version: 66.14
glider: 195
mission: 15
dive: 667
start: 2 25 118 22 14 24
data:
$ID,195
$MISSION,15
$DIVE,667
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,250218,220844,4737.5278,-12255.7852,4,0.9,13,16.4,0.8,54.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-62.4
$GPS2,250218,221335,4737.5913,-12255.6680,7,0.9,15,16.4,0.6,48.3,9,5.0
$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,203.9,609,-17.0,-10.000,-20.65,2359
$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,-0.86,-156.8,153,1843,551,485,0.0,0.0,0,61,0.00,0.00,-49.35,0.000,16386,0.000,0.000,153,1844,1688,1738,1638,0,0,0,0,0,0,26.42,28.83,26.43,8.30,48.42
$GC,64,-0.95,-244.4,153,1844,1738,1638,2.3,-2.2,7,128,8.98,2.25,-46.92,0.000,18948,0.194,0.048,2501,440,3245,3305,3185,0,0,0,0,0,0,24.93,25.36,25.30,8.40,48.74
$GC,143,-0.76,-244.4,2500,440,3306,3185,9.8,-16.1,18,151,0.22,2.20,0.00,0.000,3078,0.125,0.030,2561,1841,3245,3306,3184,0,0,0,0,0,0,25.07,25.72,25.13,8.54,49.01
$GC,216,-0.76,-244.4,2561,1842,3307,3185,22.0,-15.1,30,226,0.00,2.20,0.00,0.000,260,0.000,0.040,2553,3238,3246,3307,3186,0,0,0,0,0,0,26.48,25.46,26.48,8.54,48.30
$GC,250,-0.76,-244.4,2553,3238,3307,3185,27.3,-15.5,33,260,0.00,2.12,0.00,0.000,1030,0.000,0.027,2553,1830,3246,3307,3185,0,0,0,0,0,0,25.75,25.72,25.78,8.54,48.50
$GC,380,-0.76,-244.4,2552,1830,3306,3185,47.1,-14.6,46,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1830,3246,3307,3185,0,0,0,0,0,0,26.50,26.51,26.51,8.54,49.33
$GC,501,-0.76,-244.4,2553,1830,3307,3185,65.1,-14.6,58,510,0.00,2.17,0.00,0.000,516,0.000,0.040,2553,459,3245,3306,3185,0,0,0,0,0,0,26.51,25.34,26.51,8.55,49.84
$GC,534,-0.76,-244.4,2552,458,3306,3186,70.1,-14.8,61,544,0.00,2.12,0.00,0.000,1030,0.000,0.030,2544,1835,3246,3307,3185,0,0,0,0,0,0,25.67,25.64,25.70,8.55,49.84
$GC,665,-0.76,-244.4,2543,1836,3306,3185,89.7,-14.9,74,675,0.00,2.22,0.00,0.000,260,0.000,0.040,2534,3247,3245,3306,3185,0,0,0,0,0,0,26.51,25.37,26.52,8.56,49.92
$GC,699,-0.76,-244.4,2534,3247,3306,3185,95.0,-15.2,77,710,0.08,2.10,0.00,0.000,3078,0.117,0.027,2560,1842,3246,3307,3185,0,0,0,0,0,0,25.41,25.67,25.44,8.55,49.84
$GC,832,-0.76,-244.4,2559,1842,3306,3185,112.6,-13.1,90,841,0.00,2.20,0.00,0.000,516,0.000,0.040,2560,457,3246,3306,3186,0,0,0,0,0,0,26.51,25.30,26.52,8.56,50.31
$GC,858,-0.76,-244.4,2560,457,3306,3185,116.1,-13.1,92,866,0.00,2.17,0.00,0.000,1030,0.000,0.030,2554,1844,3245,3306,3185,0,0,0,0,0,0,25.65,25.62,25.68,8.57,50.47
$GC,1047,-0.76,-244.4,2553,1844,3306,3186,141.8,-13.3,111,1056,0.00,2.22,0.00,0.000,260,0.000,0.040,2544,3245,3246,3307,3185,0,0,0,0,0,0,26.52,25.34,26.52,8.57,50.39
$GC,1091,-0.76,-244.4,2543,3245,3306,3185,147.8,-13.6,115,1095,0.00,2.12,0.00,0.000,1030,0.000,0.027,2543,1843,3246,3307,3185,0,0,0,0,0,0,25.74,25.66,25.77,8.57,50.59
$STATE,1151,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1151,begin apogee
$GC,1157,-0.21,0.0,2543,1842,3306,3185,156.2,-13.6,121,1354,0.57,0.00,192.55,0.661,10246,0.097,0.000,2740,1842,2245,2364,2127,0,0,0,0,0,0,24.91,24.79,24.06,8.57,50.66
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1357,0.95,244.4,2741,1842,2364,2125,163.5,0.0,141,1569,1.02,2.30,201.90,0.645,11012,0.067,0.041,3113,455,1248,1347,1150,0,0,0,0,0,0,25.04,24.68,23.92,8.50,48.42
$GC,1599,0.85,244.4,3112,455,1347,1147,133.0,18.3,165,1609,0.00,2.17,0.00,0.000,1030,0.000,0.029,3113,1837,1247,1347,1147,0,0,0,0,0,0,25.25,25.22,25.27,8.41,47.00
$GC,1791,0.76,244.4,3112,1837,1346,1145,97.5,18.3,184,1802,0.15,2.20,0.00,0.000,4612,0.128,0.039,3069,454,1245,1346,1145,0,0,0,0,0,0,25.63,25.45,25.65,8.41,48.50
$GC,1827,0.70,244.4,3068,454,1346,1144,91.4,16.6,187,1838,0.10,2.15,0.00,0.000,5126,0.131,0.029,3037,1848,1245,1347,1143,0,0,0,0,0,0,25.47,25.71,25.56,8.41,49.40
$GC,1957,0.70,244.4,3037,1848,1346,1143,75.3,11.6,200,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1848,1244,1346,1143,0,0,0,0,0,0,26.43,26.44,26.44,8.40,49.33
$GC,2077,0.70,244.4,3037,1848,1347,1143,62.3,10.9,212,2087,0.00,2.22,0.00,0.000,516,0.000,0.041,3045,455,1244,1346,1143,0,0,0,0,0,0,26.46,25.46,26.47,8.40,49.29
$GC,2132,0.70,244.4,3044,455,1346,1143,56.2,11.3,217,2142,0.00,2.12,0.00,0.000,1030,0.000,0.029,3045,1838,1244,1346,1143,0,0,0,0,0,0,25.77,25.75,25.80,8.40,48.89
$GC,2262,0.70,244.4,3044,1838,1346,1143,41.1,11.3,230,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1838,1244,1346,1143,0,0,0,0,0,0,26.48,26.50,26.49,8.40,49.44
$GC,2382,0.70,244.4,3044,1838,1346,1143,28.0,10.4,242,2392,0.00,2.22,0.00,0.000,516,0.000,0.041,3053,451,1244,1346,1143,0,0,0,0,0,0,26.49,25.41,26.51,8.39,50.03
$GC,2439,0.70,244.4,3053,451,1347,1142,22.2,10.8,247,2446,0.00,2.17,0.00,0.000,1030,0.000,0.029,3053,1837,1244,1346,1142,0,0,0,0,0,0,25.76,25.72,25.79,8.39,49.29
$GC,2573,0.75,297.1,3053,1837,1346,1142,9.6,7.7,271,2608,0.00,2.22,27.20,0.493,8452,0.000,0.037,3053,3256,1033,1127,939,0,0,0,0,0,0,26.50,25.14,24.68,8.38,49.40
$STATE,2655,end climb,SURFACE_DEPTH_REACHED
$STATE,2655,begin surface coast
$FINISH,0.6,1.016698
$STATE,2687,end surface coast,CONTROL_FINISHED_OK
$STATE,2688,begin surface
$SM_CCo,2707,59.67,0.050,0,0,533,420.20
$SM_GC,1.46,7.50,2.22,59.67,0.025,0.026,0.050,170,1836,533,-8.10,1.24,420.20,0,0,0,0,0,0,25.95,25.78,25.56
$IRIDIUM_FIX,4736.01,-12258.89,250218,210607
$TT8_MAMPS,0.026964,0.247919
$HUMID,47.99
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,135.0,30.4
$24V_AH,23.92,105.506
$10V_AH,9.85,70.190
$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,18.625,48.150,421.650,59.675,0.000,0.000,0.000,189.925,3.000,0.000,16.578,714.771,781.352,522.577,935.226,138.749,0.000,1153.562,0.000,581.774,0.000,24.008,0.000
$DEVICE_MAMPS,194.310,48.195,660.960,50.490,0.000,0.000,0.000,82.620,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,193.081,626.438,380.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312152
$DATA_FILE_SIZE,21139,291
$CAP_FILE_SIZE,52688,0
$CFSIZE,2097872896,2029125632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141,42.13,1
$GPS,250218,230130,4737.381,-12255.854,5,0.8,15,16.4,0.4,58.8,10,4.8