version: 66.14
glider: 195
mission: 15
dive: 752
start: 3 1 118 1 30 18
data:
$ID,195
$MISSION,15
$DIVE,752
$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,53
$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
$GPS1,010318,012447,4738.0879,-12253.8018,12,0.9,16,16.4,0.5,66.3,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.6
$GPS2,010318,012935,4738.1152,-12253.7061,6,0.9,20,16.4,0.0,63.5,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$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,28.4,840,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,180,1855,544,486,0.0,0.0,0,59,0.00,0.00,-46.97,0.000,16386,0.000,0.000,180,1856,1619,1676,1562,0,0,0,0,0,0,26.33,28.83,26.34,8.31,49.44
$GC,63,-1.27,-139.0,180,1856,1676,1563,2.0,-2.0,7,120,8.52,2.25,-41.25,0.000,19204,0.194,0.048,2397,445,2814,2890,2739,0,0,0,0,0,0,24.96,25.34,25.15,8.41,49.56
$GC,359,-1.12,-139.0,2396,444,2891,2740,68.9,-25.4,44,364,0.20,2.12,0.00,0.000,3078,0.158,0.027,2445,1839,2816,2892,2740,0,0,0,0,0,0,25.27,25.94,25.46,8.52,49.17
$GC,496,-1.07,-139.0,2445,1839,2892,2740,100.3,-23.4,57,500,0.00,2.20,0.00,0.000,260,0.000,0.036,2437,3252,2816,2892,2740,0,0,0,0,0,0,26.44,25.82,26.44,8.52,49.60
$GC,543,-1.07,-139.0,2436,3252,2891,2740,110.4,-21.5,61,551,0.08,2.15,0.00,0.000,3078,0.153,0.025,2459,1833,2815,2891,2740,0,0,0,0,0,0,25.62,25.96,25.67,8.52,50.11
$GC,731,-1.07,-139.0,2459,1833,2891,2740,149.3,-20.0,80,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1833,2815,2892,2739,0,0,0,0,0,0,26.47,26.48,26.48,8.52,49.96
$STATE,789,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,789,begin apogee
$GC,795,-0.21,0.0,2459,1833,2891,2739,161.1,-19.7,86,911,0.88,0.00,110.75,0.664,10246,0.124,0.000,2738,1832,2246,2362,2130,0,0,0,0,0,0,25.08,24.89,24.22,8.53,50.74
$STATE,912,end apogee,CONTROL_FINISHED_OK
$STATE,913,begin climb
$GC,915,1.27,139.0,2738,1832,2362,2129,166.8,0.0,98,1041,1.33,0.00,116.70,0.653,10502,0.066,0.000,3206,1832,1677,1798,1557,0,0,0,0,0,0,25.14,24.16,23.73,8.49,49.37
$GC,1222,1.22,139.0,3206,1832,1795,1553,120.0,21.2,129,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1832,1674,1795,1553,0,0,0,0,0,0,26.12,26.13,26.13,8.44,49.48
$GC,1402,1.22,139.0,3206,1832,1795,1552,82.3,20.7,147,1406,0.00,2.17,0.00,0.000,516,0.000,0.038,3217,460,1673,1795,1551,0,0,0,0,0,0,26.34,25.70,26.36,8.43,50.27
$GC,1427,1.17,139.0,3217,460,1791,1551,77.8,19.7,149,1432,0.00,2.12,0.00,0.000,1030,0.000,0.026,3217,1846,1670,1790,1551,0,0,0,0,0,0,25.96,25.89,25.99,8.43,50.27
$GC,1561,1.10,139.0,3217,1846,1791,1550,50.3,21.6,162,1571,0.15,2.17,0.00,0.000,4612,0.149,0.036,3179,459,1670,1791,1550,0,0,0,0,0,0,25.66,25.77,25.72,8.43,50.70
$GC,1607,1.10,139.0,3178,459,1791,1549,41.4,19.2,166,1617,0.00,2.08,0.00,0.000,1030,0.000,0.026,3179,1842,1670,1791,1549,0,0,0,0,0,0,25.99,25.96,26.02,8.44,49.84
$GC,1736,1.10,139.0,3178,1842,1791,1549,20.0,15.5,179,1741,0.00,2.20,0.00,0.000,260,0.000,0.037,3179,3256,1669,1790,1549,0,0,0,0,0,0,26.44,25.84,26.46,8.44,50.63
$GC,1787,1.10,139.0,3179,3256,1791,1549,13.3,11.0,187,1795,0.00,2.15,0.00,0.000,1030,0.000,0.026,3189,1845,1670,1791,1549,0,0,0,0,0,0,26.00,25.97,26.03,8.44,50.07
$GC,1860,1.14,169.3,3188,1846,1791,1549,7.1,6.8,200,1882,0.00,2.20,14.00,0.457,8708,0.000,0.037,3199,450,1553,1668,1438,0,0,0,0,0,0,26.46,25.33,24.93,8.43,50.94
$STATE,1908,end climb,SURFACE_DEPTH_REACHED
$STATE,1908,begin surface coast
$FINISH,0.5,1.021478
$STATE,1945,end surface coast,CONTROL_FINISHED_OK
$STATE,1947,begin surface
$SM_CCo,1968,120.05,0.053,0,0,531,420.20
$SM_GC,1.46,7.97,2.22,120.05,0.034,0.029,0.053,175,1851,531,-8.08,-1.10,420.20,0,0,0,0,0,0,26.00,25.89,25.60
$IRIDIUM_FIX,4738.33,-12256.21,010318,002939
$TT8_MAMPS,0.026215,0.242676
$HUMID,48.34
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.2,17.2
$ALTIM_BOTTOM_PING,131.4,44.5
$24V_AH,23.73,112.355
$10V_AH,9.85,73.991
$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,19.125,26.050,241.450,120.050,0.000,0.000,0.000,184.500,2.250,0.000,23.047,566.776,581.229,414.453,725.399,118.678,0.000,885.782,0.000,413.128,0.000,16.790,0.000
$DEVICE_MAMPS,194.310,48.195,664.020,52.785,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,144.089,462.867,281.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312124
$DATA_FILE_SIZE,14107,215
$CAP_FILE_SIZE,39102,0
$CFSIZE,2097872896,2020769792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151,58.73,1
$GPS,010318,020631,4738.398,-12253.220,8,0.8,40,16.4,0.6,61.3,10,4.8