version: 66.14
glider: 195
mission: 15
dive: 342
start: 2 12 118 23 7 20
data:
$ID,195
$MISSION,15
$DIVE,342
$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,36
$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
$GPS1,120218,230216,4737.7871,-12255.0449,4,0.9,15,16.4,0.0,164.9,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.3
$GPS2,120218,230641,4737.7905,-12255.0635,5,0.9,17,16.4,0.0,0.0,9,4.7
$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,216.3,1421,-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,-244.4,175,1839,561,482,0.0,0.0,0,47,0.00,0.00,-35.80,0.000,16386,0.000,0.000,175,1839,1412,1457,1367,0,0,0,0,0,0,26.60,28.83,26.60,8.29,47.24
$GC,50,-0.79,-244.4,175,1839,1457,1369,2.3,-2.0,5,122,8.98,2.25,-55.55,0.000,19204,0.192,0.050,2551,446,3245,3314,3177,0,0,0,0,0,0,25.07,23.97,25.25,8.38,47.32
$GC,302,-0.68,-244.4,2550,445,3316,3178,40.3,-17.3,38,310,0.12,2.17,0.00,0.000,3078,0.117,0.031,2585,1848,3247,3316,3178,0,0,0,0,0,0,25.87,26.20,26.08,8.54,47.48
$GC,429,-0.68,-244.4,2585,1848,3316,3178,58.0,-12.6,51,439,0.00,2.20,0.00,0.000,260,0.000,0.041,2577,3258,3247,3316,3178,0,0,0,0,0,0,26.71,26.09,26.72,8.55,48.18
$GC,472,-0.68,-244.4,2576,3258,3316,3178,63.3,-12.4,55,482,0.00,2.12,0.00,0.000,1030,0.000,0.028,2577,1829,3247,3316,3178,0,0,0,0,0,0,26.32,26.23,26.34,8.55,48.30
$GC,602,-0.68,-244.4,2576,1829,3317,3178,80.1,-13.1,68,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1829,3247,3316,3178,0,0,0,0,0,0,26.72,26.73,26.73,8.55,47.95
$GC,722,-0.68,-244.4,2576,1829,3316,3178,95.7,-13.1,80,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1829,3247,3316,3178,0,0,0,0,0,0,26.73,26.74,26.74,8.56,48.89
$GC,844,-0.68,-244.4,2576,1829,3316,3178,110.7,-12.6,92,848,0.00,2.22,0.00,0.000,260,0.000,0.041,2568,3254,3247,3316,3178,0,0,0,0,0,0,26.69,26.09,26.70,8.56,48.34
$GC,880,-0.68,-244.4,2567,3255,3316,3178,115.1,-12.7,95,889,0.00,2.12,0.00,0.000,1030,0.000,0.028,2567,1850,3247,3316,3178,0,0,0,0,0,0,26.27,26.27,26.29,8.57,49.09
$GC,1073,-0.68,-244.4,2567,1850,3315,3178,140.1,-13.1,114,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1850,3247,3316,3178,0,0,0,0,0,0,26.69,26.70,26.70,8.57,49.13
$STATE,1207,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1207,begin apogee
$GC,1212,-0.21,0.0,2567,1850,3315,3178,158.4,-12.9,128,1411,0.47,0.00,194.88,0.663,10246,0.094,0.000,2740,1849,2246,2379,2113,0,0,0,0,0,0,25.80,24.76,23.82,8.57,48.77
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1412,begin climb
$GC,1415,0.79,244.4,2739,1849,2379,2113,165.2,0.0,148,1631,0.88,2.30,203.12,0.649,10756,0.066,0.041,3066,451,1248,1358,1139,0,0,0,0,0,0,25.37,24.86,23.89,8.49,46.77
$GC,1687,0.70,244.4,3065,450,1357,1138,138.8,14.2,175,1695,0.08,2.17,0.00,0.000,5126,0.122,0.029,3039,1844,1247,1357,1138,0,0,0,0,0,0,25.65,25.86,25.70,8.41,46.61
$GC,1876,0.64,244.4,3039,1845,1357,1136,115.9,11.3,194,1886,0.00,2.17,0.00,0.000,516,0.000,0.041,3047,454,1246,1357,1136,0,0,0,0,0,0,26.58,26.01,26.59,8.41,47.24
$GC,1901,0.58,244.4,3047,454,1357,1136,113.0,11.7,196,1909,0.12,2.15,0.00,0.000,5126,0.102,0.029,3002,1843,1246,1357,1136,0,0,0,0,0,0,25.91,26.17,25.97,8.41,47.71
$GC,2090,0.58,244.4,3001,1844,1357,1135,94.8,9.3,215,2100,0.00,2.17,0.00,0.000,516,0.000,0.041,3009,454,1246,1357,1135,0,0,0,0,0,0,26.67,26.07,26.68,8.41,47.95
$GC,2114,0.58,244.4,3009,454,1357,1134,92.5,9.3,217,2122,0.00,2.15,0.00,0.000,1030,0.000,0.029,3009,1851,1245,1357,1134,0,0,0,0,0,0,26.27,26.24,26.29,8.41,47.55
$GC,2243,0.58,244.4,3009,1851,1357,1134,79.6,9.8,230,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1851,1245,1357,1134,0,0,0,0,0,0,26.70,26.71,26.71,8.41,48.22
$GC,2363,0.58,244.4,3008,1851,1357,1134,68.0,9.1,242,2367,0.00,2.20,0.00,0.000,516,0.000,0.041,3016,449,1245,1357,1134,0,0,0,0,0,0,26.71,26.08,26.72,8.40,47.75
$GC,2426,0.58,244.4,3015,449,1356,1134,62.1,9.8,248,2430,0.00,2.12,0.00,0.000,1030,0.000,0.029,3016,1845,1245,1356,1134,0,0,0,0,0,0,26.33,26.25,26.36,8.40,48.30
$GC,2558,0.58,244.4,3015,1845,1356,1134,49.4,9.4,261,2563,0.00,2.20,0.00,0.000,516,0.000,0.041,3023,447,1245,1356,1134,0,0,0,0,0,0,26.72,26.09,26.73,8.40,48.26
$GC,2583,0.58,244.4,3023,447,1356,1134,47.3,9.4,263,2591,0.00,2.15,0.00,0.000,1030,0.000,0.029,3023,1844,1245,1356,1134,0,0,0,0,0,0,26.29,26.26,26.32,8.40,47.71
$GC,2711,0.58,244.4,3023,1844,1356,1134,35.0,9.0,276,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1844,1245,1356,1134,0,0,0,0,0,0,26.72,26.73,26.73,8.40,48.42
$GC,2831,0.58,244.4,3023,1844,1355,1134,24.3,8.6,288,2836,0.00,2.20,0.00,0.000,516,0.000,0.041,3030,449,1245,1356,1134,0,0,0,0,0,0,26.72,26.08,26.73,8.39,47.59
$GC,2864,0.58,244.4,3029,449,1356,1134,21.4,8.6,291,2875,0.10,2.12,0.00,0.000,5126,0.121,0.029,2994,1845,1245,1356,1134,0,0,0,0,0,0,26.06,26.25,26.16,8.39,47.87
$GC,3000,0.83,420.7,2994,1845,1356,1134,12.4,5.1,315,3104,0.17,2.25,94.10,0.502,10756,0.050,0.041,3141,458,524,569,479,0,0,0,0,0,0,26.48,25.03,24.21,8.38,48.14
$STATE,3110,end climb,SURFACE_DEPTH_REACHED
$STATE,3111,begin surface coast
$FINISH,0.7,1.009836
$STATE,3138,end surface coast,CONTROL_FINISHED_OK
$STATE,3138,begin surface
$SM_CCo,3217,0.00,0.000,0,0,516,424.61
$SM_GC,1.70,7.70,2.20,0.00,0.027,0.029,0.000,167,1849,516,-8.08,-1.33,424.61,0,0,0,0,0,0,26.05,25.91,26.08
$IRIDIUM_FIX,4737.86,-12251.79,120218,220121
$TT8_MAMPS,0.026964,0.241927
$HUMID,46.73
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.4
$ALTIM_BOTTOM_PING,140.1,27.1
$24V_AH,23.82,79.002
$10V_AH,9.79,54.223
$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,18.625,43.675,492.100,0.000,0.000,0.000,0.000,179.575,3.000,0.000,18.424,807.190,1060.746,500.913,1036.991,102.194,0.000,1143.549,0.000,654.682,0.000,22.723,0.000
$DEVICE_MAMPS,192.015,50.490,663.255,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.676,723.132,439.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24502,336
$CAP_FILE_SIZE,54082,0
$CFSIZE,2097872896,2061074432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,21.52,1
$GPS,130218,000154,4737.588,-12255.599,9,0.8,18,16.4,0.0,174.9,10,5.0