version: 66.14
glider: 195
mission: 15
dive: 731
start: 2 28 118 6 34 18
data:
$ID,195
$MISSION,15
$DIVE,731
$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,46
$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
$GPS1,280218,062918,4737.9458,-12254.5967,5,0.9,15,16.4,0.0,0.0,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.7
$GPS2,280218,063335,4737.9268,-12254.5869,5,0.9,18,16.4,0.2,0.0,8,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE3
$TGT_LATLONG,4737.343,-12255.988
$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,224.1,2057,-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,-244.4,182,1854,549,484,0.0,0.0,0,60,0.00,0.00,-48.38,0.000,16386,0.000,0.000,182,1853,1701,1750,1652,0,0,0,0,0,0,26.36,28.83,26.37,8.31,49.13
$GC,64,-0.79,-244.4,182,1853,1750,1653,2.5,-2.9,7,127,9.00,2.25,-48.42,0.000,18692,0.191,0.049,2546,3249,3246,3304,3188,0,0,0,0,0,0,25.01,23.54,25.37,8.42,48.97
$GC,185,-0.65,-244.4,2545,3249,3305,3189,16.2,-18.4,26,193,0.15,2.15,0.00,0.000,3078,0.112,0.026,2594,1839,3246,3305,3188,0,0,0,0,0,0,25.41,25.85,25.58,8.56,48.77
$GC,258,-0.57,-244.4,2593,1839,3306,3189,29.6,-18.3,34,268,0.10,2.15,0.00,0.000,2564,0.139,0.037,2632,461,3247,3306,3188,0,0,0,0,0,0,25.95,25.60,25.96,8.56,49.29
$GC,345,-0.57,-244.4,2632,460,3306,3188,40.8,-11.7,42,355,0.00,2.10,0.00,0.000,1030,0.000,0.028,2626,1842,3247,3306,3189,0,0,0,0,0,0,25.87,25.84,25.91,8.56,49.29
$GC,475,-0.57,-244.4,2625,1842,3306,3189,55.7,-11.3,55,485,0.00,2.20,0.00,0.000,260,0.000,0.038,2616,3251,3247,3306,3188,0,0,0,0,0,0,26.47,25.67,26.48,8.56,49.76
$GC,551,-0.57,-244.4,2615,3251,3306,3188,64.1,-10.5,62,561,0.00,2.10,0.00,0.000,1030,0.000,0.025,2616,1849,3247,3306,3188,0,0,0,0,0,0,25.90,25.87,25.93,8.56,50.27
$GC,680,-0.57,-244.4,2615,1849,3306,3188,79.0,-11.1,75,691,0.00,2.17,0.00,0.000,516,0.000,0.038,2615,452,3247,3306,3189,0,0,0,0,0,0,26.48,25.61,26.48,8.56,49.60
$GC,725,-0.57,-244.4,2615,452,3306,3188,84.3,-12.2,79,735,0.00,2.12,0.00,0.000,1030,0.000,0.028,2607,1846,3247,3306,3189,0,0,0,0,0,0,25.87,25.84,25.89,8.56,50.00
$GC,856,-0.57,-244.4,2607,1847,3306,3188,99.8,-11.7,92,866,0.00,2.17,0.00,0.000,260,0.000,0.037,2597,3243,3247,3306,3189,0,0,0,0,0,0,26.48,25.65,26.49,8.56,50.07
$GC,904,-0.57,-244.4,2597,3243,3306,3188,105.1,-11.6,96,913,0.08,2.15,0.00,0.000,3078,0.109,0.025,2625,1834,3247,3306,3188,0,0,0,0,0,0,25.60,25.85,25.64,8.56,50.74
$GC,1093,-0.57,-244.4,2625,1834,3306,3189,125.0,-10.3,115,1104,0.00,2.17,0.00,0.000,516,0.000,0.039,2626,452,3247,3306,3188,0,0,0,0,0,0,26.48,25.58,26.49,8.57,50.07
$GC,1165,-0.57,-244.4,2625,451,3306,3188,132.7,-10.9,121,1174,0.00,2.12,0.00,0.000,1030,0.000,0.028,2619,1847,3247,3306,3188,0,0,0,0,0,0,25.85,25.83,25.88,8.56,50.70
$GC,1356,-0.57,-244.4,2619,1847,3305,3189,152.9,-10.5,140,1365,0.00,2.17,0.00,0.000,260,0.000,0.037,2610,3239,3247,3305,3189,0,0,0,0,0,0,26.48,25.62,26.49,8.57,50.39
$STATE,1429,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1429,begin apogee
$GC,1437,-0.21,0.0,2609,1837,3306,3188,161.1,-10.5,147,1634,0.35,0.00,192.20,0.658,10246,0.087,0.000,2741,1836,2246,2368,2125,0,0,0,0,0,0,25.53,24.64,23.98,8.57,50.55
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1639,0.79,244.4,2741,1836,2367,2123,162.4,0.0,167,1854,0.88,2.38,203.40,0.642,10756,0.067,0.039,3057,454,1248,1352,1145,0,0,0,0,0,0,24.89,24.33,23.65,8.49,48.81
$GC,1965,0.79,244.4,3056,454,1352,1139,141.7,8.6,199,1972,0.00,2.20,0.00,0.000,1030,0.000,0.026,3057,1846,1245,1351,1139,0,0,0,0,0,0,25.39,25.36,25.43,8.41,49.33
$GC,2154,0.79,244.4,3056,1845,1351,1138,123.9,9.7,218,2164,0.00,2.20,0.00,0.000,516,0.000,0.039,3065,455,1244,1351,1138,0,0,0,0,0,0,26.30,25.56,26.31,8.41,49.48
$GC,2190,0.74,244.4,3065,455,1351,1138,120.0,10.7,221,2198,0.00,2.15,0.00,0.000,1030,0.000,0.027,3065,1833,1244,1351,1138,0,0,0,0,0,0,25.83,25.81,25.84,8.41,49.33
$GC,2380,0.67,244.4,3065,1833,1351,1138,98.2,11.0,240,2392,0.10,2.20,0.00,0.000,4612,0.135,0.037,3037,439,1244,1351,1138,0,0,0,0,0,0,25.94,25.64,25.95,8.41,50.35
$GC,2428,0.67,244.4,3037,438,1351,1137,93.6,9.4,244,2439,0.00,2.15,0.00,0.000,1030,0.000,0.027,3037,1850,1244,1351,1137,0,0,0,0,0,0,25.90,25.87,25.93,8.41,49.96
$GC,2558,0.67,244.4,3037,1850,1351,1137,81.6,9.0,257,2562,0.00,2.17,0.00,0.000,260,0.000,0.037,3038,3250,1244,1351,1137,0,0,0,0,0,0,26.46,25.70,26.46,8.41,50.19
$GC,2583,0.67,244.4,3037,3251,1351,1137,79.5,8.8,259,2590,0.00,2.15,0.00,0.000,1030,0.000,0.026,3043,1848,1244,1351,1137,0,0,0,0,0,0,25.89,25.86,25.92,8.41,49.84
$GC,2711,0.67,244.4,3043,1848,1351,1137,66.6,10.5,272,2722,0.00,2.22,0.00,0.000,516,0.000,0.039,3055,443,1244,1351,1137,0,0,0,0,0,0,26.46,25.62,26.47,8.41,50.66
$GC,2798,0.67,244.4,3054,443,1351,1137,57.2,10.8,280,2809,0.00,2.15,0.00,0.000,1030,0.000,0.026,3055,1852,1243,1351,1136,0,0,0,0,0,0,25.95,25.87,25.98,8.40,50.47
$GC,2929,0.67,244.4,3054,1853,1351,1136,43.9,10.2,293,2932,0.00,2.17,0.00,0.000,260,0.000,0.037,3055,3247,1244,1351,1137,0,0,0,0,0,0,26.47,25.68,26.48,8.40,50.47
$GC,2962,0.67,244.4,3054,3249,1351,1136,40.2,10.6,296,2972,0.00,2.10,0.00,0.000,1030,0.000,0.026,3057,1846,1243,1351,1136,0,0,0,0,0,0,25.88,25.84,25.89,8.41,51.02
$GC,3093,0.67,244.4,3056,1846,1350,1137,26.7,9.6,309,3102,0.00,2.20,0.00,0.000,516,0.000,0.041,3057,457,1243,1351,1136,0,0,0,0,0,0,26.47,25.58,26.48,8.40,50.43
$GC,3147,0.76,335.6,3056,457,1352,1136,22.6,7.4,314,3204,0.00,2.10,50.08,0.554,9222,0.000,0.025,3057,1849,876,961,792,0,0,0,0,0,0,25.91,25.89,24.72,8.40,50.35
$GC,3270,0.76,335.6,3056,1849,962,787,12.6,8.7,332,3277,0.00,2.22,0.00,0.000,260,0.000,0.037,3057,3241,874,962,787,0,0,0,0,0,0,26.20,25.53,26.20,8.36,49.92
$GC,3368,0.81,335.6,3056,3241,962,785,4.2,8.5,350,3375,0.00,2.15,0.00,0.000,1030,0.000,0.027,3057,1846,873,961,785,0,0,0,0,0,0,25.77,25.75,25.81,8.36,50.03
$STATE,3381,end climb,SURFACE_DEPTH_REACHED
$STATE,3381,begin surface coast
$FINISH,0.6,1.011022
$STATE,3419,end surface coast,CONTROL_FINISHED_OK
$STATE,3419,begin surface
$SM_CCo,3436,41.67,0.053,0,0,532,420.20
$SM_GC,1.50,7.53,0.00,41.67,0.028,0.000,0.053,186,1846,532,-8.06,0.08,420.20,0,0,0,0,0,0,25.91,26.37,25.51
$IRIDIUM_FIX,4739.33,-12402.68,280218,055012
$TT8_MAMPS,0.026964,0.24717
$HUMID,49.37
$INTERNAL_PRESSURE,8.28285
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.8
$ALTIM_BOTTOM_PING,135.9,34.8
$24V_AH,23.54,110.779
$10V_AH,9.84,73.060
$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,18.175,65.150,445.675,41.675,0.000,0.000,0.000,161.475,2.750,0.000,19.627,890.058,1042.476,533.181,1144.863,157.984,0.000,1249.593,0.000,764.484,0.000,22.812,0.000
$DEVICE_MAMPS,191.250,48.960,657.900,52.785,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,239.291,772.933,469.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,24474,359
$CAP_FILE_SIZE,62698,0
$CFSIZE,2097872896,2022834176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,242.47,1
$GPS,280218,073323,4737.683,-12255.409,20,0.9,23,16.4,0.2,0.0,9,5.0