version: 66.14
glider: 195
mission: 15
dive: 751
start: 3 1 118 0 33 11
data:
$ID,195
$MISSION,15
$DIVE,751
$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,41
$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
$GPS1,010318,002808,4737.8096,-12254.7129,9,0.9,16,16.4,0.5,47.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.7
$GPS2,010318,003229,4737.8506,-12254.6367,5,0.9,16,16.4,0.6,60.4,10,4.8
$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,48.8,2070,-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,10,-0.79,-244.4,172,1838,540,481,0.0,0.0,0,60,0.00,0.00,-48.05,0.000,16386,0.000,0.000,172,1838,1658,1712,1605,0,0,0,0,0,0,26.34,28.83,26.35,8.31,49.21
$GC,64,-0.79,-244.4,172,1838,1712,1605,2.1,-2.5,7,134,9.10,2.22,-52.12,0.000,18692,0.194,0.049,2541,3249,3244,3309,3179,0,0,0,0,0,0,24.97,25.30,25.35,8.41,49.29
$GC,342,-0.68,-244.4,2540,3249,3310,3181,46.5,-17.2,44,347,0.17,2.12,0.00,0.000,3078,0.118,0.025,2597,1836,3244,3309,3180,0,0,0,0,0,0,25.56,25.95,25.69,8.55,49.40
$GC,477,-0.61,-244.4,2596,1836,3309,3180,66.1,-13.7,57,486,0.00,2.17,0.00,0.000,516,0.000,0.038,2597,453,3245,3310,3180,0,0,0,0,0,0,26.46,25.77,26.47,8.56,50.23
$GC,511,-0.55,-244.4,2596,453,3310,3181,71.1,-14.6,60,516,0.12,2.15,0.00,0.000,3078,0.129,0.028,2631,1856,3244,3309,3180,0,0,0,0,0,0,25.65,25.94,25.76,8.55,50.43
$GC,645,-0.55,-244.4,2630,1856,3310,3180,86.2,-10.9,73,649,0.00,2.17,0.00,0.000,260,0.000,0.038,2622,3252,3245,3310,3180,0,0,0,0,0,0,26.47,25.79,26.48,8.55,50.11
$GC,728,-0.55,-244.4,2622,3253,3310,3180,95.0,-10.3,81,737,0.00,2.10,0.00,0.000,1030,0.000,0.025,2623,1847,3245,3310,3180,0,0,0,0,0,0,25.98,25.96,26.02,8.56,49.72
$GC,858,-0.55,-244.4,2622,1847,3309,3180,110.0,-12.0,94,862,0.00,2.17,0.00,0.000,516,0.000,0.038,2623,453,3244,3309,3180,0,0,0,0,0,0,26.47,25.76,26.48,8.56,49.96
$GC,914,-0.55,-244.4,2622,452,3309,3180,116.8,-11.8,99,923,0.00,2.12,0.00,0.000,1030,0.000,0.028,2614,1847,3244,3309,3180,0,0,0,0,0,0,25.97,25.94,26.01,8.56,50.19
$GC,1104,-0.55,-244.4,2613,1847,3310,3180,138.8,-11.2,118,1114,0.00,2.17,0.00,0.000,260,0.000,0.038,2604,3245,3244,3309,3180,0,0,0,0,0,0,26.48,25.80,26.49,8.57,50.27
$GC,1129,-0.55,-244.4,2603,3245,3310,3180,141.6,-11.6,120,1137,0.00,2.15,0.00,0.000,1030,0.000,0.026,2604,1835,3244,3309,3180,0,0,0,0,0,0,25.98,25.96,26.01,8.57,50.27
$STATE,1205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1205,begin apogee
$GC,1211,-0.21,0.0,2604,1835,3310,3180,150.9,-11.6,128,1408,0.38,0.00,192.62,0.653,10246,0.096,0.000,2740,1834,2247,2376,2118,0,0,0,0,0,0,25.51,24.53,23.89,8.57,50.51
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1412,0.79,244.4,2739,1835,2375,2116,159.7,0.0,148,1628,0.90,0.00,206.70,0.633,10758,0.075,0.000,3047,1834,1248,1353,1143,0,0,0,0,0,0,24.74,23.78,23.32,8.49,48.85
$GC,1809,0.79,244.4,3047,1834,1353,1138,122.3,11.7,188,1818,0.00,2.22,0.00,0.000,516,0.000,0.040,3057,457,1246,1354,1138,0,0,0,0,0,0,26.00,25.20,26.01,8.41,49.68
$GC,1902,0.79,244.4,3057,457,1351,1136,111.7,11.4,197,1907,0.00,2.15,0.00,0.000,1030,0.000,0.027,3057,1843,1244,1352,1137,0,0,0,0,0,0,25.71,25.63,25.74,8.41,49.68
$GC,2096,0.79,244.4,3057,1843,1351,1136,90.4,10.5,216,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1843,1243,1351,1136,0,0,0,0,0,0,26.37,26.38,26.38,8.41,50.43
$GC,2216,0.79,244.4,3057,1843,1351,1136,77.5,10.8,228,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1843,1243,1351,1136,0,0,0,0,0,0,26.41,26.42,26.41,8.41,50.55
$GC,2336,0.79,244.4,3057,1843,1351,1135,64.2,10.9,240,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1843,1243,1351,1135,0,0,0,0,0,0,26.44,26.45,26.45,8.41,51.26
$GC,2456,0.79,244.4,3057,1843,1351,1135,51.2,10.7,252,2461,0.00,2.17,0.00,0.000,516,0.000,0.040,3066,454,1243,1351,1135,0,0,0,0,0,0,26.45,25.77,26.46,8.41,50.70
$GC,2522,0.79,244.4,3066,454,1351,1135,44.5,10.2,258,2526,0.00,2.12,0.00,0.000,1030,0.000,0.027,3066,1846,1243,1351,1135,0,0,0,0,0,0,26.03,25.96,26.07,8.40,50.63
$GC,2655,0.79,244.4,3066,1846,1351,1134,30.2,10.3,271,2658,0.00,2.20,0.00,0.000,260,0.000,0.037,3066,3254,1242,1351,1133,0,0,0,0,0,0,26.46,25.82,26.47,8.40,50.74
$GC,2669,0.79,244.4,3066,3254,1351,1134,29.0,10.2,272,2677,0.00,2.15,0.00,0.000,1030,0.000,0.027,3072,1848,1242,1351,1134,0,0,0,0,0,0,25.98,25.95,26.01,8.40,50.86
$GC,2799,0.79,244.4,3071,1848,1351,1134,16.0,8.5,289,2806,0.00,2.22,0.00,0.000,516,0.000,0.040,3082,458,1242,1351,1134,0,0,0,0,0,0,26.46,25.76,26.48,8.40,50.86
$GC,2830,0.79,244.4,3082,458,1351,1134,13.3,8.5,294,2837,0.00,2.12,0.00,0.000,1030,0.000,0.025,3082,1840,1242,1351,1134,0,0,0,0,0,0,26.01,25.98,26.03,8.40,50.11
$GC,2901,0.89,338.6,3082,1840,1351,1134,7.6,7.4,307,2957,0.00,2.25,46.60,0.487,8708,0.000,0.039,3083,454,863,946,780,0,0,0,0,0,0,26.46,25.46,24.83,8.39,50.07
$STATE,2963,end climb,SURFACE_DEPTH_REACHED
$STATE,2963,begin surface coast
$FINISH,1.3,1.021484
$STATE,2975,end surface coast,CONTROL_FINISHED_OK
$STATE,2975,begin surface
$SM_CCo,2995,40.17,0.052,0,0,531,420.20
$SM_GC,1.38,7.60,2.20,40.17,0.026,0.024,0.052,181,1856,531,-8.05,-1.24,420.20,0,0,0,0,0,0,25.78,25.72,25.51
$IRIDIUM_FIX,4738.72,-12249.11,280218,234810
$TT8_MAMPS,0.026964,0.274134
$HUMID,48.54
$INTERNAL_PRESSURE,8.28285
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,111.5,53.9
$24V_AH,23.32,112.305
$10V_AH,9.85,73.956
$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,18.275,43.400,445.925,40.175,0.000,0.000,0.000,165.450,1.250,0.000,17.954,776.107,932.924,509.397,977.185,133.081,0.000,1115.131,0.000,626.891,0.000,12.137,0.000
$DEVICE_MAMPS,194.310,48.960,653.310,52.020,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.195,684.527,415.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312092
$DATA_FILE_SIZE,21077,318
$CAP_FILE_SIZE,50792,0
$CFSIZE,2097872896,2020868096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,51.09,1
$GPS,010318,012447,4738.088,-12253.802,12,0.9,16,16.4,0.5,66.3,9,4.7