version: 66.14
glider: 195
mission: 15
dive: 346
start: 2 13 118 2 27 31
data:
$ID,195
$MISSION,15
$DIVE,346
$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,45
$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
$GPS1,130218,022208,4737.6133,-12255.0879,8,0.9,17,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.0
$GPS2,130218,022651,4737.6035,-12255.0635,5,0.9,21,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$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,38.1,776,-27.2,-10.000,-30.00,969
$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,-1.20,-63.7,189,1848,558,476,0.0,0.0,0,38,0.00,0.00,-27.38,0.000,16386,0.000,0.000,189,1848,1202,1276,1129,0,0,0,0,0,0,26.60,28.83,26.60,8.30,47.20
$GC,41,-1.20,-63.7,189,1848,1276,1129,2.0,-1.6,4,111,8.43,2.22,-49.05,0.000,18948,0.192,0.049,2419,451,2508,2591,2426,0,0,0,0,0,0,25.03,23.96,25.22,8.36,46.92
$GC,240,-1.01,-63.7,2418,451,2591,2426,29.9,-15.5,33,249,0.22,2.12,0.00,0.000,3078,0.151,0.028,2478,1839,2508,2591,2426,0,0,0,0,0,0,25.53,26.22,25.65,8.48,46.77
$GC,369,-0.96,-63.7,2478,1839,2591,2426,45.0,-11.2,46,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1839,2508,2591,2426,0,0,0,0,0,0,26.71,26.72,26.71,8.48,48.18
$GC,488,-0.96,-63.7,2478,1839,2591,2427,59.0,-11.6,58,499,0.00,2.15,0.00,0.000,260,0.000,0.038,2469,3243,2509,2591,2427,0,0,0,0,0,0,26.72,26.13,26.73,8.48,47.91
$GC,555,-0.96,-63.7,2469,3243,2591,2426,67.4,-13.0,64,565,0.10,2.12,0.00,0.000,3078,0.142,0.028,2500,1832,2508,2591,2426,0,0,0,0,0,0,25.86,26.23,25.93,8.49,48.07
$GC,684,-0.96,-63.7,2499,1831,2591,2426,82.3,-10.5,77,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1831,2509,2591,2427,0,0,0,0,0,0,26.72,26.74,26.73,8.49,48.30
$GC,804,-0.96,-63.7,2500,1831,2591,2426,94.7,-10.1,89,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1831,2509,2591,2427,0,0,0,0,0,0,26.73,26.74,26.74,8.49,48.11
$GC,925,-0.96,-63.7,2500,1831,2591,2426,106.8,-10.6,101,935,0.00,2.17,0.00,0.000,260,0.000,0.038,2491,3243,2509,2591,2427,0,0,0,0,0,0,26.72,26.12,26.74,8.50,49.09
$GC,975,-0.96,-63.7,2490,3243,2591,2427,111.9,-10.4,105,984,0.00,2.10,0.00,0.000,1030,0.000,0.028,2491,1847,2508,2591,2426,0,0,0,0,0,0,26.27,26.24,26.30,8.50,48.93
$GC,1168,-0.96,-63.7,2490,1847,2591,2426,130.7,-9.9,124,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1847,2509,2591,2427,0,0,0,0,0,0,26.70,26.72,26.72,8.50,48.85
$GC,1354,-0.96,-63.7,2490,1847,2591,2426,149.3,-10.4,143,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1847,2509,2591,2427,0,0,0,0,0,0,26.73,26.74,26.74,8.51,48.89
$STATE,1372,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1372,begin apogee
$GC,1376,-0.21,0.0,2490,1848,2591,2426,151.6,-10.7,145,1434,0.75,0.00,52.55,0.662,10246,0.122,0.000,2736,1847,2246,2349,2144,0,0,0,0,0,0,25.50,24.97,24.00,8.51,48.66
$STATE,1435,end apogee,CONTROL_FINISHED_OK
$STATE,1435,begin climb
$GC,1437,1.20,63.7,2736,1847,2349,2144,154.1,0.0,151,1504,1.25,2.22,54.30,0.660,10500,0.066,0.036,3188,3243,1986,2122,1850,0,0,0,0,0,0,25.63,24.87,23.86,8.49,48.07
$GC,1511,1.08,63.7,3187,3243,2121,1850,149.6,9.6,158,1520,0.10,2.17,0.00,0.000,5126,0.155,0.028,3169,1844,1986,2122,1850,0,0,0,0,0,0,25.35,25.70,25.44,8.47,47.55
$GC,1700,1.01,63.7,3168,1844,2120,1846,120.8,15.1,177,1711,0.10,2.20,0.00,0.000,4612,0.170,0.038,3144,434,1982,2119,1846,0,0,0,0,0,0,25.96,25.96,26.01,8.47,48.66
$GC,1809,1.01,63.7,3145,434,2118,1845,104.8,14.5,187,1818,0.00,2.15,0.00,0.000,1030,0.000,0.029,3145,1832,1981,2117,1845,0,0,0,0,0,0,26.22,26.17,26.24,8.47,48.22
$GC,1997,1.01,63.7,3144,1832,2118,1845,78.1,13.5,206,2008,0.00,2.17,0.00,0.000,260,0.000,0.037,3145,3255,1981,2118,1845,0,0,0,0,0,0,26.70,26.11,26.70,8.46,48.54
$GC,2064,0.96,63.7,3144,3255,2117,1844,69.1,13.7,212,2073,0.10,2.12,0.00,0.000,5126,0.149,0.028,3126,1846,1981,2118,1844,0,0,0,0,0,0,25.84,26.22,25.89,8.46,48.07
$GC,2193,0.96,63.7,3126,1846,2117,1844,53.8,10.9,225,2202,0.00,2.17,0.00,0.000,516,0.000,0.040,3135,450,1980,2117,1843,0,0,0,0,0,0,26.72,26.08,26.73,8.46,48.34
$GC,2269,0.96,63.7,3134,450,2117,1843,45.5,11.0,232,2278,0.00,2.15,0.00,0.000,1030,0.000,0.029,3135,1848,1980,2117,1843,0,0,0,0,0,0,26.27,26.25,26.30,8.46,48.30
$GC,2398,0.96,63.7,3134,1848,2117,1843,30.9,11.2,245,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1848,1980,2117,1843,0,0,0,0,0,0,26.72,26.74,26.74,8.46,48.34
$GC,2520,0.96,63.7,3134,1848,2117,1843,18.3,10.5,258,2527,0.00,2.17,0.00,0.000,260,0.000,0.038,3134,3242,1980,2117,1843,0,0,0,0,0,0,26.73,26.12,26.73,8.45,47.99
$STATE,2810,end climb,NO_VERTICAL_VELOCITY
$STATE,2810,begin surface
$SM_CCo,2813,192.93,0.503,0,0,499,428.54
$SM_GC,1.70,7.72,2.20,0.00,0.027,0.030,0.000,178,1850,488,-8.08,1.61,431.48,0,0,0,0,0,0,25.91,25.79,25.96
$IRIDIUM_FIX,4737.86,-12251.79,130218,012440
$TT8_MAMPS,0.026964,0.23968
$HUMID,46.92
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.4
$ALTIM_BOTTOM_PING,130.7,30.2
$24V_AH,23.86,79.284
$10V_AH,9.79,54.394
$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,18.775,34.650,106.850,192.925,0.000,0.000,0.000,193.925,2.500,0.000,22.977,846.982,1079.306,410.105,995.197,95.145,0.000,966.380,0.000,577.893,0.000,20.650,0.000
$DEVICE_MAMPS,192.015,48.960,661.725,502.605,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.573,675.949,412.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312052
$DATA_FILE_SIZE,21076,314
$CAP_FILE_SIZE,52191,0
$CFSIZE,2097872896,2060681216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1396.06,0x2367ba,2,24
$CURRENT,0.109,69.98,1
$GPS,130218,032032,4737.816,-12254.518,8,0.8,26,16.4,0.2,131.2,10,4.0