version: 66.14
glider: 195
mission: 15
dive: 721
start: 2 27 118 22 14 52
data:
$ID,195
$MISSION,15
$DIVE,721
$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,45
$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
$GPS1,270218,220959,4737.3813,-12255.8994,4,0.9,16,16.4,0.5,46.1,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.1
$GPS2,270218,221410,4737.4233,-12255.8281,5,0.9,17,16.4,0.5,50.3,9,4.6
$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,51.6,1753,-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,-244.4,177,1845,547,486,0.0,0.0,0,60,0.00,0.00,-48.55,0.000,16386,0.000,0.000,177,1845,1692,1742,1643,0,0,0,0,0,0,26.36,28.83,26.38,8.30,49.01
$GC,64,-0.79,-244.4,177,1845,1743,1644,2.3,-2.1,7,134,9.10,2.25,-50.33,0.000,19204,0.196,0.050,2540,3236,3246,3302,3190,0,0,0,0,0,0,24.99,23.50,25.36,8.42,48.77
$GC,292,-0.70,-244.4,2539,3237,3304,3190,36.5,-16.1,38,302,0.12,2.10,0.00,0.000,3078,0.108,0.025,2581,1835,3247,3304,3190,0,0,0,0,0,0,25.44,25.78,25.45,8.55,49.17
$GC,422,-0.70,-244.4,2580,1835,3304,3190,53.6,-12.8,51,426,0.00,2.20,0.00,0.000,516,0.000,0.038,2581,454,3247,3304,3191,0,0,0,0,0,0,26.46,25.48,26.48,8.56,49.33
$GC,455,-0.65,-244.4,2580,453,3304,3190,58.4,-13.7,54,465,0.00,2.12,0.00,0.000,1030,0.000,0.028,2575,1843,3247,3304,3190,0,0,0,0,0,0,25.77,25.75,25.79,8.56,49.92
$GC,585,-0.65,-244.4,2574,1843,3303,3190,75.8,-13.8,67,589,0.00,2.22,0.00,0.000,260,0.000,0.038,2565,3249,3247,3304,3190,0,0,0,0,0,0,26.48,25.51,26.48,8.56,50.43
$GC,648,-0.65,-244.4,2564,3249,3303,3191,84.4,-13.3,73,653,0.12,2.12,0.00,0.000,3078,0.115,0.025,2606,1841,3247,3304,3191,0,0,0,0,0,0,25.49,25.77,25.58,8.56,50.03
$GC,782,-0.65,-244.4,2605,1841,3304,3191,99.6,-10.5,86,795,0.00,2.20,0.00,0.000,516,0.000,0.039,2606,454,3247,3304,3191,0,0,0,0,0,0,26.48,25.44,26.48,8.57,50.66
$GC,832,-0.65,-244.4,2605,454,3304,3190,104.7,-10.9,90,840,0.00,2.17,0.00,0.000,1030,0.000,0.029,2600,1845,3247,3304,3190,0,0,0,0,0,0,25.75,25.71,25.78,8.57,49.92
$GC,1023,-0.65,-244.4,2599,1845,3304,3191,125.6,-11.1,109,1032,0.00,2.20,0.00,0.000,260,0.000,0.039,2591,3244,3247,3304,3190,0,0,0,0,0,0,26.45,25.48,26.46,8.58,50.27
$GC,1098,-0.65,-244.4,2590,3244,3304,3190,134.2,-10.7,116,1103,0.00,2.12,0.00,0.000,1030,0.000,0.025,2590,1841,3247,3304,3191,0,0,0,0,0,0,25.82,25.75,25.86,8.58,50.19
$GC,1293,-0.65,-244.4,2590,1840,3303,3191,154.9,-10.3,135,1297,0.00,2.22,0.00,0.000,516,0.000,0.039,2590,449,3247,3304,3190,0,0,0,0,0,0,26.48,25.41,26.49,8.59,51.06
$GC,1328,-0.65,-244.4,2590,448,3304,3190,158.7,-11.3,138,1336,0.00,2.17,0.00,0.000,1030,0.000,0.028,2582,1838,3247,3304,3190,0,0,0,0,0,0,25.73,25.70,25.76,8.58,50.94
$STATE,1354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1354,begin apogee
$GC,1360,-0.21,0.0,2582,1839,3304,3190,162.0,-11.2,141,1556,0.45,0.00,191.82,0.664,10246,0.095,0.000,2741,1839,2246,2366,2127,0,0,0,0,0,0,25.19,24.65,23.96,8.59,50.63
$STATE,1557,end apogee,CONTROL_FINISHED_OK
$STATE,1558,begin climb
$GC,1560,0.79,244.4,2741,1838,2365,2126,168.5,0.0,161,1779,0.88,2.35,203.60,0.644,10500,0.069,0.036,3049,3249,1248,1348,1148,0,0,0,0,0,0,24.88,24.39,23.70,8.50,48.93
$GC,1786,0.70,244.4,3048,3249,1349,1147,149.3,13.0,183,1793,0.00,2.28,0.00,0.000,1030,0.000,0.027,3057,1844,1248,1349,1147,0,0,0,0,0,0,24.82,24.78,24.84,8.42,47.28
$GC,1974,0.61,244.4,3057,1843,1349,1144,121.8,14.1,202,1984,0.12,2.22,0.00,0.000,4612,0.129,0.039,3022,448,1246,1349,1144,0,0,0,0,0,0,25.59,25.38,25.62,8.42,48.89
$GC,2051,0.61,244.4,3021,448,1349,1140,112.8,10.4,209,2061,0.00,2.12,0.00,0.000,1030,0.000,0.028,3021,1837,1244,1348,1140,0,0,0,0,0,0,25.74,25.71,25.77,8.42,49.21
$GC,2241,0.61,244.4,3021,1837,1348,1140,91.5,10.8,228,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1837,1243,1348,1139,0,0,0,0,0,0,26.41,26.41,26.41,8.41,49.92
$GC,2361,0.61,244.4,3021,1837,1349,1140,78.7,10.4,240,2371,0.00,2.20,0.00,0.000,516,0.000,0.040,3030,439,1243,1348,1139,0,0,0,0,0,0,26.44,25.50,26.45,8.41,50.03
$GC,2399,0.61,244.4,3029,439,1349,1139,75.1,10.6,243,2406,0.00,2.20,0.00,0.000,1030,0.000,0.028,3030,1844,1244,1349,1139,0,0,0,0,0,0,25.82,25.79,25.85,8.41,50.07
$GC,2526,0.61,244.4,3030,1844,1348,1139,60.2,11.8,256,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1844,1243,1348,1139,0,0,0,0,0,0,26.46,26.46,26.46,8.41,49.60
$GC,2646,0.61,244.4,3030,1844,1349,1139,48.1,9.9,268,2656,0.00,2.22,0.00,0.000,516,0.000,0.040,3038,444,1243,1348,1139,0,0,0,0,0,0,26.46,25.51,26.47,8.40,50.07
$GC,2701,0.61,244.4,3038,444,1348,1139,42.6,9.9,273,2710,0.00,2.15,0.00,0.000,1030,0.000,0.028,3038,1848,1243,1348,1139,0,0,0,0,0,0,25.82,25.79,25.84,8.40,49.64
$GC,2831,0.61,244.4,3038,1848,1348,1139,29.6,9.9,286,2841,0.00,2.25,0.00,0.000,516,0.000,0.039,3046,445,1243,1348,1139,0,0,0,0,0,0,26.46,25.48,26.48,8.40,49.80
$GC,2866,0.61,244.4,3046,445,1348,1139,26.2,10.1,289,2876,0.10,2.15,0.00,0.000,5126,0.101,0.028,3011,1853,1244,1349,1139,0,0,0,0,0,0,25.50,25.77,25.53,8.39,49.68
$GC,3000,0.75,388.4,3011,1853,1348,1139,16.3,6.0,307,3083,0.08,2.20,75.47,0.517,10500,0.092,0.034,3119,3248,660,732,588,0,0,0,0,0,0,26.25,25.06,24.68,8.39,49.68
$GC,3108,0.68,388.4,3118,3249,731,586,4.1,13.2,323,3118,0.25,2.20,0.00,0.000,5126,0.098,0.028,3028,1840,659,732,586,0,0,0,0,0,0,25.09,25.53,25.25,8.33,49.44
$STATE,3124,end climb,SURFACE_DEPTH_REACHED
$STATE,3124,begin surface coast
$FINISH,0.7,1.021189
$STATE,3151,end surface coast,CONTROL_FINISHED_OK
$STATE,3151,begin surface
$SM_CCo,3168,16.42,0.054,0,0,533,420.20
$SM_GC,1.39,7.50,0.00,16.42,0.028,0.000,0.054,185,1839,533,-8.05,-0.11,420.20,0,0,0,0,0,0,25.79,26.18,25.34
$IRIDIUM_FIX,4741.04,-12246.42,270218,212656
$TT8_MAMPS,0.026964,0.242676
$HUMID,48.22
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.9
$ALTIM_BOTTOM_PING,150.7,20.5
$24V_AH,23.50,109.954
$10V_AH,9.84,72.642
$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,18.725,52.675,470.900,16.425,0.000,0.000,0.000,156.200,3.500,0.000,18.832,800.841,975.161,531.636,1014.964,145.276,0.000,1169.536,0.000,663.596,0.000,29.286,0.000
$DEVICE_MAMPS,195.840,50.490,664.020,53.550,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.098,710.293,431.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312080
$DATA_FILE_SIZE,24623,330
$CAP_FILE_SIZE,56235,0
$CFSIZE,2097872896,2023817216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,31.36,1
$GPS,270218,230903,4737.634,-12254.999,11,0.8,22,16.4,0.4,44.3,11,4.9