version: 66.14
glider: 195
mission: 15
dive: 755
start: 3 1 118 4 21 58
data:
$ID,195
$MISSION,15
$DIVE,755
$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,48
$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
$GPS1,010318,041515,4738.3311,-12253.8545,42,1.0,53,16.4,0.4,180.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.8
$GPS2,010318,042117,4738.3716,-12253.7285,6,1.2,46,16.4,0.5,61.7,7,3.0
$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,212.9,1415,-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,-244.4,184,1840,547,481,0.0,0.0,0,60,0.00,0.00,-48.72,0.000,16386,0.000,0.000,183,1840,1670,1718,1623,0,0,0,0,0,0,26.34,28.83,26.36,8.31,49.84
$GC,64,-0.79,-244.4,183,1840,1719,1623,2.3,-3.1,7,132,8.95,2.28,-51.90,0.000,18948,0.193,0.050,2551,445,3245,3304,3187,0,0,0,0,0,0,25.01,23.62,25.37,8.42,50.03
$GC,151,-0.57,-244.4,2550,445,3305,3188,8.8,-15.5,19,159,0.22,2.20,0.00,0.000,3078,0.112,0.031,2630,1846,3246,3305,3188,0,0,0,0,0,0,25.37,25.87,25.54,8.56,49.21
$GC,225,-0.57,-244.4,2630,1846,3306,3188,19.7,-13.5,32,232,0.00,2.22,0.00,0.000,260,0.000,0.038,2622,3243,3247,3306,3189,0,0,0,0,0,0,26.41,25.77,26.42,8.56,48.85
$GC,304,-0.57,-244.4,2622,3243,3305,3188,29.8,-12.3,40,313,0.00,2.10,0.00,0.000,1030,0.000,0.027,2622,1843,3247,3306,3188,0,0,0,0,0,0,25.97,25.94,25.99,8.56,49.05
$GC,433,-0.57,-244.4,2621,1843,3306,3188,47.0,-13.2,53,437,0.00,2.20,0.00,0.000,516,0.000,0.039,2622,445,3247,3306,3188,0,0,0,0,0,0,26.45,25.77,26.46,8.56,49.17
$GC,510,-0.57,-244.4,2622,445,3306,3188,56.9,-13.5,60,517,0.00,2.17,0.00,0.000,1030,0.000,0.029,2613,1843,3246,3305,3188,0,0,0,0,0,0,25.96,25.94,25.99,8.56,49.76
$GC,639,-0.57,-244.4,2613,1842,3306,3188,74.1,-12.9,73,649,0.00,2.17,0.00,0.000,260,0.000,0.038,2603,3238,3247,3306,3189,0,0,0,0,0,0,26.46,25.82,26.47,8.56,50.27
$GC,694,-0.57,-244.4,2603,3238,3306,3189,80.7,-11.9,78,703,0.00,2.10,0.00,0.000,1030,0.000,0.027,2603,1834,3247,3306,3188,0,0,0,0,0,0,25.98,25.96,26.02,8.56,49.88
$GC,823,-0.57,-244.4,2603,1834,3305,3188,97.4,-12.8,91,827,0.00,2.17,0.00,0.000,516,0.000,0.040,2603,450,3246,3305,3188,0,0,0,0,0,0,26.47,25.78,26.48,8.56,49.88
$GC,850,-0.57,-244.4,2603,450,3305,3188,100.4,-13.0,93,859,0.08,2.17,0.00,0.000,3078,0.125,0.029,2620,1844,3246,3305,3188,0,0,0,0,0,0,25.69,25.94,25.74,8.56,50.51
$GC,1039,-0.57,-244.4,2619,1845,3305,3188,121.9,-10.8,112,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1845,3247,3306,3188,0,0,0,0,0,0,26.47,26.48,26.48,8.57,50.00
$GC,1221,-0.57,-244.4,2620,1844,3306,3188,141.8,-11.0,130,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1844,3246,3305,3188,0,0,0,0,0,0,26.47,26.48,26.48,8.57,50.35
$STATE,1287,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1287,begin apogee
$GC,1293,-0.21,0.0,2620,1845,3306,3188,149.4,-11.1,137,1490,0.32,0.00,192.88,0.653,10246,0.093,0.000,2743,1844,2246,2371,2122,0,0,0,0,0,0,25.64,24.51,23.87,8.57,51.06
$STATE,1491,end apogee,CONTROL_FINISHED_OK
$STATE,1491,begin climb
$GC,1496,0.79,244.4,2743,1844,2370,2120,158.2,0.0,157,1713,0.90,2.42,206.45,0.633,10756,0.075,0.039,3060,461,1249,1352,1146,0,0,0,0,0,0,24.74,23.92,23.27,8.49,48.46
$GC,1768,0.79,244.4,3059,461,1350,1141,134.7,12.2,184,1779,0.00,2.20,0.00,0.000,1030,0.000,0.028,3060,1843,1245,1351,1140,0,0,0,0,0,0,24.73,24.72,24.77,8.40,47.95
$GC,1959,0.74,244.4,3059,1843,1351,1139,110.9,12.4,203,1969,0.00,2.22,0.00,0.000,516,0.000,0.040,3069,460,1245,1351,1139,0,0,0,0,0,0,26.17,25.37,26.17,8.41,49.56
$GC,2006,0.69,244.4,3069,459,1351,1138,105.3,12.3,207,2014,0.10,2.17,0.00,0.000,5126,0.108,0.028,3035,1838,1244,1351,1138,0,0,0,0,0,0,25.38,25.63,25.43,8.41,49.68
$GC,2196,0.69,244.4,3034,1838,1351,1137,85.5,10.1,226,2206,0.00,2.17,0.00,0.000,260,0.000,0.037,3035,3247,1244,1351,1137,0,0,0,0,0,0,26.39,25.74,26.39,8.41,50.15
$GC,2220,0.69,244.4,3035,3247,1351,1137,82.7,10.4,228,2230,0.00,2.10,0.00,0.000,1030,0.000,0.028,3039,1852,1244,1351,1137,0,0,0,0,0,0,25.89,25.86,25.94,8.41,49.80
$GC,2351,0.69,244.4,3039,1852,1351,1137,69.8,9.7,241,2360,0.00,2.22,0.00,0.000,516,0.000,0.041,3050,449,1244,1351,1137,0,0,0,0,0,0,26.42,25.75,26.43,8.41,50.23
$GC,2439,0.69,244.4,3050,449,1351,1136,61.2,9.8,249,2446,0.00,2.17,0.00,0.000,1030,0.000,0.028,3050,1848,1243,1351,1136,0,0,0,0,0,0,25.98,25.95,26.01,8.41,50.03
$GC,2567,0.69,244.4,3050,1848,1351,1136,48.2,10.3,262,2571,0.00,2.17,0.00,0.000,260,0.000,0.037,3050,3247,1243,1351,1136,0,0,0,0,0,0,26.45,25.84,26.46,8.40,50.27
$GC,2581,0.69,244.4,3050,3247,1351,1136,47.0,10.3,263,2589,0.00,2.15,0.00,0.000,1030,0.000,0.028,3057,1842,1243,1351,1136,0,0,0,0,0,0,25.99,25.96,26.02,8.40,50.47
$GC,2710,0.69,244.4,3056,1842,1351,1136,33.2,10.6,276,2720,0.00,2.20,0.00,0.000,516,0.000,0.041,3066,449,1243,1351,1136,0,0,0,0,0,0,26.46,25.79,26.46,8.40,50.70
$GC,2788,0.69,244.4,3066,449,1351,1136,24.8,11.0,283,2796,0.10,2.17,0.00,0.000,5126,0.103,0.028,3030,1849,1243,1351,1136,0,0,0,0,0,0,25.72,25.98,25.77,8.40,50.39
$GC,2920,0.80,358.3,3030,1849,1351,1136,14.4,6.8,303,2989,0.08,2.22,58.50,0.513,11012,0.091,0.037,3130,3243,779,859,700,0,0,0,0,0,0,26.25,25.39,24.75,8.40,51.14
$STATE,3010,end climb,SURFACE_DEPTH_REACHED
$STATE,3010,begin surface coast
$FINISH,0.6,1.021210
$STATE,3029,end surface coast,CONTROL_FINISHED_OK
$STATE,3029,begin surface
$SM_CCo,3050,30.45,0.051,0,0,531,420.20
$SM_GC,1.69,7.72,2.20,30.45,0.026,0.025,0.051,177,1838,531,-8.06,1.55,420.20,0,0,0,0,0,0,25.79,25.66,25.51
$IRIDIUM_FIX,4738.33,-12256.21,010318,030952
$TT8_MAMPS,0.026964,0.24717
$HUMID,48.81
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,146.1,17.8
$24V_AH,23.27,112.628
$10V_AH,9.83,74.154
$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,18.475,52.625,457.825,30.450,0.000,0.000,0.000,225.750,3.500,0.000,48.098,774.324,921.039,522.174,1092.496,159.065,0.000,1228.984,0.000,653.928,0.000,28.996,0.000
$DEVICE_MAMPS,192.780,49.725,652.545,51.255,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.306,688.841,418.071,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312080
$DATA_FILE_SIZE,21037,320
$CAP_FILE_SIZE,56340,0
$CFSIZE,2097872896,2020474880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,64.84,0x2367b8,0,24
$CURRENT,0.080,55.02,1
$GPS,010318,051420,4738.190,-12254.159,8,0.9,17,16.4,0.4,63.2,9,5.0