0,0,0,0,26.48,25.21,24.82,8.39,50.27
$GC,2845,0.79,408.9,3034,3260,1029,848,4.4,7.5,304,2868,0.00,2.17,18.35,0.456,9218,0.000,0.026,3040,1849,785,870,701,0,0,0,0,0,0,25.75,25.72,25.79,8.36,49.25
$STATE,2869,end climb,SURFACE_DEPTH_REACHED
$STATE,2869,begin surface coast
$FINISH,0.7,1.008915
$STATE,2906,end surface coast,CONTROL_FINISHED_OK
$STATE,2906,begin surface
$SM_CCo,2923,30.83,0.053,0,0,533,420.20
$SM_GC,1.84,7.50,0.00,30.83,0.027,0.000,0.053,181,1849,533,-8.06,0.17,420.20,0,0,0,0,0,0,25.86,26.25,25.51
$IRIDIUM_FIX,4737.86,-12251.79,280218,021318
$TT8_MAMPS,0.026964,0.241178
$HUMID,49.37
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.6
$ALTIM_BOTTOM_PING,105.0,51.3
$24V_AH,23.73,110.449
$10V_AH,9.85,72.863
$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,18.275,43.475,452.875,30.825,0.000,0.000,0.000,164.400,1.000,0.000,40.226,756.748,875.623,493.444,1003.116,139.260,0.000,1131.461,0.000,637.892,0.000,10.473,0.000
$DEVICE_MAMPS,194.310,48.195,658.665,52.785,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,208.574,676.017,410.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20997,314
$CAP_FILE_SIZE,52354,0
$CFSIZE,2097872896,2023227392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124,49.43,1
$GPS,280218,034648,4738.488,-12253.347,4,1.0,17,16.4,0.3,343.4,8,5.0