version: 66.14
glider: 195
mission: 15
dive: 792
start: 3 2 118 15 50 3
data:
$ID,195
$MISSION,15
$DIVE,792
$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,45
$R_STBD_OVSHOOT,59
$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
$GPS1,020318,154026,4738.3125,-12253.6484,28,0.8,36,16.4,0.5,70.9,12,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.1
$GPS2,020318,154922,4738.3608,-12253.4912,7,0.9,22,16.4,0.4,71.1,11,5.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$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,216.4,1643,-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,-244.4,186,1880,551,493,0.0,0.0,0,59,0.00,0.00,-47.45,0.000,16386,0.000,0.000,186,1881,1640,1692,1589,0,0,0,0,0,0,25.84,28.83,25.84,8.30,49.01
$GC,63,-0.79,-244.4,186,1881,1692,1588,2.1,-2.4,7,133,9.23,2.38,-51.42,0.000,18948,0.193,0.050,2548,442,3245,3308,3182,0,0,0,0,0,0,24.56,23.27,24.92,8.40,49.33
$GC,143,-0.56,-244.4,2547,442,3308,3183,8.0,-12.8,18,151,0.25,2.20,0.00,0.000,3078,0.111,0.029,2629,1822,3245,3308,3183,0,0,0,0,0,0,24.81,25.35,24.98,8.54,48.46
$GC,215,-0.56,-244.4,2628,1822,3309,3183,17.5,-12.0,31,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1822,3245,3308,3183,0,0,0,0,0,0,26.03,26.03,26.03,8.54,49.48
$GC,286,-0.56,-244.4,2629,1822,3309,3183,26.0,-11.0,39,296,0.00,2.28,0.00,0.000,260,0.000,0.038,2621,3249,3246,3309,3183,0,0,0,0,0,0,26.08,25.34,26.09,8.54,49.05
$GC,350,-0.56,-244.4,2620,3249,3309,3183,32.6,-10.2,45,360,0.00,2.15,0.00,0.000,1030,0.000,0.025,2621,1839,3246,3309,3183,0,0,0,0,0,0,25.58,25.55,25.61,8.54,49.37
$GC,480,-0.56,-244.4,2620,1838,3308,3183,46.7,-10.8,58,485,0.00,2.22,0.00,0.000,516,0.000,0.039,2621,447,3246,3309,3183,0,0,0,0,0,0,26.19,25.39,26.20,8.55,50.39
$GC,534,-0.56,-244.4,2620,447,3309,3183,52.4,-10.6,63,544,0.00,2.17,0.00,0.000,1030,0.000,0.028,2612,1850,3246,3309,3183,0,0,0,0,0,0,25.63,25.59,25.65,8.55,50.03
$GC,665,-0.56,-244.4,2611,1850,3309,3183,66.4,-10.7,76,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1850,3245,3308,3183,0,0,0,0,0,0,26.25,26.26,26.26,8.56,50.07
$GC,785,-0.56,-244.4,2612,1850,3308,3183,78.8,-9.8,88,789,0.00,2.22,0.00,0.000,260,0.000,0.038,2603,3249,3246,3309,3183,0,0,0,0,0,0,26.28,25.50,26.29,8.56,50.35
$GC,820,-0.56,-244.4,2602,3249,3308,3183,82.2,-10.0,91,830,0.00,2.12,0.00,0.000,1030,0.000,0.026,2603,1845,3246,3309,3183,0,0,0,0,0,0,25.72,25.69,25.75,8.56,50.47
$GC,949,-0.56,-244.4,2602,1845,3309,3183,96.1,-10.4,104,954,0.00,2.22,0.00,0.000,516,0.000,0.038,2603,447,3246,3309,3183,0,0,0,0,0,0,26.30,25.48,26.31,8.56,50.74
$GC,999,-0.56,-244.4,2602,447,3309,3182,101.0,-11.1,108,1007,0.10,2.20,0.00,0.000,3078,0.113,0.029,2629,1844,3245,3308,3183,0,0,0,0,0,0,25.39,25.67,25.53,8.56,50.31
$GC,1188,-0.56,-244.4,2628,1845,3308,3183,118.5,-8.5,127,1192,0.00,2.22,0.00,0.000,260,0.000,0.038,2621,3248,3245,3308,3183,0,0,0,0,0,0,26.32,25.54,26.34,8.57,50.66
$GC,1254,-0.62,-244.4,2620,3248,3308,3183,124.1,-8.5,133,1258,0.00,2.15,0.00,0.000,1030,0.000,0.025,2621,1831,3245,3308,3183,0,0,0,0,0,0,25.82,25.74,25.85,8.58,51.22
$GC,1447,-0.62,-244.4,2620,1831,3308,3183,141.3,-8.5,152,1452,0.00,2.20,0.00,0.000,516,0.000,0.039,2621,454,3245,3308,3183,0,0,0,0,0,0,26.34,25.51,26.35,8.58,51.18
$GC,1491,-0.62,-244.4,2620,453,3308,3183,145.2,-9.1,156,1496,0.00,2.15,0.00,0.000,1030,0.000,0.028,2612,1846,3245,3308,3183,0,0,0,0,0,0,25.81,25.72,25.84,8.58,51.26
$STATE,1633,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1633,begin apogee
$GC,1639,-0.21,0.0,2612,1847,3308,3183,159.0,-9.6,170,1845,0.35,0.00,200.20,0.653,10246,0.092,0.000,2741,1846,2246,2370,2122,0,0,0,0,0,0,25.41,23.33,22.68,8.58,50.86
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1846,begin climb
$GC,1851,0.79,244.4,2740,1847,2369,2121,166.1,0.0,191,2078,0.93,2.53,218.90,0.627,10756,0.066,0.038,3057,460,1249,1350,1148,0,0,0,0,0,0,23.52,22.67,22.00,8.50,49.05
$GC,2165,0.72,244.4,3057,460,1349,1144,135.4,13.5,222,2173,0.00,2.35,0.00,0.000,1030,0.000,0.026,3057,1846,1247,1350,1144,0,0,0,0,0,0,23.72,23.66,23.75,8.41,48.58
$GC,2353,0.65,244.4,3057,1846,1350,1141,111.2,12.8,241,2362,0.12,0.00,0.00,0.000,4102,0.119,0.000,3020,1845,1246,1350,1142,0,0,0,0,0,0,24.28,24.36,24.32,8.41,50.11
$GC,2543,0.65,244.4,3019,1846,1349,1140,91.9,9.6,260,2553,0.00,2.33,0.00,0.000,516,0.000,0.039,3027,448,1245,1350,1140,0,0,0,0,0,0,25.30,24.53,25.32,8.41,50.07
$GC,2609,0.65,244.4,3027,448,1349,1140,85.6,9.4,266,2620,0.00,2.25,0.00,0.000,1030,0.000,0.027,3027,1853,1244,1349,1140,0,0,0,0,0,0,24.91,24.84,24.93,8.41,49.96
$GC,2740,0.65,244.4,3027,1853,1349,1140,72.1,10.7,279,2749,0.00,2.25,0.00,0.000,260,0.000,0.036,3027,3250,1244,1349,1139,0,0,0,0,0,0,25.66,24.91,25.67,8.41,49.56
$GC,2774,0.65,244.4,3027,3251,1349,1139,68.1,11.5,282,2785,0.00,2.17,0.00,0.000,1030,0.000,0.026,3034,1850,1244,1349,1139,0,0,0,0,0,0,25.12,25.08,25.14,8.41,49.44
$GC,2905,0.65,244.4,3033,1850,1349,1140,54.4,10.4,295,2914,0.00,2.28,0.00,0.000,516,0.000,0.039,3044,449,1244,1349,1140,0,0,0,0,0,0,25.84,25.03,25.84,8.41,50.55
$GC,2992,0.65,244.4,3044,448,1349,1139,44.8,10.7,303,3001,0.00,2.17,0.00,0.000,1030,0.000,0.027,3045,1842,1244,1349,1139,0,0,0,0,0,0,25.35,25.36,25.38,8.40,49.56
$GC,3121,0.65,244.4,3044,1843,1350,1140,31.5,9.9,316,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1843,1244,1349,1139,0,0,0,0,0,0,26.01,26.01,26.01,8.40,49.84
$GC,3241,0.65,244.4,3044,1843,1349,1139,20.1,9.2,328,3255,0.00,2.25,0.00,0.000,516,0.000,0.039,3051,448,1244,1349,1139,0,0,0,0,0,0,26.08,25.27,26.09,8.40,50.55
$GC,3264,0.65,244.4,3050,448,1349,1140,18.0,8.9,330,3271,0.00,2.20,0.00,0.000,1030,0.000,0.027,3051,1848,1244,1349,1139,0,0,0,0,0,0,25.53,25.51,25.56,8.39,50.63
$GC,3336,0.65,244.4,3050,1849,1349,1139,11.5,8.7,343,3343,0.00,2.25,0.00,0.000,260,0.000,0.037,3051,3248,1244,1349,1139,0,0,0,0,0,0,26.12,25.39,26.13,8.39,50.51
$GC,3356,0.65,244.4,3050,3248,1349,1139,9.5,9.8,346,3365,0.10,2.20,0.00,0.000,5126,0.106,0.027,3021,1834,1244,1349,1140,0,0,0,0,0,0,25.25,25.53,25.30,8.39,49.37
$GC,3431,0.81,353.7,3020,1835,1349,1139,4.3,6.9,359,3455,0.08,0.00,20.65,0.461,10498,0.093,0.000,3126,1834,1082,1179,986,0,0,0,0,0,0,25.94,28.83,25.94,8.38,50.27
$STATE,3456,end climb,SURFACE_DEPTH_REACHED
$STATE,3456,begin surface coast
$FINISH,0.6,1.001200
$STATE,3488,end surface coast,CONTROL_FINISHED_OK
$STATE,3488,begin surface
$SM_CCo,3507,67.12,0.051,0,0,532,420.20
$SM_GC,1.45,7.97,0.00,67.12,0.035,0.000,0.051,178,1834,532,-8.07,-0.28,420.20,0,0,0,0,0,0,25.57,25.89,25.15
$IRIDIUM_FIX,4739.20,-12253.53,020318,154209
$TT8_MAMPS,0.026964,0.266644
$HUMID,49.17
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.4
$ALTIM_BOTTOM_PING,115.1,57.9
$24V_AH,22.00,115.638
$10V_AH,9.80,76.020
$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,19.125,58.125,439.750,67.125,0.000,0.000,0.000,360.000,1.750,0.000,23.678,917.699,1169.628,540.773,1326.989,181.325,0.000,1442.406,0.000,745.538,0.000,14.925,0.000
$DEVICE_MAMPS,192.780,49.725,653.310,51.255,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.128,792.196,481.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312072
$DATA_FILE_SIZE,24573,368
$CAP_FILE_SIZE,65958,0
$CFSIZE,2097872896,2016804864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.102,50.23,1
$GPS,020318,165107,4738.232,-12253.955,22,1.0,45,16.4,0.4,170.6,10,4.8