version: 66.14
glider: 195
mission: 15
dive: 354
start: 2 13 118 9 3 20
data:
$ID,195
$MISSION,15
$DIVE,354
$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,46
$R_STBD_OVSHOOT,38
$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
$GPS1,130218,085804,4737.9653,-12254.4990,5,0.9,17,16.4,0.0,0.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.8
$GPS2,130218,090241,4737.9512,-12254.4688,10,0.9,21,16.4,0.0,0.0,9,4.8
$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,225.3,2206,-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,-244.4,180,1841,556,482,0.0,0.0,0,45,0.00,0.00,-33.53,0.000,16386,0.000,0.000,180,1841,1359,1436,1282,0,0,0,0,0,0,26.61,28.83,26.62,8.29,46.69
$GC,48,-0.79,-244.4,180,1841,1437,1283,2.3,-2.3,5,120,8.95,2.25,-56.58,0.000,18692,0.193,0.052,2535,3252,3247,3315,3179,0,0,0,0,0,0,25.06,23.96,25.25,8.37,47.16
$GC,164,-0.64,-244.4,2535,3252,3316,3179,17.2,-20.2,23,173,0.17,2.15,0.00,0.000,3078,0.107,0.030,2607,1841,3247,3316,3179,0,0,0,0,0,0,25.76,26.16,25.91,8.54,46.73
$GC,241,-0.64,-244.4,2605,1841,3316,3179,28.6,-12.5,31,250,0.00,2.17,0.00,0.000,516,0.000,0.041,2606,450,3247,3316,3179,0,0,0,0,0,0,26.68,26.02,26.69,8.54,47.04
$GC,285,-0.64,-244.4,2606,449,3316,3179,33.9,-12.3,35,294,0.00,2.17,0.00,0.000,1030,0.000,0.033,2600,1850,3247,3316,3179,0,0,0,0,0,0,26.20,26.18,26.23,8.54,47.75
$GC,414,-0.64,-244.4,2600,1850,3316,3179,49.6,-11.8,48,419,0.00,2.20,0.00,0.000,260,0.000,0.042,2591,3255,3247,3316,3179,0,0,0,0,0,0,26.71,26.06,26.72,8.54,47.79
$GC,460,-0.64,-244.4,2590,3255,3316,3179,54.4,-11.2,52,467,0.00,2.15,0.00,0.000,1030,0.000,0.029,2591,1844,3247,3316,3179,0,0,0,0,0,0,26.24,26.21,26.27,8.54,47.95
$GC,587,-0.64,-244.4,2590,1845,3316,3179,69.5,-11.9,65,591,0.00,2.17,0.00,0.000,516,0.000,0.041,2591,453,3247,3316,3179,0,0,0,0,0,0,26.72,26.03,26.73,8.55,48.26
$GC,619,-0.64,-244.4,2590,453,3316,3179,73.5,-12.4,68,624,0.00,2.12,0.00,0.000,1030,0.000,0.032,2583,1840,3247,3316,3179,0,0,0,0,0,0,26.27,26.18,26.31,8.55,48.81
$GC,752,-0.64,-244.4,2582,1841,3316,3179,89.7,-11.7,81,761,0.00,2.17,0.00,0.000,260,0.000,0.041,2573,3244,3247,3316,3179,0,0,0,0,0,0,26.72,26.06,26.73,8.56,49.37
$GC,805,-0.64,-244.4,2572,3244,3316,3179,95.5,-11.2,86,810,0.10,2.10,0.00,0.000,3078,0.122,0.028,2608,1843,3247,3316,3179,0,0,0,0,0,0,26.02,26.21,26.13,8.56,48.30
$GC,939,-0.64,-244.4,2607,1843,3316,3179,109.3,-10.1,99,949,0.00,2.17,0.00,0.000,516,0.000,0.042,2608,454,3247,3316,3179,0,0,0,0,0,0,26.72,26.03,26.73,8.56,49.17
$GC,962,-0.64,-244.4,2607,454,3316,3179,111.8,-10.3,101,971,0.00,2.15,0.00,0.000,1030,0.000,0.032,2602,1854,3247,3316,3179,0,0,0,0,0,0,26.27,26.17,26.30,8.56,49.37
$GC,1153,-0.64,-244.4,2601,1854,3316,3179,131.4,-10.0,120,1163,0.00,2.17,0.00,0.000,260,0.000,0.042,2592,3253,3247,3316,3179,0,0,0,0,0,0,26.72,26.06,26.73,8.57,48.85
$GC,1211,-0.64,-244.4,2592,3253,3316,3179,137.2,-9.4,125,1216,0.00,2.12,0.00,0.000,1030,0.000,0.029,2593,1838,3247,3316,3179,0,0,0,0,0,0,26.29,26.20,26.32,8.58,48.66
$STATE,1392,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1392,begin apogee
$GC,1397,-0.21,0.0,2592,1838,3316,3179,156.8,-11.1,143,1596,0.40,0.00,195.43,0.662,10246,0.093,0.000,2739,1837,2246,2378,2115,0,0,0,0,0,0,25.86,24.73,23.80,8.57,48.54
$STATE,1597,end apogee,CONTROL_FINISHED_OK
$STATE,1598,begin climb
$GC,1600,0.79,244.4,2739,1837,2378,2114,163.9,0.0,163,1817,0.88,2.25,203.45,0.646,10756,0.067,0.042,3066,455,1247,1355,1140,0,0,0,0,0,0,25.35,24.42,23.89,8.49,47.20
$GC,1851,0.68,244.4,3065,454,1354,1139,139.4,14.3,188,1863,0.08,2.15,0.00,0.000,5126,0.122,0.030,3039,1842,1246,1354,1138,0,0,0,0,0,0,25.54,25.76,25.61,8.41,46.25
$GC,2043,0.61,244.4,3039,1842,1354,1136,114.4,12.6,207,2053,0.00,2.20,0.00,0.000,516,0.000,0.043,3047,451,1245,1354,1136,0,0,0,0,0,0,26.56,25.98,26.57,8.40,47.51
$GC,2098,0.54,244.4,3047,450,1353,1136,107.6,12.1,212,2108,0.17,2.12,0.00,0.000,5126,0.097,0.030,2986,1843,1244,1353,1136,0,0,0,0,0,0,25.87,26.17,25.94,8.40,47.91
$GC,2289,0.62,317.0,2985,1843,1353,1135,91.6,8.0,231,2358,0.00,2.25,61.67,0.610,8708,0.000,0.041,2988,455,952,1045,860,0,0,0,0,0,0,26.67,24.69,24.18,8.40,47.71
$GC,2406,0.67,317.0,2987,455,1045,859,81.5,8.9,242,2415,0.05,2.17,0.00,0.000,3078,0.072,0.030,3069,1848,952,1045,859,0,0,0,0,0,0,25.86,25.94,25.91,8.38,47.32
$GC,2534,0.58,317.0,3068,1848,1045,858,63.1,15.1,255,2544,0.20,2.17,0.00,0.000,4356,0.109,0.038,2997,3251,951,1045,858,0,0,0,0,0,0,25.94,26.02,25.98,8.38,47.48
$GC,2561,0.53,317.0,2997,3252,1045,858,59.8,14.4,257,2568,0.00,2.15,0.00,0.000,1030,0.000,0.030,2999,1844,951,1045,858,0,0,0,0,0,0,26.15,26.12,26.18,8.38,47.63
$GC,2688,0.53,317.0,2998,1844,1045,858,47.7,8.8,270,2699,0.00,2.20,0.00,0.000,516,0.000,0.044,3001,451,951,1045,858,0,0,0,0,0,0,26.65,26.03,26.66,8.37,47.67
$GC,2764,0.53,317.0,3000,451,1045,857,41.2,8.7,277,2774,0.00,2.10,0.00,0.000,1030,0.000,0.030,3001,1843,951,1045,857,0,0,0,0,0,0,26.25,26.21,26.27,8.37,47.99
$GC,2894,0.53,317.0,3000,1843,1045,856,29.9,8.6,290,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1843,951,1045,857,0,0,0,0,0,0,26.70,26.71,26.70,8.37,47.59
$GC,3015,0.68,413.1,3000,1844,1045,857,20.3,7.3,302,3077,0.00,2.25,54.17,0.537,8708,0.000,0.042,3001,446,558,617,500,0,0,0,0,0,0,26.71,24.82,24.35,8.36,47.75
$GC,3132,0.95,551.4,3000,446,613,495,12.7,6.1,320,3147,0.20,2.17,8.10,0.440,11270,0.032,0.029,3152,1846,497,544,451,0,0,0,0,0,0,26.05,26.02,24.32,8.32,47.51
$STATE,3211,end climb,SURFACE_DEPTH_REACHED
$STATE,3211,begin surface coast
$FINISH,0.7,1.005510
$STATE,3234,end surface coast,CONTROL_FINISHED_OK
$STATE,3234,begin surface
$SM_CCo,3310,0.00,0.000,0,0,489,431.24
$SM_GC,2.08,7.68,0.00,0.00,0.027,0.000,0.000,183,1846,489,-8.07,0.08,431.24,0,0,0,0,0,0,26.17,26.55,26.22
$IRIDIUM_FIX,4739.20,-12253.53,130218,080616
$TT8_MAMPS,0.026964,0.244174
$HUMID,47.20
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,135.8,30.8
$24V_AH,23.80,79.982
$10V_AH,9.80,54.715
$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,18.875,56.500,522.825,0.000,0.000,0.000,0.000,190.875,2.750,0.000,22.505,816.474,1073.470,531.713,1084.103,108.497,0.000,1230.550,0.000,685.858,0.000,21.205,0.000
$DEVICE_MAMPS,192.780,52.020,661.725,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.415,727.472,441.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312036
$DATA_FILE_SIZE,24583,338
$CAP_FILE_SIZE,59449,0
$CFSIZE,2097872896,2059894784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.056,243.31,1
$GPS,130218,095932,4737.724,-12255.371,22,0.9,23,16.4,0.0,0.0,9,3.8