version: 66.14
glider: 195
mission: 15
dive: 771
start: 3 1 118 19 18 58
data:
$ID,195
$MISSION,15
$DIVE,771
$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,52
$R_STBD_OVSHOOT,46
$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
$GPS1,010318,191255,4737.7236,-12255.0693,5,0.9,15,16.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.6
$GPS2,010318,191817,4737.7588,-12255.0205,7,0.8,17,16.4,0.0,0.0,10,4.8
$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,218.4,1433,-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,-244.4,163,1847,558,493,0.0,0.0,0,60,0.00,0.00,-48.65,0.000,16386,0.000,0.000,163,1848,1697,1746,1649,0,0,0,0,0,0,26.28,28.83,26.29,8.31,49.13
$GC,64,-0.79,-244.4,163,1848,1747,1650,2.5,-3.6,7,127,9.07,2.22,-45.60,0.000,18948,0.194,0.048,2553,447,3243,3300,3186,0,0,0,0,0,0,25.01,25.27,25.37,8.42,49.64
$GC,136,-0.51,-244.4,2552,447,3301,3186,9.0,-14.1,17,145,0.28,2.17,0.00,0.000,3078,0.117,0.029,2646,1837,3243,3301,3186,0,0,0,0,0,0,25.32,25.83,25.51,8.56,48.58
$GC,211,-0.51,-244.4,2645,1837,3303,3186,20.3,-14.0,30,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1837,3245,3303,3187,0,0,0,0,0,0,26.36,26.37,26.37,8.56,48.70
$GC,340,-0.51,-244.4,2645,1836,3303,3186,37.5,-12.1,43,343,0.00,2.22,0.00,0.000,260,0.000,0.038,2637,3249,3245,3303,3187,0,0,0,0,0,0,26.39,25.79,26.41,8.55,49.52
$GC,372,-0.51,-244.4,2637,3251,3303,3187,41.2,-11.7,46,377,0.00,2.12,0.00,0.000,1030,0.000,0.025,2637,1844,3244,3302,3187,0,0,0,0,0,0,26.00,25.92,26.02,8.56,50.07
$GC,506,-0.51,-244.4,2637,1843,3303,3186,56.2,-10.9,59,516,0.00,2.17,0.00,0.000,516,0.000,0.038,2637,456,3244,3302,3186,0,0,0,0,0,0,26.41,25.80,26.42,8.56,50.07
$GC,551,-0.51,-244.4,2637,456,3303,3186,61.3,-11.8,63,559,0.00,2.17,0.00,0.000,1030,0.000,0.030,2630,1848,3244,3302,3186,0,0,0,0,0,0,25.96,25.93,25.98,8.55,49.84
$GC,680,-0.51,-244.4,2630,1848,3303,3186,77.0,-11.9,76,685,0.00,2.20,0.00,0.000,260,0.000,0.038,2620,3249,3244,3302,3186,0,0,0,0,0,0,26.43,25.84,26.44,8.56,50.19
$GC,734,-0.51,-244.4,2619,3249,3302,3187,83.3,-11.5,81,743,0.00,2.10,0.00,0.000,1030,0.000,0.025,2619,1842,3244,3302,3186,0,0,0,0,0,0,25.99,25.96,26.03,8.55,50.00
$GC,864,-0.51,-244.4,2619,1842,3302,3186,98.4,-11.6,94,868,0.00,2.17,0.00,0.000,516,0.000,0.039,2620,452,3244,3302,3186,0,0,0,0,0,0,26.44,25.82,26.44,8.56,50.70
$GC,902,-0.51,-244.4,2619,452,3302,3186,102.8,-12.3,97,910,0.10,2.17,0.00,0.000,3078,0.112,0.029,2646,1850,3244,3302,3186,0,0,0,0,0,0,25.70,25.94,25.75,8.56,50.07
$GC,1090,-0.51,-244.4,2645,1851,3302,3186,121.2,-9.2,116,1099,0.00,2.17,0.00,0.000,260,0.000,0.039,2638,3248,3244,3302,3186,0,0,0,0,0,0,26.43,25.84,26.44,8.56,50.27
$GC,1136,-0.51,-244.4,2638,3248,3303,3186,125.1,-9.2,120,1144,0.00,2.15,0.00,0.000,1030,0.000,0.026,2638,1838,3244,3302,3187,0,0,0,0,0,0,26.01,25.98,26.04,8.57,50.47
$GC,1327,-0.51,-244.4,2638,1838,3302,3186,143.6,-9.9,139,1337,0.00,2.17,0.00,0.000,516,0.000,0.040,2638,456,3244,3302,3186,0,0,0,0,0,0,26.44,25.82,26.45,8.57,50.86
$GC,1371,-0.51,-244.4,2638,456,3302,3186,148.5,-10.3,143,1380,0.00,2.12,0.00,0.000,1030,0.000,0.029,2631,1848,3244,3302,3186,0,0,0,0,0,0,25.99,25.96,26.02,8.57,50.63
$STATE,1448,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1448,begin apogee
$GC,1454,-0.21,0.0,2631,1848,3303,3186,157.1,-11.0,151,1651,0.30,0.00,192.88,0.659,10246,0.094,0.000,2742,1848,2246,2367,2126,0,0,0,0,0,0,25.70,24.32,23.68,8.57,50.47
$STATE,1652,end apogee,CONTROL_FINISHED_OK
$STATE,1652,begin climb
$GC,1657,0.79,244.4,2742,1848,2366,2124,165.0,0.0,171,1881,0.90,2.42,209.23,0.636,10756,0.073,0.039,3058,460,1248,1351,1146,0,0,0,0,0,0,24.55,23.42,22.77,8.49,49.33
$GC,1926,0.79,244.4,3058,459,1351,1144,144.0,11.6,198,1937,0.00,2.28,0.00,0.000,1030,0.000,0.027,3058,1839,1247,1351,1143,0,0,0,0,0,0,24.22,24.18,24.25,8.41,48.66
$GC,2117,0.74,244.4,3058,1839,1351,1141,120.7,12.4,217,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1839,1246,1351,1141,0,0,0,0,0,0,25.86,25.87,25.86,8.40,50.11
$GC,2306,0.74,244.4,3058,1839,1351,1140,98.5,11.2,236,2316,0.00,2.22,0.00,0.000,516,0.000,0.040,3067,455,1245,1351,1140,0,0,0,0,0,0,26.29,25.39,26.29,8.40,50.78
$GC,2352,0.74,244.4,3067,454,1351,1139,93.6,11.0,240,2360,0.00,2.17,0.00,0.000,1030,0.000,0.028,3067,1839,1245,1351,1139,0,0,0,0,0,0,25.67,25.65,25.70,8.40,49.76
$GC,2481,0.68,244.4,3067,1839,1351,1139,78.3,11.7,253,2486,0.10,2.22,0.00,0.000,4356,0.132,0.036,3031,3258,1245,1351,1139,0,0,0,0,0,0,25.90,25.59,25.90,8.41,50.35
$GC,2535,0.68,244.4,3030,3258,1350,1139,72.7,9.9,258,2545,0.00,2.15,0.00,0.000,1030,0.000,0.027,3035,1836,1245,1351,1139,0,0,0,0,0,0,25.82,25.74,25.84,8.41,50.15
$GC,2665,0.68,244.4,3035,1836,1351,1139,60.9,9.2,271,2670,0.00,2.20,0.00,0.000,516,0.000,0.041,3046,452,1245,1351,1139,0,0,0,0,0,0,26.42,25.65,26.43,8.41,50.11
$GC,2739,0.68,244.4,3045,452,1351,1139,53.9,9.6,278,2748,0.00,2.12,0.00,0.000,1030,0.000,0.028,3046,1844,1244,1351,1138,0,0,0,0,0,0,25.86,25.84,25.89,8.41,50.70
$GC,2870,0.68,244.4,3045,1845,1351,1138,42.1,9.0,291,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1845,1244,1351,1138,0,0,0,0,0,0,26.43,26.44,26.44,8.40,50.51
$GC,2989,0.68,244.4,3045,1845,1351,1138,31.8,8.1,303,2994,0.00,2.22,0.00,0.000,516,0.000,0.040,3054,451,1244,1351,1138,0,0,0,0,0,0,26.44,25.74,26.44,8.40,50.59
$GC,3025,0.76,322.0,3054,450,1350,1139,29.2,7.8,306,3076,0.00,2.12,46.30,0.572,9222,0.000,0.027,3054,1843,932,1013,851,0,0,0,0,0,0,25.92,25.89,24.58,8.41,50.86
$GC,3205,0.84,399.2,3054,1843,1013,846,14.4,7.8,330,3254,0.00,2.25,41.50,0.509,8708,0.000,0.039,3055,451,614,669,559,0,0,0,0,0,0,26.24,24.99,24.60,8.37,49.80
$GC,3322,1.04,498.6,3055,451,663,554,5.8,7.2,349,3346,0.15,2.20,15.65,0.447,11270,0.038,0.026,3180,1857,496,525,467,0,0,0,0,0,0,25.63,25.65,24.63,8.34,50.11
$STATE,3351,end climb,SURFACE_DEPTH_REACHED
$STATE,3351,begin surface coast
$FINISH,0.5,1.011313
$STATE,3379,end surface coast,CONTROL_FINISHED_OK
$STATE,3381,begin surface
$SM_CCo,3459,0.00,0.000,0,0,486,431.73
$SM_GC,1.48,7.93,0.00,0.00,0.028,0.000,0.000,172,1859,486,-8.07,0.45,431.73,0,0,0,0,0,0,25.75,26.13,25.79
$IRIDIUM_FIX,4735.54,-12254.47,010318,181732
$TT8_MAMPS,0.025466,0.240429
$HUMID,49.60
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,135.8,35.6
$24V_AH,22.77,113.918
$10V_AH,9.83,74.943
$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,18.825,56.975,505.550,0.000,0.000,0.000,0.000,215.200,2.750,0.000,18.520,869.091,1103.542,502.546,1159.815,169.364,0.000,1262.118,0.000,733.622,0.000,21.283,0.000
$DEVICE_MAMPS,193.545,48.195,658.665,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.299,770.605,467.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312104
$DATA_FILE_SIZE,24570,358
$CAP_FILE_SIZE,61208,0
$CFSIZE,2097872896,2018902016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,256.60,1
$GPS,010318,201818,4737.512,-12255.773,46,0.9,60,16.4,0.4,67.0,9,4.9