version: 66.14
glider: 195
mission: 15
dive: 341
start: 2 12 118 22 4 32
data:
$ID,195
$MISSION,15
$DIVE,341
$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,50
$R_STBD_OVSHOOT,43
$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,10
$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
$GPS1,120218,220013,4737.9507,-12254.4805,5,0.9,17,16.4,0.2,148.5,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.9
$GPS2,120218,220352,4737.9438,-12254.5117,5,0.9,19,16.4,0.0,0.0,9,5.0
$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,214.4,2153,-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,7,begin dive
$GC,9,-0.79,-244.4,163,1845,544,454,0.0,0.0,0,46,0.00,0.00,-34.20,0.000,16386,0.000,0.000,163,1846,1348,1412,1284,0,0,0,0,0,0,26.63,28.83,26.64,8.30,47.40
$GC,49,-0.79,-244.4,163,1846,1412,1287,2.0,-1.4,5,125,8.95,2.20,-60.33,0.000,18692,0.191,0.051,2538,3253,3245,3312,3178,0,0,0,0,0,0,25.16,25.62,25.33,8.38,47.08
$GC,161,-0.58,-244.4,2537,3253,3312,3178,15.3,-23.9,22,170,0.22,2.15,0.00,0.000,3078,0.106,0.028,2625,1834,3245,3312,3178,0,0,0,0,0,0,25.77,26.20,25.94,8.54,47.00
$GC,238,-0.58,-244.4,2624,1833,3312,3178,26.4,-12.0,31,247,0.00,2.20,0.00,0.000,260,0.000,0.041,2617,3254,3245,3312,3179,0,0,0,0,0,0,26.68,26.08,26.70,8.55,46.73
$GC,433,-0.58,-244.4,2617,3254,3312,3179,47.2,-10.2,50,438,0.00,2.12,0.00,0.000,1030,0.000,0.028,2617,1831,3245,3312,3178,0,0,0,0,0,0,26.32,26.25,26.36,8.54,47.28
$GC,566,-0.58,-244.4,2617,1831,3312,3178,61.2,-10.6,63,576,0.00,2.20,0.00,0.000,260,0.000,0.041,2608,3249,3245,3312,3178,0,0,0,0,0,0,26.72,26.11,26.73,8.54,47.75
$GC,589,-0.58,-244.4,2608,3250,3312,3178,63.5,-10.6,65,598,0.00,2.10,0.00,0.000,1030,0.000,0.028,2608,1843,3244,3311,3178,0,0,0,0,0,0,26.33,26.25,26.36,8.54,47.99
$GC,719,-0.58,-244.4,2607,1843,3311,3178,77.8,-10.7,78,724,0.00,2.17,0.00,0.000,516,0.000,0.040,2608,453,3245,3312,3178,0,0,0,0,0,0,26.72,26.08,26.73,8.56,47.99
$GC,744,-0.58,-244.4,2607,453,3311,3178,80.3,-10.7,80,752,0.00,2.12,0.00,0.000,1030,0.000,0.031,2600,1834,3244,3311,3178,0,0,0,0,0,0,26.29,26.22,26.29,8.55,48.07
$GC,872,-0.58,-244.4,2599,1834,3312,3178,94.8,-10.9,93,882,0.00,2.20,0.00,0.000,260,0.000,0.041,2590,3249,3245,3311,3179,0,0,0,0,0,0,26.72,26.10,26.73,8.56,48.66
$GC,938,-0.58,-244.4,2590,3249,3311,3178,101.8,-10.7,99,948,0.10,2.08,0.00,0.000,3078,0.103,0.028,2627,1845,3244,3311,3178,0,0,0,0,0,0,26.01,26.25,26.06,8.57,48.54
$GC,1128,-0.58,-244.4,2626,1845,3311,3178,119.2,-8.9,118,1137,0.00,2.17,0.00,0.000,516,0.000,0.041,2626,450,3244,3311,3178,0,0,0,0,0,0,26.73,26.07,26.74,8.57,48.62
$GC,1152,-0.58,-244.4,2627,450,3311,3178,121.3,-8.9,120,1160,0.00,2.15,0.00,0.000,1030,0.000,0.030,2621,1845,3244,3311,3178,0,0,0,0,0,0,26.26,26.22,26.29,8.57,48.18
$GC,1341,-0.58,-244.4,2621,1846,3311,3178,138.5,-9.1,139,1351,0.00,2.15,0.00,0.000,260,0.000,0.040,2611,3242,3244,3311,3178,0,0,0,0,0,0,26.73,26.10,26.74,8.56,48.58
$GC,1404,-0.58,-244.4,2610,3242,3311,3178,143.8,-8.3,145,1414,0.00,2.10,0.00,0.000,1030,0.000,0.027,2610,1832,3244,3310,3178,0,0,0,0,0,0,26.32,26.24,26.34,8.57,48.30
$STATE,1533,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1533,begin apogee
$GC,1537,-0.21,0.0,2610,1831,3311,3178,156.0,-9.6,158,1728,0.35,0.00,186.70,0.654,10246,0.091,0.000,2742,1831,2246,2381,2112,0,0,0,0,0,0,25.92,24.77,23.84,8.57,48.62
$STATE,1729,end apogee,CONTROL_FINISHED_OK
$STATE,1729,begin climb
$GC,1731,0.79,244.4,2742,1830,2381,2112,161.3,0.0,177,1946,0.85,0.00,202.52,0.643,10502,0.066,0.000,3052,1830,1249,1360,1138,0,0,0,0,0,0,25.37,24.76,23.91,8.49,46.96
$GC,2126,0.72,244.4,3051,1830,1360,1138,118.9,13.3,217,2136,0.00,2.15,0.00,0.000,516,0.000,0.042,3061,451,1249,1360,1138,0,0,0,0,0,0,26.51,25.96,26.52,8.41,46.96
$GC,2212,0.64,244.4,3061,451,1360,1138,107.0,13.9,225,2222,0.12,2.08,0.00,0.000,5126,0.106,0.028,3018,1837,1249,1360,1138,0,0,0,0,0,0,25.90,26.17,25.97,8.41,47.40
$GC,2402,0.64,244.4,3017,1838,1360,1138,87.2,10.0,244,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1838,1249,1360,1138,0,0,0,0,0,0,26.67,26.69,26.68,8.41,47.59
$GC,2521,0.64,244.4,3018,1838,1360,1138,75.6,9.9,256,2532,0.00,2.15,0.00,0.000,516,0.000,0.041,3026,463,1249,1360,1138,0,0,0,0,0,0,26.70,26.08,26.70,8.41,47.51
$GC,2578,0.64,244.4,3025,462,1360,1138,70.1,10.3,261,2586,0.00,2.12,0.00,0.000,1030,0.000,0.029,3026,1841,1249,1360,1138,0,0,0,0,0,0,26.27,26.25,26.31,8.40,48.34
$GC,2706,0.64,244.4,3025,1841,1360,1138,56.7,10.5,274,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1841,1249,1360,1138,0,0,0,0,0,0,26.71,26.72,26.72,8.40,48.34
$GC,2826,0.64,244.4,3025,1841,1360,1138,44.7,9.8,286,2837,0.00,2.17,0.00,0.000,516,0.000,0.041,3034,450,1249,1360,1138,0,0,0,0,0,0,26.72,26.10,26.73,8.40,48.46
$GC,2891,0.64,244.4,3033,451,1361,1138,38.2,10.2,292,2902,0.00,2.12,0.00,0.000,1030,0.000,0.028,3034,1849,1249,1360,1138,0,0,0,0,0,0,26.34,26.26,26.36,8.39,47.55
$GC,3022,0.64,244.4,3033,1849,1360,1138,25.3,9.4,305,3031,0.00,2.15,0.00,0.000,260,0.000,0.039,3034,3248,1249,1360,1138,0,0,0,0,0,0,26.72,26.14,26.73,8.39,47.55
$GC,3056,0.64,244.4,3033,3248,1360,1138,22.0,9.7,308,3066,0.00,2.12,0.00,0.000,1030,0.000,0.028,3041,1847,1249,1360,1138,0,0,0,0,0,0,26.27,26.25,26.31,8.39,47.99
$GC,3191,0.78,385.6,3041,1848,1360,1138,11.1,6.0,331,3274,0.00,2.25,75.28,0.499,8708,0.000,0.040,3041,445,673,766,580,0,0,0,0,0,0,26.72,24.68,24.23,8.38,48.38
$STATE,3343,end climb,SURFACE_DEPTH_REACHED
$STATE,3343,begin surface coast
$FINISH,0.8,1.020277
$STATE,3371,end surface coast,CONTROL_FINISHED_OK
$STATE,3371,begin surface
$SM_CCo,3389,17.10,0.054,0,0,531,420.20
$SM_GC,1.97,7.40,2.20,17.10,0.027,0.028,0.054,177,1838,531,-8.08,-1.39,420.20,0,0,0,0,0,0,26.15,26.06,25.86
$IRIDIUM_FIX,4738.33,-12256.21,120218,212209
$TT8_MAMPS,0.026215,0.259903
$HUMID,47.12
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.1
$ALTIM_BOTTOM_PING,105.7,60.0
$24V_AH,23.84,78.911
$10V_AH,9.76,54.172
$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,18.000,51.650,464.500,17.100,0.000,0.000,0.000,143.125,1.000,0.000,20.712,871.355,1073.262,516.231,1100.767,100.799,0.000,1179.444,0.000,734.050,0.000,8.820,0.000
$DEVICE_MAMPS,191.250,51.255,654.075,54.315,0.000,0.000,0.000,72.675,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,240.691,777.014,472.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312096
$DATA_FILE_SIZE,24578,361
$CAP_FILE_SIZE,56909,0
$CFSIZE,2097872896,2061172736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.016,22.32,1
$GPS,120218,230216,4737.787,-12255.045,4,0.9,15,16.4,0.0,164.9,9,4.6