version: 66.14
glider: 195
mission: 15
dive: 412
start: 2 15 118 21 31 59
data:
$ID,195
$MISSION,15
$DIVE,412
$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,49
$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
$GPS1,150218,212639,4737.4561,-12255.9062,5,0.9,20,16.4,0.3,59.3,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-69.9
$GPS2,150218,213118,4737.4805,-12255.8555,6,0.9,17,16.4,0.3,51.7,9,4.8
$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,191.7,304,-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,-63.7,193,1850,554,485,0.0,0.0,0,18,0.00,0.00,-7.53,0.000,16386,0.000,0.000,193,1850,720,772,668,0,0,0,0,0,0,26.59,28.83,26.60,8.29,47.48
$GC,21,-1.20,-63.7,193,1850,772,668,2.2,0.0,1,98,8.43,2.17,-61.00,0.000,18692,0.190,0.050,2411,3245,2509,2594,2424,0,0,0,0,0,0,24.96,25.59,25.15,8.31,47.36
$GC,158,-1.04,-63.7,2410,3245,2594,2425,15.8,-17.5,23,167,0.20,2.12,0.00,0.000,3078,0.149,0.027,2481,1832,2509,2595,2424,0,0,0,0,0,0,25.41,26.15,25.62,8.48,46.96
$GC,236,-0.96,-63.7,2480,1832,2594,2425,26.7,-13.0,32,246,0.00,2.12,0.00,0.000,516,0.000,0.040,2481,463,2510,2595,2425,0,0,0,0,0,0,26.67,25.97,26.68,8.47,47.63
$GC,427,-0.87,-63.7,2480,463,2595,2424,47.2,-10.5,50,437,0.17,2.10,0.00,0.000,3078,0.144,0.028,2525,1833,2510,2595,2425,0,0,0,0,0,0,25.59,26.17,25.67,8.48,47.55
$GC,556,-0.87,-63.7,2524,1833,2596,2425,59.6,-9.5,63,560,0.00,2.20,0.00,0.000,260,0.000,0.039,2517,3249,2510,2595,2425,0,0,0,0,0,0,26.70,26.03,26.72,8.48,48.14
$GC,672,-0.87,-63.7,2516,3249,2595,2424,70.3,-9.7,74,683,0.00,2.08,0.00,0.000,1030,0.000,0.028,2517,1852,2510,2595,2425,0,0,0,0,0,0,26.22,26.17,26.25,8.48,49.25
$GC,802,-0.87,-63.7,2516,1852,2595,2425,83.0,-9.6,87,805,0.00,2.17,0.00,0.000,516,0.000,0.040,2517,453,2510,2595,2425,0,0,0,0,0,0,26.71,25.98,26.72,8.48,48.50
$GC,855,-0.87,-63.7,2516,453,2594,2425,88.2,-9.8,92,866,0.00,2.12,0.00,0.000,1030,0.000,0.029,2506,1853,2510,2595,2425,0,0,0,0,0,0,26.25,26.17,26.28,8.49,48.74
$GC,986,-0.87,-63.7,2505,1853,2595,2425,101.2,-10.4,105,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1853,2510,2595,2425,0,0,0,0,0,0,26.71,26.72,26.72,8.49,49.09
$GC,1165,-0.87,-63.7,2505,1853,2595,2425,119.0,-9.5,123,1176,0.00,2.17,0.00,0.000,516,0.000,0.040,2506,453,2510,2595,2425,0,0,0,0,0,0,26.71,25.97,26.72,8.50,48.62
$GC,1257,-0.87,-63.7,2505,453,2595,2425,128.2,-10.2,131,1268,0.10,2.10,0.00,0.000,3078,0.145,0.029,2525,1846,2510,2595,2425,0,0,0,0,0,0,25.75,26.17,25.82,8.50,49.37
$GC,1447,-0.95,-63.7,2525,1847,2595,2425,144.7,-8.5,150,1451,0.00,2.15,0.00,0.000,260,0.000,0.039,2517,3245,2509,2595,2424,0,0,0,0,0,0,26.71,26.01,26.72,8.51,49.01
$GC,1494,-1.03,-63.7,2517,3246,2595,2425,148.5,-8.8,154,1503,0.05,2.12,0.00,0.000,5126,0.079,0.028,2448,1839,2510,2595,2425,0,0,0,0,0,0,26.06,26.17,26.09,8.51,49.17
$STATE,1609,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1609,begin apogee
$GC,1614,-0.21,0.0,2447,1839,2595,2425,160.9,-10.3,166,1671,0.90,0.00,52.65,0.666,10246,0.126,0.000,2735,1838,2246,2349,2144,0,0,0,0,0,0,25.24,24.97,24.00,8.51,48.66
$STATE,1672,end apogee,CONTROL_FINISHED_OK
$STATE,1673,begin climb
$GC,1675,1.20,63.7,2734,1838,2349,2144,163.3,0.0,172,1742,1.25,2.22,54.28,0.666,10756,0.063,0.038,3198,456,1986,2120,1853,0,0,0,0,0,0,25.59,24.37,23.80,8.49,48.22
$GC,1788,1.06,63.7,3198,455,2117,1853,151.1,15.3,183,1799,0.15,2.12,0.00,0.000,5126,0.156,0.029,3156,1837,1984,2117,1852,0,0,0,0,0,0,25.41,25.85,25.56,8.47,47.91
$GC,1979,0.99,63.7,3156,1837,2117,1850,122.5,14.7,202,1983,0.00,2.17,0.00,0.000,260,0.000,0.038,3156,3253,1983,2117,1850,0,0,0,0,0,0,26.58,25.98,26.59,8.47,48.74
$GC,2012,0.92,63.7,3156,3253,2117,1850,117.3,15.4,205,2022,0.17,2.10,0.00,0.000,5126,0.146,0.028,3113,1839,1983,2117,1849,0,0,0,0,0,0,25.53,26.11,25.65,8.47,48.34
$GC,2203,0.92,63.7,3113,1839,2117,1849,93.6,12.0,224,2213,0.00,2.15,0.00,0.000,516,0.000,0.040,3121,457,1982,2117,1848,0,0,0,0,0,0,26.67,25.98,26.68,8.46,48.62
$GC,2290,0.92,63.7,3120,457,2116,1848,82.7,12.8,232,2299,0.00,2.10,0.00,0.000,1030,0.000,0.030,3121,1847,1982,2116,1848,0,0,0,0,0,0,26.20,26.17,26.23,8.47,48.30
$GC,2418,0.92,63.7,3120,1847,2116,1848,66.4,12.3,245,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1847,1982,2116,1848,0,0,0,0,0,0,26.70,26.71,26.71,8.46,49.37
$GC,2538,0.92,63.7,3121,1847,2116,1848,51.9,11.6,257,2548,0.00,2.15,0.00,0.000,260,0.000,0.038,3121,3246,1982,2116,1848,0,0,0,0,0,0,26.70,26.08,26.72,8.46,48.74
$GC,2584,0.92,63.7,3121,3246,2116,1848,46.7,11.8,261,2593,0.00,2.12,0.00,0.000,1030,0.000,0.028,3131,1838,1982,2116,1848,0,0,0,0,0,0,26.21,26.17,26.25,8.46,48.70
$GC,2713,0.92,63.7,3131,1838,2116,1848,32.0,11.6,274,2723,0.00,2.15,0.00,0.000,516,0.000,0.041,3142,456,1982,2116,1848,0,0,0,0,0,0,26.71,25.99,26.72,8.46,48.38
$GC,2830,0.96,107.2,3141,456,2116,1848,21.9,5.4,285,2862,0.00,2.12,23.73,0.542,9222,0.000,0.028,3142,1857,1808,1945,1671,0,0,0,0,0,0,26.27,26.19,24.31,8.45,48.58
$GC,2985,0.98,126.7,3141,1857,1943,1670,9.7,7.9,311,3001,0.00,2.28,9.80,0.448,8708,0.000,0.039,3153,445,1728,1860,1596,0,0,0,0,0,0,26.60,25.28,24.40,8.43,47.71
$GC,3157,1.16,247.7,3152,445,1859,1593,7.6,-2.8,343,3226,0.00,2.15,62.38,0.504,9222,0.000,0.028,3152,1845,1234,1334,1135,0,0,0,0,0,0,26.19,26.16,24.27,8.41,48.58
$GC,3291,1.40,334.6,3152,1845,1333,1133,4.0,0.8,365,3341,0.22,2.25,43.97,0.477,11012,0.042,0.036,3297,3255,880,970,791,0,0,0,0,0,0,26.15,25.09,24.27,8.37,47.40
$STATE,3347,end climb,SURFACE_DEPTH_REACHED
$STATE,3347,begin surface coast
$FINISH,1.3,1.018427
$STATE,3410,end surface coast,CONTROL_FINISHED_OK
$STATE,3411,begin surface
$SM_CCo,3430,42.78,0.055,0,0,533,420.20
$SM_GC,2.12,8.68,2.20,42.78,0.061,0.028,0.055,194,1836,533,-8.05,1.53,420.20,0,0,0,0,0,0,26.03,25.97,25.77
$IRIDIUM_FIX,4738.39,-12307.73,150218,202306
$TT8_MAMPS,0.026964,0.240429
$HUMID,46.85
$INTERNAL_PRESSURE,8.25355
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$ALTIM_BOTTOM_PING,140.4,30.4
$24V_AH,23.80,84.546
$10V_AH,9.81,57.861
$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,20.325,55.950,246.800,42.775,0.000,0.000,0.000,191.000,2.750,0.000,19.105,1018.119,1075.905,361.522,1208.762,117.627,0.000,1039.816,0.000,758.032,0.000,21.146,0.000
$DEVICE_MAMPS,190.485,49.725,666.315,55.080,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.684,828.774,504.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312128
$DATA_FILE_SIZE,27979,385
$CAP_FILE_SIZE,63903,0
$CFSIZE,2097872896,2054193152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038,218.19,1
$GPS,150218,223052,4737.209,-12256.130,8,0.9,18,16.4,0.3,60.4,9,4.8