version: 66.14
glider: 195
mission: 15
dive: 760
start: 3 1 118 8 47 54
data:
$ID,195
$MISSION,15
$DIVE,760
$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,47
$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,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
$GPS1,010318,084225,4737.2524,-12255.9072,5,0.9,16,16.4,0.4,67.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-62.5
$GPS2,010318,084711,4737.2622,-12255.8701,6,0.9,19,16.4,0.3,268.8,9,4.9
$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,33.3,1958,-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,-244.4,172,1842,542,479,0.0,0.0,0,66,0.00,0.00,-54.60,0.000,16386,0.000,0.000,172,1842,1826,1887,1766,0,0,0,0,0,0,26.35,28.83,26.36,8.31,49.13
$GC,70,-0.79,-244.4,172,1842,1887,1766,2.5,-3.8,8,130,9.07,2.22,-40.55,0.000,18692,0.194,0.047,2540,3245,3246,3307,3185,0,0,0,0,0,0,24.98,23.64,25.35,8.43,49.84
$GC,320,-0.68,-244.4,2540,3245,3308,3185,44.8,-18.3,40,331,0.15,2.10,0.00,0.000,3078,0.106,0.027,2590,1842,3246,3308,3185,0,0,0,0,0,0,25.62,25.96,25.68,8.55,49.05
$GC,451,-0.61,-244.4,2589,1842,3308,3185,65.0,-14.1,53,461,0.00,2.17,0.00,0.000,516,0.000,0.038,2590,455,3246,3307,3185,0,0,0,0,0,0,26.46,25.82,26.47,8.56,50.03
$GC,477,-0.54,-244.4,2589,454,3307,3185,68.4,-13.6,55,485,0.12,2.15,0.00,0.000,3078,0.110,0.029,2638,1835,3246,3308,3185,0,0,0,0,0,0,25.60,25.98,25.74,8.56,50.11
$GC,605,-0.54,-244.4,2638,1835,3308,3185,83.3,-11.0,68,609,0.00,2.20,0.00,0.000,260,0.000,0.039,2631,3246,3246,3308,3185,0,0,0,0,0,0,26.46,25.85,26.48,8.56,49.84
$GC,669,-0.54,-244.4,2630,3248,3308,3185,90.3,-10.9,74,680,0.00,2.12,0.00,0.000,1030,0.000,0.026,2631,1829,3246,3308,3185,0,0,0,0,0,0,26.07,25.98,26.10,8.56,50.27
$GC,801,-0.54,-244.4,2630,1829,3308,3185,105.5,-11.7,87,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1830,3246,3308,3185,0,0,0,0,0,0,26.44,26.46,26.45,8.56,50.11
$GC,991,-0.54,-244.4,2630,1829,3308,3185,126.7,-10.8,106,995,0.00,2.15,0.00,0.000,516,0.000,0.039,2631,454,3246,3308,3185,0,0,0,0,0,0,26.47,25.82,26.48,8.57,50.35
$GC,1028,-0.54,-244.4,2630,454,3308,3185,130.6,-11.0,109,1038,0.00,2.12,0.00,0.000,1030,0.000,0.028,2622,1848,3246,3308,3185,0,0,0,0,0,0,26.03,25.97,26.03,8.57,50.43
$GC,1217,-0.54,-244.4,2622,1848,3308,3185,152.0,-11.4,128,1220,0.00,2.17,0.00,0.000,260,0.000,0.039,2612,3245,3246,3308,3185,0,0,0,0,0,0,26.48,25.85,26.48,8.57,50.27
$GC,1263,-0.54,-244.4,2611,3245,3308,3185,156.7,-10.8,132,1270,0.00,2.15,0.00,0.000,1030,0.000,0.028,2612,1844,3246,3308,3185,0,0,0,0,0,0,26.01,25.97,26.04,8.57,50.74
$STATE,1278,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1278,begin apogee
$GC,1284,-0.21,0.0,2612,1844,3307,3185,158.7,-9.9,134,1481,0.35,0.00,193.20,0.662,10246,0.100,0.000,2738,1844,2246,2370,2122,0,0,0,0,0,0,25.60,24.43,23.78,8.57,51.06
$STATE,1482,end apogee,CONTROL_FINISHED_OK
$STATE,1483,begin climb
$GC,1487,0.79,244.4,2738,1843,2369,2122,168.2,0.0,154,1705,0.90,2.42,208.40,0.641,10756,0.073,0.039,3056,453,1249,1352,1146,0,0,0,0,0,0,24.68,23.49,23.06,8.49,48.89
$GC,1734,0.79,244.4,3056,454,1351,1143,149.1,9.8,179,1744,0.00,2.22,0.00,0.000,1030,0.000,0.027,3057,1834,1246,1351,1142,0,0,0,0,0,0,24.39,24.37,24.41,8.41,48.18
$GC,1925,0.74,244.4,3056,1834,1351,1139,129.0,11.2,198,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1834,1245,1351,1139,0,0,0,0,0,0,26.04,26.05,26.05,8.41,49.68
$GC,2115,0.68,244.4,3056,1834,1351,1139,106.2,12.3,217,2119,0.00,2.22,0.00,0.000,516,0.000,0.041,3065,443,1244,1351,1138,0,0,0,0,0,0,26.34,25.56,26.34,8.41,49.96
$GC,2159,0.68,244.4,3064,442,1349,1138,100.7,12.2,221,2170,0.10,2.17,0.00,0.000,5126,0.124,0.028,3032,1855,1244,1350,1138,0,0,0,0,0,0,25.57,25.77,25.67,8.41,50.39
$GC,2353,0.68,244.4,3031,1854,1349,1138,80.9,9.9,240,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1854,1243,1349,1138,0,0,0,0,0,0,26.42,26.43,26.42,8.41,49.92
$GC,2479,0.68,244.4,3031,1854,1349,1138,68.9,8.6,253,2483,0.00,2.22,0.00,0.000,516,0.000,0.041,3040,449,1243,1349,1138,0,0,0,0,0,0,26.44,25.77,26.44,8.41,50.07
$GC,2525,0.68,244.4,3039,449,1349,1137,65.0,9.2,257,2532,0.00,2.17,0.00,0.000,1030,0.000,0.028,3040,1847,1243,1349,1138,0,0,0,0,0,0,25.98,25.96,26.01,8.41,50.78
$GC,2652,0.68,244.4,3039,1847,1350,1138,52.5,9.8,270,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1847,1243,1349,1138,0,0,0,0,0,0,26.44,26.46,26.46,8.40,50.27
$GC,2772,0.68,244.4,3039,1848,1350,1137,41.1,9.5,282,2776,0.00,2.22,0.00,0.000,516,0.000,0.040,3048,449,1243,1349,1138,0,0,0,0,0,0,26.46,25.82,26.46,8.40,50.82
$GC,2816,0.68,244.4,3047,449,1349,1138,36.7,10.1,286,2821,0.00,2.12,0.00,0.000,1030,0.000,0.028,3048,1850,1243,1349,1137,0,0,0,0,0,0,26.06,25.98,26.09,8.41,51.14
$GC,2950,0.68,244.4,3047,1850,1349,1137,24.3,9.0,299,2953,0.00,2.17,0.00,0.000,260,0.000,0.037,3048,3255,1243,1349,1137,0,0,0,0,0,0,26.46,25.86,26.46,8.40,51.06
$GC,2964,0.68,244.4,3047,3255,1349,1138,23.2,9.1,300,2972,0.00,2.17,0.00,0.000,1030,0.000,0.028,3053,1835,1243,1349,1137,0,0,0,0,0,0,26.01,25.98,26.03,8.40,50.55
$GC,3098,0.82,384.6,3053,1835,1349,1137,12.0,6.1,323,3175,0.00,2.28,71.10,0.506,8708,0.000,0.041,3057,454,677,755,600,0,0,0,0,0,0,26.46,25.32,24.70,8.40,50.43
$STATE,3229,end climb,SURFACE_DEPTH_REACHED
$STATE,3231,begin surface coast
$FINISH,2.3,1.021407
$STATE,3237,end surface coast,CONTROL_FINISHED_OK
$STATE,3237,begin surface
$SM_CCo,3258,18.33,0.052,0,0,533,420.20
$SM_GC,1.42,7.70,2.22,18.33,0.037,0.028,0.052,193,1839,533,-8.05,-1.30,420.20,0,0,0,0,0,0,25.73,25.66,25.50
$IRIDIUM_FIX,4738.33,-12256.21,010318,080054
$TT8_MAMPS,0.026964,0.297353
$HUMID,48.85
$INTERNAL_PRESSURE,8.28285
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$ALTIM_BOTTOM_PING,130.6,41.8
$24V_AH,23.06,112.998
$10V_AH,9.82,74.389
$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,18.400,48.225,472.700,18.325,0.000,0.000,0.000,187.900,2.250,0.000,20.213,844.567,1023.673,509.567,1063.464,153.584,0.000,1172.800,0.000,668.114,0.000,16.790,0.000
$DEVICE_MAMPS,193.545,47.430,662.490,52.020,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.113,742.540,451.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24625,345
$CAP_FILE_SIZE,54823,0
$CFSIZE,2097872896,2019983360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,104.43,0x2367ba,0,24
$CURRENT,0.101,219.60,1
$GPS,010318,094330,4737.389,-12255.466,6,0.9,15,16.4,0.0,0.0,10,4.9