version: 66.14
glider: 195
mission: 15
dive: 677
start: 2 26 118 6 41 50
data:
$ID,195
$MISSION,15
$DIVE,677
$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,52
$R_STBD_OVSHOOT,51
$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
$GPS1,260218,063725,4738.0010,-12254.5908,5,0.9,35,16.4,0.0,0.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.5
$GPS2,260218,064108,4738.0024,-12254.5869,6,0.9,13,16.4,0.0,0.0,8,4.7
$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,196.2,2133,-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,-244.4,163,1866,528,453,0.0,0.0,0,60,0.00,0.00,-48.17,0.000,16386,0.000,0.000,163,1866,1645,1703,1588,0,0,0,0,0,0,26.41,28.83,26.42,8.30,49.05
$GC,63,-0.79,-244.4,163,1866,1704,1589,2.2,-2.4,7,133,9.07,2.30,-51.17,0.000,19204,0.194,0.050,2548,450,3247,3306,3188,0,0,0,0,0,0,24.98,23.53,25.34,8.41,49.29
$GC,352,-0.69,-244.4,2548,450,3307,3189,45.7,-16.2,45,362,0.12,2.12,0.00,0.000,3078,0.116,0.029,2582,1829,3247,3307,3188,0,0,0,0,0,0,25.31,25.71,25.36,8.55,49.33
$GC,481,-0.69,-244.4,2581,1829,3307,3188,64.2,-13.2,58,486,0.00,2.25,0.00,0.000,260,0.000,0.039,2573,3251,3248,3307,3189,0,0,0,0,0,0,26.48,25.47,26.49,8.56,49.64
$GC,535,-0.69,-244.4,2573,3251,3307,3188,71.0,-12.9,63,544,0.00,2.12,0.00,0.000,1030,0.000,0.026,2573,1842,3247,3307,3188,0,0,0,0,0,0,25.77,25.75,25.80,8.56,49.96
$GC,665,-0.69,-244.4,2573,1842,3307,3188,88.0,-12.5,76,669,0.00,2.22,0.00,0.000,516,0.000,0.038,2574,449,3247,3307,3188,0,0,0,0,0,0,26.49,25.40,26.50,8.56,50.86
$GC,698,-0.69,-244.4,2573,449,3307,3188,92.4,-12.8,79,708,0.00,2.15,0.00,0.000,1030,0.000,0.029,2566,1845,3248,3307,3189,0,0,0,0,0,0,25.71,25.68,25.75,8.56,50.31
$GC,829,-0.69,-244.4,2565,1845,3307,3187,109.6,-13.0,92,833,0.00,2.22,0.00,0.000,260,0.000,0.038,2556,3245,3248,3307,3189,0,0,0,0,0,0,26.50,25.43,26.51,8.57,50.35
$GC,875,-0.69,-244.4,2555,3245,3307,3188,115.3,-12.9,96,883,0.08,2.15,0.00,0.000,3078,0.114,0.026,2582,1842,3247,3307,3188,0,0,0,0,0,0,25.46,25.73,25.50,8.57,50.43
$GC,1062,-0.69,-244.4,2582,1842,3307,3188,137.9,-11.8,115,1067,0.00,2.22,0.00,0.000,516,0.000,0.039,2582,446,3247,3307,3188,0,0,0,0,0,0,26.50,25.36,26.51,8.58,50.63
$GC,1096,-0.69,-244.4,2581,445,3307,3188,142.2,-12.4,118,1105,0.00,2.12,0.00,0.000,1030,0.000,0.029,2576,1843,3247,3307,3188,0,0,0,0,0,0,25.70,25.67,25.72,8.58,50.82
$STATE,1174,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1174,begin apogee
$GC,1179,-0.21,0.0,2576,1843,3307,3188,152.3,-12.5,126,1376,0.45,0.00,190.25,0.659,10246,0.093,0.000,2737,1843,2246,2374,2118,0,0,0,0,0,0,25.18,24.79,24.08,8.58,50.59
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1380,0.79,244.4,2737,1843,2375,2117,159.7,0.0,146,1589,0.88,2.35,200.93,0.644,10756,0.067,0.041,3060,446,1248,1354,1142,0,0,0,0,0,0,25.07,24.68,23.94,8.50,49.13
$GC,1650,0.70,244.4,3059,446,1354,1141,133.4,14.2,173,1660,0.00,2.17,0.00,0.000,1030,0.000,0.028,3060,1839,1247,1354,1141,0,0,0,0,0,0,25.42,25.38,25.44,8.41,48.14
$GC,1840,0.61,244.4,3059,1839,1354,1139,105.6,14.8,192,1842,0.15,0.00,0.00,0.000,4102,0.119,0.000,3011,1838,1246,1354,1139,0,0,0,0,0,0,25.72,25.82,25.77,8.42,49.17
$GC,2021,0.61,244.4,3010,1839,1354,1139,86.3,9.8,210,2025,0.00,2.22,0.00,0.000,516,0.000,0.041,3019,448,1246,1354,1138,0,0,0,0,0,0,26.44,25.47,26.45,8.41,50.31
$GC,2086,0.61,244.4,3018,448,1354,1138,80.3,9.4,216,2095,0.00,2.15,0.00,0.000,1030,0.000,0.028,3019,1848,1246,1354,1138,0,0,0,0,0,0,25.81,25.77,25.84,8.41,50.15
$GC,2215,0.61,244.4,3018,1848,1354,1137,67.0,10.6,229,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1848,1245,1354,1137,0,0,0,0,0,0,26.47,26.48,26.48,8.41,50.03
$GC,2336,0.61,244.4,3018,1848,1354,1137,55.0,9.4,241,2346,0.00,2.22,0.00,0.000,516,0.000,0.040,3027,449,1245,1353,1138,0,0,0,0,0,0,26.48,25.44,26.48,8.41,50.00
$GC,2372,0.61,244.4,3026,449,1354,1138,51.8,9.5,244,2379,0.00,2.17,0.00,0.000,1030,0.000,0.028,3027,1847,1246,1354,1138,0,0,0,0,0,0,25.79,25.76,25.85,8.41,50.00
$GC,2500,0.61,244.4,3026,1847,1354,1137,38.8,10.0,257,2511,0.00,2.22,0.00,0.000,516,0.000,0.040,3034,448,1246,1354,1138,0,0,0,0,0,0,26.48,25.42,26.49,8.40,49.52
$GC,2566,0.61,244.4,3033,448,1354,1137,32.1,10.2,263,2570,0.00,2.12,0.00,0.000,1030,0.000,0.028,3034,1843,1245,1354,1137,0,0,0,0,0,0,25.82,25.75,25.85,8.40,50.55
$GC,2699,0.61,244.4,3033,1843,1354,1137,20.1,9.2,276,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1844,1245,1354,1137,0,0,0,0,0,0,26.49,26.51,26.50,8.39,49.80
$GC,2822,0.61,244.4,3033,1843,1354,1137,10.4,8.0,299,2830,0.00,2.22,0.00,0.000,260,0.000,0.037,3034,3248,1245,1354,1137,0,0,0,0,0,0,26.50,25.49,26.50,8.39,49.60
$STATE,2922,end climb,SURFACE_DEPTH_REACHED
$STATE,2922,begin surface coast
$FINISH,0.7,1.021253
$STATE,2966,end surface coast,CONTROL_FINISHED_OK
$STATE,2966,begin surface
$SM_CCo,2986,86.57,0.052,0,0,532,420.20
$SM_GC,1.60,7.47,2.20,86.57,0.028,0.028,0.052,181,1845,532,-8.07,1.58,420.20,0,0,0,0,0,0,25.86,25.67,25.39
$IRIDIUM_FIX,4736.40,-12251.79,260218,060116
$TT8_MAMPS,0.026964,0.265146
$HUMID,48.85
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,8.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,100.3,61.8
$24V_AH,23.53,106.346
$10V_AH,9.84,70.614
$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,18.225,43.975,391.175,86.575,0.000,0.000,0.000,139.375,0.750,0.000,15.822,808.644,904.294,497.352,999.174,122.089,0.000,1098.958,0.000,659.061,0.000,7.227,0.000
$DEVICE_MAMPS,193.545,50.490,658.665,52.020,0.000,0.000,0.000,74.970,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.731,701.832,426.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312112
$DATA_FILE_SIZE,21068,326
$CAP_FILE_SIZE,51806,0
$CFSIZE,2097872896,2028142592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,256.95,1
$GPS,260218,073357,4737.612,-12255.095,4,1.0,10,16.4,0.0,0.0,8,5.0