version: 66.14
glider: 195
mission: 15
dive: 356
start: 2 13 118 11 4 37
data:
$ID,195
$MISSION,15
$DIVE,356
$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,53
$R_STBD_OVSHOOT,48
$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
$GPS1,130218,105934,4737.4883,-12255.9072,8,0.9,21,16.4,0.2,26.6,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-71.5
$GPS2,130218,110356,4737.4897,-12255.9453,10,0.9,25,16.4,0.2,343.8,9,4.9
$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,155.4,277,-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,-63.7,185,1865,551,481,0.0,0.0,0,39,0.00,0.00,-28.17,0.000,16386,0.000,0.000,185,1865,1240,1311,1170,0,0,0,0,0,0,26.61,28.83,26.62,8.30,47.04
$GC,42,-1.20,-63.7,185,1865,1311,1170,2.2,-2.5,4,99,8.50,2.28,-42.55,0.000,19204,0.193,0.050,2416,453,2508,2593,2424,0,0,0,0,0,0,24.99,23.94,25.20,8.37,47.28
$GC,364,-1.05,-63.7,2416,453,2593,2425,54.9,-16.4,43,373,0.20,2.12,0.00,0.000,3078,0.147,0.031,2468,1833,2509,2593,2426,0,0,0,0,0,0,25.57,26.20,25.67,8.48,47.63
$GC,491,-1.05,-63.7,2468,1833,2593,2425,71.9,-12.3,56,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1833,2509,2593,2425,0,0,0,0,0,0,26.72,26.73,26.72,8.49,48.03
$GC,611,-1.05,-63.7,2468,1833,2593,2426,86.6,-12.7,68,615,0.00,2.17,0.00,0.000,260,0.000,0.040,2459,3246,2509,2593,2425,0,0,0,0,0,0,26.72,26.09,26.73,8.49,48.07
$GC,674,-1.05,-63.7,2458,3246,2593,2426,94.5,-12.4,74,685,0.00,2.10,0.00,0.000,1030,0.000,0.028,2459,1843,2509,2593,2426,0,0,0,0,0,0,26.30,26.22,26.33,8.50,48.62
$GC,806,-1.05,-63.7,2458,1842,2593,2426,110.0,-11.6,87,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1842,2509,2593,2426,0,0,0,0,0,0,26.70,26.70,26.70,8.50,48.42
$GC,994,-1.05,-63.7,2459,1842,2593,2425,131.1,-11.0,106,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1842,2509,2593,2425,0,0,0,0,0,0,26.72,26.74,26.73,8.51,48.54
$GC,1176,-1.05,-63.7,2458,1842,2593,2425,150.2,-10.5,124,1179,0.00,2.17,0.00,0.000,260,0.000,0.040,2448,3247,2509,2593,2426,0,0,0,0,0,0,26.73,26.08,26.74,8.51,49.13
$GC,1199,-1.05,-63.7,2447,3247,2593,2426,152.7,-10.8,126,1207,0.00,2.12,0.00,0.000,1030,0.000,0.028,2448,1845,2509,2593,2426,0,0,0,0,0,0,26.25,26.20,26.27,8.51,48.26
$STATE,1286,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1286,begin apogee
$GC,1291,-0.21,0.0,2448,1844,2593,2425,162.8,-11.3,135,1348,0.90,0.00,52.80,0.672,10246,0.127,0.000,2736,1845,2246,2349,2144,0,0,0,0,0,0,25.37,24.98,24.00,8.51,48.38
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1351,1.20,63.7,2736,1844,2349,2144,165.3,0.0,141,1419,1.23,2.22,54.58,0.671,10500,0.063,0.037,3182,3253,1985,2122,1849,0,0,0,0,0,0,25.63,24.41,23.84,8.50,48.50
$GC,1456,1.08,63.7,3181,3254,2121,1849,155.1,14.1,151,1465,0.10,2.17,0.00,0.000,5126,0.152,0.029,3164,1847,1985,2122,1848,0,0,0,0,0,0,25.46,25.82,25.55,8.47,47.40
$GC,1647,1.00,63.7,3163,1847,2122,1844,125.9,14.5,170,1656,0.00,2.17,0.00,0.000,516,0.000,0.041,3173,445,1982,2120,1844,0,0,0,0,0,0,26.59,25.97,26.60,8.47,47.99
$GC,1680,0.92,63.7,3172,445,2119,1843,120.7,14.6,173,1691,0.20,2.12,0.00,0.000,5126,0.137,0.030,3112,1845,1981,2119,1843,0,0,0,0,0,0,25.58,26.15,25.68,8.47,48.66
$GC,1871,0.92,63.7,3111,1845,2119,1843,97.4,12.9,192,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1845,1981,2119,1843,0,0,0,0,0,0,26.69,26.70,26.70,8.46,48.58
$GC,1991,0.92,63.7,3112,1845,2119,1843,83.1,11.6,204,2001,0.00,2.15,0.00,0.000,516,0.000,0.041,3120,456,1980,2119,1842,0,0,0,0,0,0,26.71,26.04,26.72,8.46,48.70
$GC,2035,0.92,63.7,3120,456,2118,1842,77.8,12.2,208,2045,0.00,2.12,0.00,0.000,1030,0.000,0.030,3120,1850,1980,2119,1842,0,0,0,0,0,0,26.29,26.22,26.33,8.47,48.38
$GC,2166,0.92,63.7,3120,1850,2118,1842,62.6,11.7,221,2175,0.00,2.15,0.00,0.000,260,0.000,0.040,3120,3246,1980,2119,1842,0,0,0,0,0,0,26.72,26.09,26.73,8.47,47.99
$GC,2294,0.92,63.7,3120,3246,2119,1842,47.5,11.7,233,2298,0.00,2.10,0.00,0.000,1030,0.000,0.029,3130,1834,1980,2118,1843,0,0,0,0,0,0,26.29,26.22,26.33,8.46,48.50
$GC,2426,0.92,63.7,3130,1834,2118,1842,32.9,11.0,246,2430,0.00,2.15,0.00,0.000,516,0.000,0.041,3141,454,1980,2118,1842,0,0,0,0,0,0,26.72,26.04,26.74,8.46,48.38
$GC,2490,0.92,63.7,3140,454,2117,1842,25.9,10.8,252,2501,0.10,2.12,0.00,0.000,5126,0.157,0.030,3112,1854,1980,2118,1842,0,0,0,0,0,0,25.90,26.22,26.02,8.46,48.54
$GC,2625,0.96,110.1,3111,1854,2118,1841,15.7,5.1,271,2654,0.00,2.28,24.33,0.520,8708,0.000,0.041,3120,448,1796,1935,1657,0,0,0,0,0,0,26.72,25.22,24.29,8.45,48.18
$GC,2881,1.13,213.3,3119,448,1934,1652,10.9,-0.9,319,2944,0.08,2.15,53.42,0.516,11270,0.054,0.030,3222,1848,1375,1478,1273,0,0,0,0,0,0,26.15,26.19,24.26,8.43,48.54
$GC,3010,1.13,213.3,3222,1847,1477,1271,3.1,9.0,340,3019,0.12,2.20,0.00,0.000,4612,0.153,0.039,3190,454,1373,1477,1270,0,0,0,0,0,0,25.82,25.86,25.85,8.39,47.40
$STATE,3025,end climb,SURFACE_DEPTH_REACHED
$STATE,3025,begin surface coast
$FINISH,0.8,1.019680
$STATE,3046,end surface coast,CONTROL_FINISHED_OK
$STATE,3047,begin surface
$SM_CCo,3065,99.97,0.057,0,0,532,420.20
$SM_GC,1.97,7.97,2.17,99.97,0.039,0.029,0.057,181,1842,532,-8.08,-1.58,420.20,0,0,0,0,0,0,26.13,26.06,25.84
$IRIDIUM_FIX,4737.86,-12251.79,130218,100054
$TT8_MAMPS,0.026964,0.238931
$HUMID,46.37
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,9.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.8
$ALTIM_BOTTOM_PING,146.0,26.0
$24V_AH,23.84,80.071
$10V_AH,9.79,54.819
$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,19.400,43.275,185.125,99.975,0.000,0.000,0.000,170.975,3.500,0.000,26.522,916.612,998.516,360.275,1076.794,106.218,0.000,946.997,0.000,657.265,0.000,27.275,0.000
$DEVICE_MAMPS,192.780,50.490,671.670,56.610,0.000,0.000,0.000,81.855,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.884,744.954,453.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312048
$DATA_FILE_SIZE,24614,346
$CAP_FILE_SIZE,56168,0
$CFSIZE,2097872896,2059698176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,245.22,1
$GPS,130218,115825,4737.236,-12255.983,5,0.8,21,16.4,0.0,0.0,9,4.9