version: 66.14
glider: 195
mission: 15
dive: 736
start: 2 28 118 11 18 11
data:
$ID,195
$MISSION,15
$DIVE,736
$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,43
$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
$GPS1,280218,111232,4737.7334,-12255.2266,34,0.8,45,16.4,0.0,0.0,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.7
$GPS2,280218,111726,4737.7329,-12255.2305,3,0.8,13,16.4,0.0,0.0,10,4.5
$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,55.9,835,-15.6,-10.000,-19.41,2746
$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,-0.83,-183.0,176,1852,550,488,0.0,0.0,0,59,0.00,0.00,-47.12,0.000,16386,0.000,0.000,176,1852,1650,1708,1592,0,0,0,0,0,0,26.33,28.83,26.34,8.31,49.21
$GC,63,-0.89,-244.4,176,1853,1709,1592,2.2,-2.4,7,133,8.95,2.28,-49.88,0.000,19204,0.192,0.049,2518,451,3246,3306,3187,0,0,0,0,0,0,25.00,23.53,25.47,8.42,49.60
$GC,281,-0.79,-244.4,2518,451,3307,3187,38.7,-19.8,37,286,0.15,2.15,0.00,0.000,3078,0.135,0.028,2556,1848,3247,3307,3187,0,0,0,0,0,0,25.40,25.82,25.52,8.55,49.88
$GC,415,-0.73,-244.4,2555,1849,3307,3187,61.7,-16.0,50,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1849,3247,3307,3187,0,0,0,0,0,0,26.45,26.46,26.45,8.56,49.37
$GC,535,-0.67,-244.4,2555,1849,3307,3187,80.6,-15.2,62,546,0.10,2.17,0.00,0.000,2308,0.144,0.036,2584,3249,3247,3307,3187,0,0,0,0,0,0,25.94,25.67,25.94,8.56,49.84
$GC,560,-0.67,-244.4,2584,3249,3307,3187,84.3,-15.6,64,569,0.00,2.10,0.00,0.000,1030,0.000,0.026,2584,1846,3247,3307,3187,0,0,0,0,0,0,25.89,25.86,25.93,8.56,49.68
$GC,691,-0.67,-244.4,2584,1846,3307,3187,101.6,-13.5,77,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1846,3247,3307,3187,0,0,0,0,0,0,26.46,26.47,26.46,8.56,49.96
$GC,881,-0.67,-244.4,2584,1846,3307,3187,127.0,-13.0,96,891,0.00,2.20,0.00,0.000,516,0.000,0.038,2584,451,3247,3307,3187,0,0,0,0,0,0,26.46,25.60,26.47,8.56,50.07
$GC,940,-0.67,-244.4,2584,450,3307,3187,134.7,-13.4,101,948,0.00,2.17,0.00,0.000,1030,0.000,0.028,2576,1848,3247,3307,3188,0,0,0,0,0,0,25.86,25.84,25.89,8.57,49.96
$STATE,1107,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1107,begin apogee
$GC,1113,-0.21,0.0,2575,1848,3307,3187,157.2,-13.5,118,1309,0.47,0.00,191.75,0.656,10246,0.097,0.000,2742,1848,2246,2370,2123,0,0,0,0,0,0,25.27,24.62,23.96,8.57,50.27
$STATE,1310,end apogee,CONTROL_FINISHED_OK
$STATE,1310,begin climb
$GC,1314,0.89,244.4,2741,1848,2369,2122,165.9,0.0,138,1529,1.00,2.35,203.75,0.642,10756,0.077,0.037,3092,457,1248,1350,1147,0,0,0,0,0,0,24.84,24.01,23.60,8.49,48.85
$GC,1607,0.84,244.4,3092,456,1350,1143,135.5,14.7,167,1617,0.00,2.17,0.00,0.000,1030,0.000,0.026,3093,1837,1246,1350,1142,0,0,0,0,0,0,25.16,25.11,25.19,8.41,47.95
$GC,1797,0.78,244.4,3092,1838,1350,1141,106.1,14.8,186,1808,0.00,2.20,0.00,0.000,260,0.000,0.037,3093,3246,1245,1349,1141,0,0,0,0,0,0,26.25,25.61,26.25,8.41,49.56
$GC,1814,0.72,244.4,3092,3246,1350,1140,104.6,14.8,187,1822,0.15,2.17,0.00,0.000,5126,0.109,0.027,3036,1837,1244,1349,1140,0,0,0,0,0,0,25.32,25.74,25.46,8.40,49.68
$GC,2005,0.72,244.4,3035,1837,1350,1140,83.3,9.3,206,2015,0.00,2.20,0.00,0.000,516,0.000,0.040,3044,449,1244,1350,1139,0,0,0,0,0,0,26.40,25.64,26.41,8.41,50.55
$GC,2122,0.72,244.4,3043,450,1349,1138,70.5,10.7,217,2132,0.00,2.12,0.00,0.000,1030,0.000,0.027,3044,1847,1244,1350,1138,0,0,0,0,0,0,25.93,25.89,25.96,8.40,50.35
$GC,2253,0.72,244.4,3044,1847,1350,1138,56.9,10.7,230,2262,0.00,2.17,0.00,0.000,260,0.000,0.037,3044,3251,1243,1349,1138,0,0,0,0,0,0,26.45,25.73,26.46,8.40,50.11
$GC,2278,0.72,244.4,3043,3251,1349,1138,54.3,10.6,232,2287,0.00,2.15,0.00,0.000,1030,0.000,0.027,3051,1845,1243,1349,1138,0,0,0,0,0,0,25.91,25.89,25.94,8.40,50.15
$GC,2407,0.72,244.4,3050,1845,1349,1138,40.8,10.5,245,2417,0.00,2.20,0.00,0.000,516,0.000,0.040,3057,455,1244,1350,1138,0,0,0,0,0,0,26.46,25.63,26.46,8.41,50.86
$GC,2485,0.72,244.4,3056,455,1349,1138,33.3,9.8,252,2493,0.00,2.15,0.00,0.000,1030,0.000,0.027,3057,1843,1243,1349,1138,0,0,0,0,0,0,25.94,25.89,25.95,8.40,50.47
$GC,2613,0.72,244.4,3056,1843,1349,1138,21.6,8.7,265,2624,0.00,2.17,0.00,0.000,260,0.000,0.036,3057,3245,1243,1349,1138,0,0,0,0,0,0,26.46,25.72,26.47,8.40,50.86
$GC,2722,0.72,244.4,3056,3245,1350,1138,12.1,8.2,283,2729,0.00,2.15,0.00,0.000,1030,0.000,0.027,3057,1842,1243,1349,1138,0,0,0,0,0,0,25.89,25.86,25.93,8.40,50.00
$GC,2793,0.77,300.8,3056,1842,1349,1138,6.5,7.9,296,2829,0.00,2.20,28.45,0.482,8452,0.000,0.034,3057,3247,1017,1111,923,0,0,0,0,0,0,26.46,25.27,24.89,8.39,50.27
$STATE,2845,end climb,SURFACE_DEPTH_REACHED
$STATE,2845,begin surface coast
$FINISH,0.6,1.009744
$STATE,2882,end surface coast,CONTROL_FINISHED_OK
$STATE,2884,begin surface
$SM_CCo,2905,57.90,0.052,0,0,534,420.20
$SM_GC,1.54,7.55,2.20,57.90,0.028,0.025,0.052,173,1840,534,-8.08,1.47,420.20,0,0,0,0,0,0,25.90,25.77,25.51
$IRIDIUM_FIX,4736.87,-12256.21,280218,100736
$TT8_MAMPS,0.026964,0.243425
$HUMID,48.34
$INTERNAL_PRESSURE,8.28285
$TCM_TEMP,9.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.6
$ALTIM_BOTTOM_PING,150.4,16.5
$24V_AH,23.53,111.141
$10V_AH,9.85,73.301
$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,18.375,43.700,423.950,57.900,0.000,0.000,0.000,192.150,3.750,0.000,16.670,755.643,861.007,505.192,1015.862,149.538,0.000,1166.131,0.000,642.198,0.000,28.852,0.000
$DEVICE_MAMPS,192.015,48.960,656.370,52.020,0.000,0.000,0.000,83.385,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.990,669.502,406.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312060
$DATA_FILE_SIZE,21149,311
$CAP_FILE_SIZE,52081,0
$CFSIZE,2097872896,2022342656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,286.32,1
$GPS,280218,120833,4737.856,-12254.825,5,1.0,15,16.4,0.0,0.0,8,5.0