version: 66.14
glider: 195
mission: 15
dive: 728
start: 2 28 118 3 52 41
data:
$ID,195
$MISSION,15
$DIVE,728
$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,50
$R_STBD_OVSHOOT,37
$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
$GPS1,280218,034648,4738.4883,-12253.3467,4,1.0,17,16.4,0.3,343.4,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.1
$GPS2,280218,035200,4738.5190,-12253.2871,5,1.0,16,16.4,0.3,54.8,9,4.9
$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,216.0,2018,-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,-244.4,170,1849,548,489,0.0,0.0,0,60,0.00,0.00,-48.17,0.000,16386,0.000,0.000,169,1849,1685,1747,1623,0,0,0,0,0,0,26.34,28.83,26.34,8.31,49.40
$GC,63,-0.79,-244.4,169,1849,1747,1624,2.4,-2.7,7,133,9.12,2.28,-49.25,0.000,18948,0.194,0.047,2551,438,3245,3308,3182,0,0,0,0,0,0,24.99,23.51,25.36,8.41,49.01
$GC,230,-0.69,-244.4,2551,438,3308,3182,23.5,-15.4,33,241,0.15,2.15,0.00,0.000,3078,0.128,0.028,2594,1851,3245,3308,3183,0,0,0,0,0,0,25.38,25.79,25.44,8.55,48.85
$GC,360,-0.69,-244.4,2593,1851,3308,3183,40.0,-12.5,46,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1850,3245,3308,3183,0,0,0,0,0,0,26.45,26.46,26.46,8.55,49.21
$GC,480,-0.69,-244.4,2593,1850,3308,3183,55.8,-12.9,58,484,0.00,2.20,0.00,0.000,260,0.000,0.037,2586,3246,3245,3308,3183,0,0,0,0,0,0,26.46,25.61,26.47,8.55,50.27
$GC,513,-0.69,-244.4,2586,3246,3308,3183,60.2,-13.3,61,523,0.00,2.10,0.00,0.000,1030,0.000,0.024,2586,1839,3245,3308,3183,0,0,0,0,0,0,25.87,25.84,25.90,8.56,50.63
$GC,643,-0.69,-244.4,2585,1839,3308,3183,76.1,-12.1,74,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1839,3245,3308,3183,0,0,0,0,0,0,26.46,26.48,26.48,8.56,50.07
$GC,763,-0.69,-244.4,2586,1839,3308,3183,90.3,-11.9,86,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1840,3245,3308,3183,0,0,0,0,0,0,26.47,26.48,26.48,8.56,51.29
$GC,883,-0.69,-244.4,2585,1839,3308,3183,104.6,-12.0,98,888,0.00,2.22,0.00,0.000,260,0.000,0.037,2576,3246,3245,3308,3183,0,0,0,0,0,0,26.48,25.59,26.48,8.57,51.37
$GC,919,-0.69,-244.4,2576,3246,3308,3183,108.6,-11.7,101,927,0.00,2.15,0.00,0.000,1030,0.000,0.025,2576,1835,3245,3308,3183,0,0,0,0,0,0,25.86,25.82,25.89,8.57,50.98
$GC,1108,-0.69,-244.4,2576,1835,3308,3183,132.6,-12.9,120,1117,0.00,2.15,0.00,0.000,516,0.000,0.037,2576,456,3245,3308,3183,0,0,0,0,0,0,26.48,25.54,26.48,8.58,51.14
$GC,1135,-0.69,-244.4,2576,456,3308,3183,135.5,-12.8,122,1143,0.00,2.15,0.00,0.000,1030,0.000,0.028,2568,1840,3245,3308,3183,0,0,0,0,0,0,25.82,25.79,25.84,8.58,51.14
$STATE,1314,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1314,begin apogee
$GC,1320,-0.21,0.0,2568,1840,3308,3183,159.0,-12.6,140,1515,0.50,0.00,190.70,0.662,10246,0.096,0.000,2742,1840,2246,2369,2124,0,0,0,0,0,0,25.19,24.65,23.99,8.58,51.02
$STATE,1516,end apogee,CONTROL_FINISHED_OK
$STATE,1516,begin climb
$GC,1518,0.79,244.4,2742,1840,2369,2123,161.3,0.0,160,1730,0.85,2.38,203.10,0.641,10756,0.056,0.038,3061,455,1248,1350,1147,0,0,0,0,0,0,24.91,24.37,23.70,8.50,49.13
$GC,1797,0.71,244.4,3061,455,1350,1143,135.2,13.7,187,1805,0.00,2.22,0.00,0.000,1030,0.000,0.026,3061,1841,1246,1350,1142,0,0,0,0,0,0,25.18,25.13,25.20,8.42,48.85
$GC,1985,0.63,244.4,3061,1841,1350,1140,108.2,14.5,206,1995,0.12,2.20,0.00,0.000,4612,0.125,0.037,3025,457,1245,1350,1140,0,0,0,0,0,0,25.70,25.51,25.71,8.41,50.07
$GC,2031,0.63,244.4,3024,457,1350,1139,102.5,12.3,210,2040,0.00,2.12,0.00,0.000,1030,0.000,0.026,3025,1849,1244,1349,1139,0,0,0,0,0,0,25.81,25.77,25.83,8.42,49.76
$GC,2220,0.63,244.4,3024,1849,1350,1139,81.5,10.6,229,2224,0.00,2.17,0.00,0.000,260,0.000,0.036,3025,3252,1244,1350,1139,0,0,0,0,0,0,26.41,25.67,26.42,8.41,50.19
$GC,2244,0.63,244.4,3025,3252,1350,1139,79.0,10.8,231,2253,0.00,2.12,0.00,0.000,1030,0.000,0.026,3029,1842,1244,1349,1139,0,0,0,0,0,0,25.86,25.83,25.91,8.41,49.52
$GC,2372,0.63,244.4,3029,1842,1350,1139,65.0,11.0,244,2377,0.00,2.20,0.00,0.000,516,0.000,0.039,3041,446,1244,1350,1139,0,0,0,0,0,0,26.44,25.60,26.45,8.41,49.84
$GC,2446,0.63,244.4,3040,446,1350,1139,57.1,10.8,251,2455,0.00,2.10,0.00,0.000,1030,0.000,0.026,3041,1845,1244,1350,1138,0,0,0,0,0,0,25.89,25.86,25.92,8.41,50.51
$GC,2576,0.63,244.4,3040,1845,1350,1138,42.7,11.0,264,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1845,1244,1350,1138,0,0,0,0,0,0,26.46,26.47,26.46,8.40,50.55
$GC,2696,0.63,244.4,3040,1846,1350,1138,29.6,10.4,276,2701,0.00,2.22,0.00,0.000,516,0.000,0.038,3049,449,1243,1349,1138,0,0,0,0,0,0,26.46,25.59,26.47,8.40,50.51
$GC,2731,0.63,244.4,3048,449,1350,1138,26.0,10.5,279,2741,0.10,2.12,0.00,0.000,5126,0.103,0.026,3014,1851,1244,1350,1138,0,0,0,0,0,0,25.57,25.86,25.61,8.40,50.00
$GC,2864,0.74,363.1,3014,1852,1349,1138,14.8,6.7,298,2934,0.08,2.20,61.53,0.519,10500,0.093,0.034,3112,3250,762,838,687,0,0,0,0,0,0,26.25,25.13,24.75,8.39,50.15
$STATE,2966,end climb,SURFACE_DEPTH_REACHED
$STATE,2968,begin surface coast
$FINISH,0.7,1.008608
$STATE,2989,end surface coast,CONTROL_FINISHED_OK
$STATE,2989,begin surface
$SM_CCo,3009,28.27,0.052,0,0,533,420.20
$SM_GC,1.85,7.75,2.22,28.27,0.028,0.025,0.052,178,1836,533,-8.08,1.33,420.20,0,0,0,0,0,0,25.73,25.62,25.40
$IRIDIUM_FIX,4737.86,-12251.79,280218,025238
$TT8_MAMPS,0.026964,0.24717
$HUMID,48.81
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.9
$ALTIM_BOTTOM_PING,150.2,17.7
$24V_AH,23.51,110.535
$10V_AH,9.85,72.913
$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,18.675,43.700,455.325,28.275,0.000,0.000,0.000,209.150,3.750,0.000,18.022,777.090,942.501,483.673,1022.735,152.047,0.000,1155.025,0.000,626.829,0.000,28.701,0.000
$DEVICE_MAMPS,194.310,47.430,662.490,52.020,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,211.739,684.653,415.771,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312128
$DATA_FILE_SIZE,21095,318
$CAP_FILE_SIZE,53759,0
$CFSIZE,2097872896,2023129088
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1445.87,0x2367b8,2,24
$INTR,1,1714.05,0x2367b8,1,24
$CURRENT,0.060,55.51,1
$GPS,280218,044427,4738.299,-12253.711,6,1.2,24,16.4,0.2,286.3,8,5.0