version: 66.14
glider: 195
mission: 15
dive: 674
start: 2 26 118 4 19 23
data:
$ID,195
$MISSION,15
$DIVE,674
$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,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
$GPS1,260218,041325,4738.3267,-12253.3682,5,1.0,15,16.4,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.3
$GPS2,260218,041842,4738.3477,-12253.3584,6,1.0,15,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$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,227.0,1772,-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,-244.4,181,1845,545,473,0.0,0.0,0,58,0.00,0.00,-46.95,0.000,16386,0.000,0.000,181,1845,1632,1686,1578,0,0,0,0,0,0,26.39,28.83,26.40,8.30,48.81
$GC,62,-0.79,-244.4,181,1845,1686,1579,2.2,-2.6,7,132,9.00,2.25,-52.20,0.000,18948,0.193,0.048,2553,444,3244,3307,3182,0,0,0,0,0,0,24.97,25.34,25.34,8.40,48.81
$GC,193,-0.68,-244.4,2552,444,3307,3183,15.9,-15.3,28,201,0.12,2.20,0.00,0.000,3078,0.120,0.029,2599,1847,3245,3307,3183,0,0,0,0,0,0,25.22,25.73,25.35,8.54,48.58
$GC,270,-0.68,-244.4,2599,1847,3307,3183,27.1,-13.9,37,275,0.00,2.22,0.00,0.000,260,0.000,0.039,2592,3249,3245,3307,3183,0,0,0,0,0,0,26.46,25.49,26.48,8.54,49.52
$GC,344,-0.68,-244.4,2591,3249,3307,3182,37.2,-13.4,44,354,0.00,2.15,0.00,0.000,1030,0.000,0.027,2592,1829,3245,3307,3183,0,0,0,0,0,0,25.81,25.72,25.84,8.55,49.05
$GC,474,-0.68,-244.4,2591,1829,3307,3183,53.7,-12.7,57,479,0.00,2.20,0.00,0.000,516,0.000,0.039,2591,452,3245,3307,3183,0,0,0,0,0,0,26.48,25.39,26.49,8.54,49.84
$GC,529,-0.68,-244.4,2591,452,3307,3183,60.6,-12.7,62,537,0.00,2.17,0.00,0.000,1030,0.000,0.029,2583,1838,3245,3307,3183,0,0,0,0,0,0,25.72,25.67,25.75,8.55,49.72
$GC,658,-0.68,-244.4,2582,1838,3307,3183,76.5,-12.0,75,662,0.00,2.25,0.00,0.000,260,0.000,0.039,2573,3254,3245,3307,3183,0,0,0,0,0,0,26.49,25.42,26.51,8.55,50.23
$GC,712,-0.68,-244.4,2572,3254,3307,3183,82.9,-11.6,80,721,0.00,2.12,0.00,0.000,1030,0.000,0.026,2573,1844,3245,3307,3183,0,0,0,0,0,0,25.74,25.71,25.76,8.55,49.96
$GC,842,-0.68,-244.4,2572,1844,3308,3183,98.7,-12.6,93,846,0.00,2.20,0.00,0.000,516,0.000,0.039,2573,451,3245,3307,3183,0,0,0,0,0,0,26.50,25.35,26.51,8.56,50.00
$GC,888,-0.68,-244.4,2572,451,3307,3183,104.6,-13.2,97,897,0.00,2.20,0.00,0.000,1030,0.000,0.030,2565,1852,3245,3307,3183,0,0,0,0,0,0,25.69,25.65,25.72,8.56,50.35
$GC,1076,-0.68,-244.4,2565,1852,3307,3183,128.9,-12.8,116,1081,0.00,2.20,0.00,0.000,260,0.000,0.039,2555,3249,3245,3307,3183,0,0,0,0,0,0,26.50,25.39,26.51,8.57,50.70
$GC,1110,-0.68,-244.4,2555,3249,3307,3183,133.0,-12.2,119,1120,0.10,2.12,0.00,0.000,3078,0.107,0.026,2589,1837,3245,3307,3183,0,0,0,0,0,0,25.38,25.69,25.41,8.57,51.33
$GC,1301,-0.68,-244.4,2589,1836,3307,3183,154.1,-11.0,138,1313,0.00,2.20,0.00,0.000,516,0.000,0.039,2589,450,3245,3307,3183,0,0,0,0,0,0,26.51,25.31,26.51,8.58,50.55
$GC,1327,-0.68,-244.4,2589,450,3307,3183,157.1,-11.1,140,1336,0.00,2.12,0.00,0.000,1030,0.000,0.028,2583,1839,3244,3307,3182,0,0,0,0,0,0,25.67,25.64,25.70,8.58,50.78
$STATE,1345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1345,begin apogee
$GC,1351,-0.21,0.0,2583,1839,3308,3183,159.3,-11.4,142,1547,0.45,0.00,191.93,0.663,10246,0.094,0.000,2742,1839,2247,2374,2120,0,0,0,0,0,0,25.15,24.79,24.05,8.58,51.14
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1551,0.79,244.4,2742,1839,2373,2119,165.3,0.0,162,1767,0.88,2.30,201.50,0.646,10756,0.065,0.039,3065,451,1248,1352,1145,0,0,0,0,0,0,25.06,24.39,23.91,8.50,48.38
$GC,1823,0.69,244.4,3063,451,1351,1142,137.4,14.6,189,1834,0.00,2.17,0.00,0.000,1030,0.000,0.028,3064,1847,1246,1351,1142,0,0,0,0,0,0,25.42,25.42,25.44,8.41,47.75
$GC,2014,0.59,244.4,3064,1847,1351,1140,110.2,14.0,208,2025,0.17,2.22,0.00,0.000,4612,0.116,0.038,3011,455,1245,1351,1140,0,0,0,0,0,0,25.63,25.47,25.67,8.42,48.81
$GC,2059,0.59,244.4,3010,455,1351,1139,104.7,11.6,212,2070,0.00,2.15,0.00,0.000,1030,0.000,0.028,3011,1849,1245,1351,1139,0,0,0,0,0,0,25.78,25.75,25.81,8.42,48.97
$GC,2250,0.59,244.4,3011,1849,1350,1138,84.9,10.5,231,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1850,1244,1351,1138,0,0,0,0,0,0,26.45,26.46,26.46,8.42,50.00
$GC,2370,0.59,244.4,3011,1849,1351,1138,72.8,9.7,243,2380,0.00,2.22,0.00,0.000,516,0.000,0.040,3019,454,1245,1351,1139,0,0,0,0,0,0,26.47,25.46,26.48,8.41,49.84
$GC,2395,0.59,244.4,3019,454,1351,1138,70.5,9.6,245,2403,0.00,2.17,0.00,0.000,1030,0.000,0.028,3019,1846,1244,1351,1138,0,0,0,0,0,0,25.79,25.76,25.82,8.41,49.33
$GC,2524,0.59,244.4,3019,1846,1351,1138,57.1,10.4,258,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1846,1244,1351,1138,0,0,0,0,0,0,26.48,26.49,26.49,8.41,50.23
$GC,2654,0.59,244.4,3019,1846,1351,1138,44.0,10.2,271,2663,0.00,2.22,0.00,0.000,516,0.000,0.040,3027,452,1244,1351,1138,0,0,0,0,0,0,26.49,25.41,26.50,8.40,49.72
$GC,2687,0.59,244.4,3026,452,1351,1138,40.6,9.9,274,2692,0.00,2.15,0.00,0.000,1030,0.000,0.028,3027,1847,1244,1351,1138,0,0,0,0,0,0,25.82,25.75,25.85,8.40,49.64
$GC,2821,0.59,244.4,3026,1848,1351,1138,28.0,9.0,287,2830,0.00,2.20,0.00,0.000,260,0.000,0.037,3027,3250,1244,1351,1138,0,0,0,0,0,0,26.49,25.49,26.51,8.40,49.76
$GC,2865,0.59,244.4,3026,3250,1351,1138,23.9,9.6,291,2873,0.00,2.15,0.00,0.000,1030,0.000,0.028,3033,1850,1244,1351,1138,0,0,0,0,0,0,25.75,25.72,25.77,8.39,49.76
$GC,2997,0.59,244.4,3032,1850,1351,1139,12.7,8.6,312,3006,0.00,2.28,0.00,0.000,516,0.000,0.041,3043,450,1244,1351,1138,0,0,0,0,0,0,26.50,25.37,26.51,8.39,49.29
$STATE,3135,end climb,SURFACE_DEPTH_REACHED
$STATE,3135,begin surface coast
$FINISH,0.6,1.000950
$STATE,3192,end surface coast,CONTROL_FINISHED_OK
$STATE,3192,begin surface
$SM_CCo,3212,86.05,0.050,0,0,533,420.20
$SM_GC,1.51,7.53,2.22,86.05,0.029,0.030,0.050,181,1844,533,-8.07,-1.30,420.20,0,0,0,0,0,0,25.87,25.64,25.40
$IRIDIUM_FIX,4739.20,-12253.53,260218,031322
$TT8_MAMPS,0.026964,0.267393
$HUMID,48.66
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.7
$ALTIM_BOTTOM_PING,155.2,12.4
$24V_AH,23.91,106.093
$10V_AH,9.83,70.508
$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,18.250,57.100,393.425,86.050,0.000,0.000,0.000,216.000,4.250,0.000,16.991,864.886,964.371,532.278,1131.401,149.432,0.000,1249.196,0.000,694.631,0.000,33.017,0.000
$DEVICE_MAMPS,192.780,48.195,663.255,50.490,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.899,751.299,456.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312124
$DATA_FILE_SIZE,24535,349
$CAP_FILE_SIZE,59605,0
$CFSIZE,2097872896,2028437504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038,239.36,1
$GPS,260218,051555,4738.137,-12254.126,18,0.9,50,16.4,0.0,191.7,9,4.2