version: 66.14
glider: 195
mission: 15
dive: 669
start: 2 25 118 23 51 13
data:
$ID,195
$MISSION,15
$DIVE,669
$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,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
$GPS1,250218,234547,4737.3677,-12256.0068,5,1.1,41,16.4,0.3,44.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-60.3
$GPS2,250218,235031,4737.4238,-12255.9219,7,1.1,26,16.4,0.8,44.0,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2N
$TGT_LATLONG,4737.883,-12254.600
$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,56.7,1856,-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,-244.4,178,1844,548,486,0.0,0.0,0,64,0.00,0.00,-52.20,0.000,16386,0.000,0.000,178,1844,1769,1815,1724,0,0,0,0,0,0,26.42,28.83,26.43,8.30,48.85
$GC,68,-0.79,-244.4,178,1843,1816,1726,2.3,-3.1,7,131,9.05,2.28,-44.92,0.000,18692,0.193,0.049,2546,3269,3246,3304,3188,0,0,0,0,0,0,24.97,23.72,25.33,8.42,49.52
$GC,357,-0.73,-244.4,2545,3269,3305,3189,43.0,-14.6,45,365,0.08,2.20,0.00,0.000,3078,0.117,0.027,2571,1839,3247,3306,3189,0,0,0,0,0,0,25.44,25.70,25.48,8.55,49.40
$GC,485,-0.68,-244.4,2570,1839,3306,3188,60.8,-13.3,58,490,0.00,2.22,0.00,0.000,516,0.000,0.039,2571,448,3247,3305,3189,0,0,0,0,0,0,26.51,25.36,26.51,8.55,49.48
$GC,529,-0.68,-244.4,2570,448,3305,3188,66.8,-13.6,62,533,0.00,2.17,0.00,0.000,1030,0.000,0.029,2565,1853,3247,3305,3189,0,0,0,0,0,0,25.75,25.66,25.77,8.56,49.76
$GC,662,-0.68,-244.4,2564,1853,3305,3188,84.5,-13.3,75,666,0.00,2.20,0.00,0.000,260,0.000,0.038,2554,3245,3246,3305,3188,0,0,0,0,0,0,26.51,25.40,26.52,8.56,50.23
$GC,695,-0.68,-244.4,2554,3245,3305,3188,88.8,-13.1,78,700,0.12,2.12,0.00,0.000,3078,0.116,0.026,2595,1844,3246,3305,3188,0,0,0,0,0,0,25.41,25.70,25.48,8.56,50.00
$GC,828,-0.68,-244.4,2595,1843,3305,3189,103.8,-11.2,91,838,0.00,2.20,0.00,0.000,516,0.000,0.039,2595,455,3246,3305,3188,0,0,0,0,0,0,26.51,25.32,26.52,8.57,50.00
$GC,856,-0.68,-244.4,2595,456,3305,3188,106.4,-11.5,93,863,0.00,2.17,0.00,0.000,1030,0.000,0.029,2589,1847,3246,3305,3188,0,0,0,0,0,0,25.67,25.65,25.70,8.57,50.11
$GC,1047,-0.68,-244.4,2588,1847,3305,3188,128.1,-11.0,112,1057,0.00,2.20,0.00,0.000,260,0.000,0.039,2580,3243,3247,3305,3189,0,0,0,0,0,0,26.51,25.35,26.53,8.57,50.86
$GC,1086,-0.68,-244.4,2579,3243,3305,3188,132.2,-10.7,115,1093,0.00,2.15,0.00,0.000,1030,0.000,0.027,2580,1845,3246,3305,3188,0,0,0,0,0,0,25.70,25.67,25.74,8.58,49.92
$GC,1275,-0.68,-244.4,2579,1845,3305,3188,153.7,-11.2,134,1280,0.00,2.22,0.00,0.000,516,0.000,0.039,2580,452,3246,3305,3188,0,0,0,0,0,0,26.52,25.29,26.53,8.58,50.19
$GC,1299,-0.68,-244.4,2578,452,3305,3189,156.4,-11.1,136,1303,0.00,2.15,0.00,0.000,1030,0.000,0.028,2571,1843,3246,3305,3188,0,0,0,0,0,0,25.72,25.64,25.75,8.58,50.47
$STATE,1319,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1319,begin apogee
$GC,1325,-0.21,0.0,2571,1844,3305,3188,159.1,-11.5,138,1522,0.47,0.00,193.20,0.660,10246,0.094,0.000,2738,1843,2246,2365,2128,0,0,0,0,0,0,25.10,24.79,24.07,8.58,50.15
$STATE,1524,end apogee,CONTROL_FINISHED_OK
$STATE,1524,begin climb
$GC,1528,0.79,244.4,2738,1844,2364,2126,162.1,0.0,158,1744,0.85,2.20,202.38,0.644,11012,0.048,0.041,3067,457,1247,1346,1149,0,0,0,0,0,0,25.13,24.68,23.93,8.50,48.38
$GC,1772,0.68,244.4,3067,457,1346,1147,141.8,13.7,182,1781,0.10,2.22,0.00,0.000,5126,0.114,0.027,3023,1849,1246,1346,1147,0,0,0,0,0,0,24.91,25.24,25.04,8.41,47.40
$GC,1960,0.68,244.4,3022,1849,1346,1144,118.6,11.5,201,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1849,1245,1346,1144,0,0,0,0,0,0,26.32,26.33,26.33,8.41,49.25
$GC,2141,0.68,244.4,3022,1849,1346,1144,98.4,11.6,219,2150,0.00,2.22,0.00,0.000,516,0.000,0.041,3030,455,1245,1347,1144,0,0,0,0,0,0,26.44,25.45,26.44,8.41,49.52
$GC,2236,0.68,244.4,3030,455,1346,1142,86.9,12.0,228,2246,0.00,2.12,0.00,0.000,1030,0.000,0.028,3030,1842,1243,1346,1141,0,0,0,0,0,0,25.79,25.77,25.82,8.41,49.29
$GC,2367,0.68,244.4,3030,1842,1346,1141,72.2,11.3,241,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1842,1243,1346,1141,0,0,0,0,0,0,26.48,26.49,26.48,8.41,50.19
$GC,2496,0.68,244.4,3030,1842,1346,1141,57.5,10.7,254,2500,0.00,2.22,0.00,0.000,516,0.000,0.040,3039,448,1243,1346,1141,0,0,0,0,0,0,26.49,25.42,26.50,8.40,49.76
$GC,2559,0.68,244.4,3038,448,1346,1141,50.9,10.1,260,2568,0.00,2.15,0.00,0.000,1030,0.000,0.028,3039,1846,1243,1346,1141,0,0,0,0,0,0,25.78,25.75,25.81,8.40,50.23
$GC,2689,0.68,244.4,3038,1846,1346,1141,36.6,10.7,273,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1846,1243,1346,1141,0,0,0,0,0,0,26.51,26.51,26.51,8.40,49.60
$GC,2809,0.68,244.4,3038,1847,1346,1141,24.6,9.6,285,2814,0.00,2.25,0.00,0.000,516,0.000,0.041,3047,449,1243,1346,1141,0,0,0,0,0,0,26.51,25.37,26.52,8.39,49.80
$GC,2835,0.68,244.4,3046,449,1346,1141,22.3,9.7,287,2842,0.00,2.17,0.00,0.000,1030,0.000,0.028,3047,1843,1243,1346,1141,0,0,0,0,0,0,25.77,25.74,25.79,8.39,49.84
$GC,2966,0.82,386.3,3046,1843,1346,1141,13.0,6.0,310,3049,0.00,2.28,73.25,0.517,8452,0.000,0.037,3047,3249,670,749,592,0,0,0,0,0,0,26.51,25.24,24.56,8.38,49.76
$GC,3073,0.82,386.3,3046,3249,749,590,4.8,10.0,326,3081,0.00,2.20,0.00,0.000,1030,0.000,0.028,3051,1835,669,749,590,0,0,0,0,0,0,25.63,25.60,25.66,8.33,49.25
$STATE,3092,end climb,SURFACE_DEPTH_REACHED
$STATE,3092,begin surface coast
$FINISH,0.7,1.020715
$STATE,3124,end surface coast,CONTROL_FINISHED_OK
$STATE,3124,begin surface
$SM_CCo,3141,17.58,0.053,0,0,533,420.20
$SM_GC,1.19,7.53,0.00,17.58,0.024,0.000,0.053,175,1833,533,-8.10,-0.28,420.20,0,0,0,0,0,0,25.79,26.27,25.44
$IRIDIUM_FIX,4738.33,-12256.21,250218,230306
$TT8_MAMPS,0.026964,0.244923
$HUMID,48.74
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,135.6,32.8
$24V_AH,23.72,105.672
$10V_AH,9.84,70.282
$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,18.200,48.350,468.825,17.575,0.000,0.000,0.000,182.375,3.750,0.000,27.484,811.803,952.177,491.214,1079.092,141.080,0.000,1162.049,0.000,676.661,0.000,32.756,0.000
$DEVICE_MAMPS,192.780,48.960,660.195,52.785,0.000,0.000,0.000,79.560,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.310,721.188,438.016,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312120
$DATA_FILE_SIZE,24571,335
$CAP_FILE_SIZE,55529,0
$CFSIZE,2097872896,2028929024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2536.57,0x2139aa,7,24
$CURRENT,0.141,36.08,1
$GPS,260218,004450,4737.666,-12255.047,4,1.1,14,16.4,0.0,45.8,8,4.6