version: 66.14
glider: 195
mission: 15
dive: 749
start: 2 28 118 22 50 3
data:
$ID,195
$MISSION,15
$DIVE,749
$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,54
$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,15
$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
$GPS1,280218,224446,4737.3433,-12256.0283,8,0.8,14,16.4,0.0,19.2,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-61.8
$GPS2,280218,224919,4737.3672,-12255.9746,5,0.8,18,16.4,0.4,45.1,10,4.5
$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,48.2,1964,-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,-244.4,180,1850,544,481,0.0,0.0,0,59,0.00,0.00,-47.78,0.000,16386,0.000,0.000,180,1850,1647,1706,1588,0,0,0,0,0,0,26.35,28.83,26.36,8.30,49.25
$GC,63,-0.79,-244.4,180,1850,1707,1589,2.0,-2.0,7,133,9.07,2.28,-54.00,0.000,18692,0.194,0.049,2541,3255,3245,3311,3180,0,0,0,0,0,0,24.96,23.58,25.34,8.41,49.52
$GC,324,-0.67,-244.4,2540,3256,3312,3181,40.8,-17.7,42,332,0.15,2.15,0.00,0.000,3078,0.109,0.026,2591,1845,3246,3312,3181,0,0,0,0,0,0,25.56,25.93,25.72,8.56,50.15
$GC,452,-0.60,-244.4,2590,1845,3312,3181,60.7,-14.5,55,455,0.00,2.17,0.00,0.000,516,0.000,0.037,2590,461,3246,3312,3181,0,0,0,0,0,0,26.47,25.75,26.48,8.56,50.03
$GC,507,-0.53,-244.4,2590,458,3312,3181,68.8,-15.2,60,515,0.15,2.15,0.00,0.000,3078,0.107,0.028,2635,1840,3246,3312,3181,0,0,0,0,0,0,25.56,25.93,25.73,8.56,49.33
$GC,635,-0.53,-244.4,2634,1840,3312,3181,83.3,-10.4,73,644,0.00,2.20,0.00,0.000,260,0.000,0.038,2627,3249,3246,3312,3181,0,0,0,0,0,0,26.48,25.79,26.49,8.56,49.96
$GC,698,-0.53,-244.4,2626,3249,3312,3181,89.8,-10.2,79,708,0.00,2.08,0.00,0.000,1030,0.000,0.025,2627,1855,3246,3312,3181,0,0,0,0,0,0,25.99,25.95,26.03,8.56,50.55
$GC,828,-0.53,-244.4,2626,1855,3312,3181,104.4,-11.7,92,832,0.00,2.20,0.00,0.000,516,0.000,0.038,2627,450,3246,3312,3181,0,0,0,0,0,0,26.48,25.75,26.49,8.56,50.07
$GC,873,-0.53,-244.4,2627,450,3312,3181,109.9,-12.2,96,877,0.00,2.15,0.00,0.000,1030,0.000,0.028,2620,1850,3246,3311,3181,0,0,0,0,0,0,26.01,25.94,26.04,8.56,50.82
$GC,1067,-0.53,-244.4,2619,1851,3312,3180,132.6,-11.5,115,1072,0.00,2.17,0.00,0.000,260,0.000,0.037,2610,3248,3246,3312,3181,0,0,0,0,0,0,26.48,25.78,26.49,8.56,51.18
$GC,1131,-0.53,-244.4,2609,3248,3312,3181,139.6,-10.9,121,1136,0.10,2.12,0.00,0.000,3078,0.121,0.025,2644,1836,3246,3312,3181,0,0,0,0,0,0,25.74,25.95,25.83,8.57,50.35
$GC,1326,-0.53,-244.4,2644,1836,3312,3180,156.9,-9.4,140,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1836,3246,3312,3181,0,0,0,0,0,0,26.49,26.50,26.50,8.57,50.86
$STATE,1343,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1343,begin apogee
$GC,1349,-0.21,0.0,2644,1836,3312,3181,158.6,-9.2,142,1545,0.25,0.00,192.15,0.657,10246,0.097,0.000,2741,1835,2247,2376,2118,0,0,0,0,0,0,25.71,24.52,23.87,8.57,51.22
$STATE,1546,end apogee,CONTROL_FINISHED_OK
$STATE,1546,begin climb
$GC,1549,0.79,244.4,2741,1835,2376,2116,167.5,0.0,162,1765,0.90,2.35,205.23,0.640,10756,0.074,0.038,3059,459,1247,1354,1141,0,0,0,0,0,0,24.72,23.74,23.30,8.49,48.93
$GC,1811,0.79,244.4,3059,458,1353,1138,146.0,11.4,188,1821,0.00,2.25,0.00,0.000,1030,0.000,0.026,3059,1850,1245,1353,1138,0,0,0,0,0,0,24.72,24.65,24.75,8.41,48.26
$GC,2002,0.73,244.4,3059,1850,1352,1136,123.9,11.6,207,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1850,1244,1352,1136,0,0,0,0,0,0,26.15,26.16,26.15,8.41,49.29
$GC,2182,0.68,244.4,3059,1850,1352,1135,102.9,11.6,225,2187,0.00,2.22,0.00,0.000,516,0.000,0.039,3069,455,1243,1352,1135,0,0,0,0,0,0,26.35,25.64,26.35,8.41,50.55
$GC,2237,0.63,244.4,3068,455,1351,1136,96.4,12.2,230,2247,0.15,2.12,0.00,0.000,5126,0.097,0.027,3017,1850,1243,1351,1135,0,0,0,0,0,0,25.55,25.88,25.60,8.41,50.43
$GC,2367,0.63,244.4,3017,1850,1351,1134,85.4,8.2,243,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1850,1242,1350,1134,0,0,0,0,0,0,26.42,26.43,26.43,8.41,50.23
$GC,2487,0.63,244.4,3017,1850,1351,1134,75.2,8.4,255,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1850,1242,1351,1134,0,0,0,0,0,0,26.45,26.45,26.45,8.41,50.35
$GC,2607,0.63,244.4,3017,1851,1351,1134,65.1,8.4,267,2611,0.00,2.22,0.00,0.000,516,0.000,0.039,3025,448,1242,1351,1134,0,0,0,0,0,0,26.46,25.75,26.46,8.41,50.94
$GC,2661,0.63,244.4,3024,448,1351,1134,60.6,8.4,272,2670,0.00,2.10,0.00,0.000,1030,0.000,0.026,3025,1837,1242,1351,1134,0,0,0,0,0,0,26.00,25.96,26.03,8.41,50.31
$GC,2791,0.70,318.4,3024,1837,1351,1134,50.0,7.9,285,2861,0.00,0.00,62.03,0.594,8454,0.000,0.000,3024,1837,946,1036,857,0,0,0,0,0,0,26.46,25.02,24.60,8.41,51.10
$GC,2982,0.70,318.4,3024,1837,1035,853,34.3,8.3,304,2991,0.00,2.20,0.00,0.000,516,0.000,0.039,3025,455,944,1035,853,0,0,0,0,0,0,26.22,25.56,26.23,8.38,49.68
$GC,3028,0.84,395.9,3025,455,1035,853,30.8,7.8,308,3088,0.10,2.15,49.97,0.572,11270,0.044,0.026,3129,1840,630,699,561,0,0,0,0,0,0,25.76,25.82,24.58,8.37,49.52
$GC,3211,0.78,395.9,3129,1841,694,555,6.1,12.5,336,3219,0.17,2.22,0.00,0.000,4612,0.109,0.038,3075,450,624,694,555,0,0,0,0,0,0,25.63,25.58,25.66,8.34,50.03
$GC,3238,0.78,395.9,3074,450,694,554,3.4,10.3,340,3246,0.00,2.17,0.00,0.000,1030,0.000,0.027,3075,1846,624,694,554,0,0,0,0,0,0,25.82,25.80,25.85,8.34,50.07
$STATE,3252,end climb,SURFACE_DEPTH_REACHED
$STATE,3252,begin surface coast
$FINISH,0.5,1.012171
$STATE,3289,end surface coast,CONTROL_FINISHED_OK
$STATE,3289,begin surface
$SM_CCo,3306,12.05,0.054,0,0,533,420.20
$SM_GC,1.87,7.50,0.00,12.05,0.024,0.000,0.054,183,1847,533,-8.07,0.11,420.20,0,0,0,0,0,0,25.92,26.32,25.60
$IRIDIUM_FIX,4739.20,-12253.53,280218,220404
$TT8_MAMPS,0.026964,0.246421
$HUMID,49.84
$INTERNAL_PRESSURE,8.28285
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,130.1,43.2
$24V_AH,23.30,112.172
$10V_AH,9.84,73.869
$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,18.550,43.700,509.375,12.050,0.000,0.000,0.000,177.475,2.250,0.000,19.658,849.646,1019.463,513.427,1098.062,145.141,0.000,1201.158,0.000,713.219,0.000,18.520,0.000
$DEVICE_MAMPS,194.310,48.960,657.135,53.550,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.806,751.198,456.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312068
$DATA_FILE_SIZE,24611,349
$CAP_FILE_SIZE,57155,0
$CFSIZE,2097872896,2021064704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1625.28,0x2367ba,1,24
$CURRENT,0.061,28.60,1
$GPS,280218,234632,4737.610,-12255.219,14,0.8,26,16.4,0.4,31.4,10,5.0