version: 66.14
glider: 195
mission: 15
dive: 796
start: 3 2 118 19 29 47
data:
$ID,195
$MISSION,15
$DIVE,796
$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,49
$R_STBD_OVSHOOT,35
$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
$GPS1,020318,192408,4737.8198,-12254.5635,4,0.8,16,16.4,0.4,60.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.8
$GPS2,020318,192905,4737.8589,-12254.4775,7,0.8,36,16.4,0.4,62.9,10,4.4
$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,223.9,2114,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.79,-244.4,182,1833,541,486,0.0,0.0,0,60,0.00,0.00,-47.62,0.000,16386,0.000,0.000,182,1834,1656,1705,1607,0,0,0,0,0,0,25.45,28.83,25.46,8.30,48.97
$GC,64,-0.79,-244.4,182,1833,1706,1607,2.4,-2.9,7,127,9.38,0.00,-48.67,0.000,18950,0.190,0.000,2548,1833,3245,3300,3191,0,0,0,0,0,0,24.19,23.34,24.53,8.41,49.13
$GC,194,-0.64,-244.4,2548,1833,3302,3191,16.7,-17.6,28,202,0.15,2.30,0.00,0.000,2308,0.130,0.035,2590,3253,3246,3302,3191,0,0,0,0,0,0,24.95,24.94,24.98,8.55,48.38
$GC,224,-0.53,-244.4,2590,3253,3302,3192,22.1,-18.5,31,233,0.12,2.22,0.00,0.000,3078,0.095,0.026,2645,1847,3247,3302,3192,0,0,0,0,0,0,24.78,25.11,24.90,8.55,49.21
$GC,353,-0.53,-244.4,2645,1847,3302,3192,35.4,-9.9,44,362,0.00,2.28,0.00,0.000,516,0.000,0.038,2646,448,3247,3303,3192,0,0,0,0,0,0,25.75,24.99,25.77,8.55,49.25
$GC,387,-0.53,-244.4,2645,448,3302,3192,38.9,-10.0,47,398,0.00,2.20,0.00,0.000,1030,0.000,0.028,2640,1847,3246,3302,3191,0,0,0,0,0,0,25.23,25.20,25.26,8.55,49.37
$GC,518,-0.53,-244.4,2639,1847,3302,3191,51.2,-10.0,60,527,0.00,2.25,0.00,0.000,260,0.000,0.038,2630,3249,3247,3302,3192,0,0,0,0,0,0,25.86,25.12,25.87,8.55,50.23
$GC,586,-0.59,-244.4,2630,3249,3302,3192,57.5,-9.6,66,593,0.00,2.20,0.00,0.000,1030,0.000,0.025,2630,1844,3247,3302,3192,0,0,0,0,0,0,25.36,25.32,25.38,8.56,49.72
$GC,714,-0.59,-244.4,2630,1844,3302,3192,70.8,-10.3,79,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1843,3247,3302,3192,0,0,0,0,0,0,25.96,25.97,25.96,8.56,50.82
$GC,834,-0.59,-244.4,2630,1843,3302,3192,82.7,-9.1,91,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1844,3247,3302,3192,0,0,0,0,0,0,26.01,26.01,26.01,8.56,50.23
$GC,954,-0.59,-244.4,2630,1844,3302,3192,94.3,-9.7,103,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1844,3247,3302,3192,0,0,0,0,0,0,26.05,26.06,26.05,8.56,50.51
$GC,1075,-0.59,-244.4,2630,1843,3302,3192,105.9,-9.4,115,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1843,3246,3301,3192,0,0,0,0,0,0,26.03,26.03,26.03,8.57,50.90
$GC,1264,-0.59,-244.4,2630,1843,3302,3192,122.9,-8.6,134,1274,0.00,2.22,0.00,0.000,516,0.000,0.039,2630,453,3247,3302,3192,0,0,0,0,0,0,26.12,25.29,26.13,8.57,51.45
$GC,1303,-0.59,-244.4,2630,453,3302,3192,126.3,-9.5,137,1310,0.00,2.20,0.00,0.000,1030,0.000,0.028,2623,1842,3246,3302,3191,0,0,0,0,0,0,25.53,25.49,25.56,8.57,50.86
$GC,1493,-0.59,-244.4,2622,1842,3302,3192,144.0,-9.1,156,1497,0.00,2.25,0.00,0.000,260,0.000,0.037,2613,3250,3247,3302,3192,0,0,0,0,0,0,26.15,25.37,26.17,8.58,51.41
$STATE,1503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1503,begin apogee
$GC,1512,-0.21,0.0,2612,1833,3302,3191,145.3,-8.9,157,1719,0.35,0.00,203.20,0.639,10246,0.090,0.000,2740,1833,2246,2365,2128,0,0,0,0,0,0,25.20,23.13,22.48,8.58,51.41
$STATE,1720,end apogee,CONTROL_FINISHED_OK
$STATE,1722,begin climb
$GC,1725,0.79,244.4,2740,1833,2364,2126,152.9,0.0,178,1957,0.95,2.53,220.15,0.617,10756,0.067,0.037,3060,456,1249,1349,1149,0,0,0,0,0,0,23.33,22.30,21.89,8.50,49.64
$GC,2005,0.72,244.4,3059,456,1349,1147,127.1,13.0,206,2015,0.00,2.35,0.00,0.000,1030,0.000,0.026,3060,1830,1247,1349,1146,0,0,0,0,0,0,23.37,23.34,23.39,8.42,48.07
$GC,2195,0.64,244.4,3060,1830,1349,1144,102.0,12.8,225,2205,0.12,2.35,0.00,0.000,4612,0.121,0.037,3028,463,1247,1349,1145,0,0,0,0,0,0,23.90,23.82,23.92,8.42,49.17
$GC,2232,0.64,244.4,3027,463,1348,1143,97.5,12.4,228,2241,0.00,2.33,0.00,0.000,1030,0.000,0.026,3028,1844,1245,1348,1143,0,0,0,0,0,0,24.08,24.05,24.10,8.42,49.84
$GC,2361,0.64,244.4,3027,1843,1348,1142,83.4,10.5,241,2371,0.00,2.35,0.00,0.000,260,0.000,0.036,3028,3250,1246,1349,1143,0,0,0,0,0,0,24.84,24.20,24.85,8.41,49.68
$GC,2387,0.64,244.4,3027,3250,1348,1142,80.8,10.6,243,2394,0.00,2.28,0.00,0.000,1030,0.000,0.026,3034,1844,1246,1349,1143,0,0,0,0,0,0,24.41,24.34,24.44,8.41,49.68
$GC,2515,0.64,244.4,3033,1843,1348,1142,67.3,10.4,256,2526,0.00,2.33,0.00,0.000,516,0.000,0.039,3045,454,1245,1348,1142,0,0,0,0,0,0,25.13,24.38,25.14,8.41,49.64
$GC,2602,0.64,244.4,3044,453,1348,1141,57.8,11.1,264,2612,0.00,2.25,0.00,0.000,1030,0.000,0.027,3045,1853,1244,1348,1141,0,0,0,0,0,0,24.70,24.68,24.73,8.41,49.84
$GC,2732,0.64,244.4,3044,1853,1349,1141,43.5,10.8,277,2742,0.00,2.28,0.00,0.000,260,0.000,0.037,3045,3250,1244,1348,1141,0,0,0,0,0,0,25.43,24.69,25.44,8.40,49.64
$GC,2766,0.64,244.4,3044,3251,1348,1141,39.6,11.2,280,2778,0.10,2.22,0.00,0.000,5126,0.104,0.026,3020,1833,1245,1348,1142,0,0,0,0,0,0,24.58,24.84,24.63,8.40,49.96
$GC,2897,0.64,244.4,3019,1833,1348,1141,27.7,8.7,293,2907,0.00,2.28,0.00,0.000,516,0.000,0.040,3027,451,1244,1348,1141,0,0,0,0,0,0,25.58,24.78,25.58,8.40,50.03
$GC,3011,0.64,244.4,3027,450,1348,1141,17.4,8.8,306,3019,0.00,2.25,0.00,0.000,1030,0.000,0.026,3026,1851,1244,1348,1141,0,0,0,0,0,0,25.10,25.07,25.13,8.39,50.51
$GC,3085,0.72,317.4,3026,1851,1348,1141,11.3,7.9,319,3134,0.00,2.33,39.15,0.497,8452,0.000,0.036,3027,3244,949,1032,867,0,0,0,0,0,0,25.70,24.29,23.62,8.39,49.60
$GC,3176,0.87,394.8,3026,3244,1032,864,4.3,7.8,333,3198,0.08,2.28,16.77,0.443,11266,0.053,0.024,3131,1837,816,893,740,0,0,0,0,0,0,24.59,24.63,24.68,8.36,48.93
$STATE,3199,end climb,SURFACE_DEPTH_REACHED
$STATE,3199,begin surface coast
$FINISH,0.6,1.010123
$STATE,3241,end surface coast,CONTROL_FINISHED_OK
$STATE,3241,begin surface
$SM_CCo,3260,36.15,0.052,0,0,533,420.20
$SM_GC,1.54,8.18,0.00,36.15,0.030,0.000,0.052,182,1837,533,-8.06,-0.17,420.20,0,0,0,0,0,0,24.68,25.03,24.39
$IRIDIUM_FIX,4738.33,-12256.21,020318,184128
$TT8_MAMPS,0.026964,0.241927
$HUMID,48.50
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.0
$ALTIM_BOTTOM_PING,140.3,19.9
$24V_AH,21.89,115.986
$10V_AH,9.82,76.210
$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,19.425,54.725,479.275,36.150,0.000,0.000,0.000,179.300,3.500,0.000,37.820,828.621,995.171,540.198,1102.033,158.529,0.000,1239.405,0.000,695.388,0.000,28.536,0.000
$DEVICE_MAMPS,189.720,39.780,638.775,52.020,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,228.405,740.500,449.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24531,344
$CAP_FILE_SIZE,59648,0
$CFSIZE,2097872896,2016444416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.013,24.99,1
$GPS,020318,202543,4737.733,-12255.141,4,0.9,14,16.4,0.3,52.6,9,5.0