version: 66.14
glider: 195
mission: 15
dive: 680
start: 2 26 118 9 28 34
data:
$ID,195
$MISSION,15
$DIVE,680
$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,43
$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
$GPS1,260218,092320,4737.3330,-12256.0137,5,0.9,25,16.4,0.3,76.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.9
$GPS2,260218,092752,4737.3379,-12255.9619,7,1.0,33,16.4,0.3,89.5,8,5.0
$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,37.6,1977,-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,-244.4,168,1846,548,482,0.0,0.0,0,56,0.00,0.00,-44.22,0.000,16386,0.000,0.000,169,1846,1585,1621,1549,0,0,0,0,0,0,26.41,28.83,26.43,8.30,48.85
$GC,60,-0.79,-244.4,169,1846,1622,1549,2.1,-2.2,6,130,9.02,2.28,-53.83,0.000,19204,0.193,0.049,2547,454,3243,3307,3180,0,0,0,0,0,0,24.98,22.77,25.34,8.40,48.66
$GC,335,-0.68,-244.4,2547,453,3308,3181,41.5,-16.1,42,343,0.15,2.17,0.00,0.000,3078,0.111,0.030,2603,1838,3244,3308,3181,0,0,0,0,0,0,25.13,25.65,25.25,8.55,48.62
$GC,463,-0.68,-244.4,2602,1838,3308,3180,57.6,-11.4,55,473,0.00,2.20,0.00,0.000,260,0.000,0.039,2595,3240,3244,3308,3180,0,0,0,0,0,0,26.49,25.39,26.50,8.55,50.03
$GC,518,-0.68,-244.4,2595,3240,3308,3180,63.8,-11.1,60,528,0.00,2.10,0.00,0.000,1030,0.000,0.026,2595,1844,3244,3308,3180,0,0,0,0,0,0,25.74,25.70,25.76,8.55,49.68
$GC,648,-0.68,-244.4,2594,1844,3308,3181,78.3,-11.5,73,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1844,3244,3308,3180,0,0,0,0,0,0,26.50,26.51,26.51,8.56,50.23
$GC,768,-0.68,-244.4,2594,1844,3308,3180,91.7,-11.3,85,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1844,3243,3308,3179,0,0,0,0,0,0,26.50,26.51,26.51,8.56,50.82
$GC,888,-0.68,-244.4,2594,1844,3308,3180,104.9,-11.2,97,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1844,3244,3308,3180,0,0,0,0,0,0,26.51,26.51,26.51,8.56,50.11
$GC,1069,-0.68,-244.4,2594,1844,3308,3180,124.7,-10.8,115,1072,0.00,2.20,0.00,0.000,516,0.000,0.039,2595,454,3244,3308,3180,0,0,0,0,0,0,26.50,25.29,26.51,8.57,50.19
$GC,1102,-0.68,-244.4,2594,453,3308,3180,128.4,-10.8,118,1112,0.00,2.15,0.00,0.000,1030,0.000,0.029,2587,1850,3244,3308,3180,0,0,0,0,0,0,25.66,25.63,25.71,8.57,50.59
$GC,1293,-0.68,-244.4,2586,1850,3308,3180,149.9,-11.4,137,1303,0.00,2.20,0.00,0.000,260,0.000,0.039,2577,3246,3244,3307,3181,0,0,0,0,0,0,26.51,25.34,26.51,8.58,51.06
$GC,1339,-0.68,-244.4,2577,3246,3308,3180,155.2,-11.7,141,1347,0.00,2.15,0.00,0.000,1030,0.000,0.026,2577,1846,3243,3307,3180,0,0,0,0,0,0,25.70,25.67,25.73,8.58,50.51
$STATE,1415,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1415,begin apogee
$GC,1421,-0.21,0.0,2577,1846,3308,3180,164.3,-11.8,149,1617,0.45,0.00,191.10,0.666,10246,0.093,0.000,2738,1845,2247,2374,2120,0,0,0,0,0,0,25.15,24.77,24.03,8.59,50.63
$STATE,1618,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1621,0.79,244.4,2738,1845,2373,2119,165.7,0.0,169,1831,0.90,2.30,201.23,0.644,10500,0.073,0.037,3054,3254,1249,1353,1146,0,0,0,0,0,0,24.96,24.63,23.88,8.50,49.13
$GC,1859,0.70,244.4,3053,3254,1352,1146,148.8,12.3,192,1867,0.00,2.25,0.00,0.000,1030,0.000,0.028,3062,1840,1249,1353,1145,0,0,0,0,0,0,25.17,25.14,25.20,8.42,47.71
$GC,2046,0.61,244.4,3062,1840,1352,1142,123.4,13.9,211,2051,0.15,2.22,0.00,0.000,4612,0.123,0.038,3018,449,1247,1352,1142,0,0,0,0,0,0,25.63,25.44,25.66,8.42,48.85
$GC,2120,0.61,244.4,3017,449,1352,1138,115.1,10.3,218,2129,0.00,2.12,0.00,0.000,1030,0.000,0.028,3018,1838,1245,1352,1138,0,0,0,0,0,0,25.79,25.74,25.79,8.42,48.81
$GC,2310,0.61,244.4,3017,1838,1352,1138,94.9,10.5,237,2320,0.00,2.20,0.00,0.000,516,0.000,0.040,3026,452,1245,1352,1138,0,0,0,0,0,0,26.44,25.46,26.44,8.41,49.52
$GC,2355,0.61,244.4,3026,452,1352,1138,90.3,10.6,241,2363,0.00,2.17,0.00,0.000,1030,0.000,0.028,3026,1846,1245,1352,1138,0,0,0,0,0,0,25.80,25.77,25.83,8.42,49.68
$GC,2484,0.61,244.4,3026,1846,1352,1138,76.3,10.9,254,2488,0.00,2.20,0.00,0.000,260,0.000,0.037,3026,3257,1245,1352,1138,0,0,0,0,0,0,26.46,25.53,26.47,8.41,50.23
$GC,2529,0.61,244.4,3026,3256,1352,1138,71.6,10.9,258,2533,0.00,2.17,0.00,0.000,1030,0.000,0.027,3032,1828,1245,1352,1138,0,0,0,0,0,0,25.81,25.73,25.84,8.41,49.48
$GC,2662,0.61,244.4,3032,1828,1352,1138,57.0,10.6,271,2666,0.00,2.20,0.00,0.000,516,0.000,0.040,3043,451,1244,1352,1137,0,0,0,0,0,0,26.48,25.41,26.48,8.41,49.44
$GC,2735,0.61,244.4,3042,451,1352,1138,49.5,10.3,278,2741,0.10,2.17,0.00,0.000,5126,0.123,0.028,3009,1859,1245,1352,1138,0,0,0,0,0,0,25.50,25.73,25.58,8.41,50.15
$GC,2870,0.69,327.3,3009,1859,1352,1137,38.9,7.7,291,2950,0.00,2.30,69.32,0.588,8708,0.000,0.040,3014,452,910,996,824,0,0,0,0,0,0,26.48,25.21,24.44,8.41,50.27
$GC,2996,0.75,327.3,3013,452,997,822,29.2,8.0,303,3006,0.08,2.15,0.00,0.000,3078,0.089,0.027,3112,1856,909,996,822,0,0,0,0,0,0,25.58,25.61,25.66,8.37,49.01
$GC,3129,0.67,327.3,3112,1856,997,821,11.5,10.6,322,3138,0.22,2.20,0.00,0.000,4356,0.105,0.035,3033,3251,909,997,821,0,0,0,0,0,0,25.56,25.55,25.58,8.37,48.93
$GC,3152,0.67,327.3,3032,3251,996,820,9.5,8.9,325,3160,0.00,2.17,0.00,0.000,1030,0.000,0.027,3033,1843,908,997,819,0,0,0,0,0,0,25.75,25.72,25.77,8.37,48.97
$GC,3226,0.93,512.2,3032,1843,997,819,5.0,4.8,338,3255,0.15,0.00,26.75,0.474,10754,0.052,0.000,3164,1843,689,775,604,0,0,0,0,0,0,26.17,28.83,26.18,8.36,49.17
$STATE,3257,end climb,SURFACE_DEPTH_REACHED
$STATE,3257,begin surface coast
$FINISH,0.7,1.010544
$STATE,3289,end surface coast,CONTROL_FINISHED_OK
$STATE,3289,begin surface
$SM_CCo,3307,19.50,0.054,0,0,533,420.20
$SM_GC,1.42,7.80,0.00,19.50,0.028,0.000,0.054,176,1843,533,-8.07,0.00,420.20,0,0,0,0,0,0,25.88,26.32,25.56
$IRIDIUM_FIX,4739.20,-12253.53,260218,083748
$TT8_MAMPS,0.026964,0.240429
$HUMID,48.18
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,9.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,116.0,57.9
$24V_AH,22.77,106.583
$10V_AH,9.84,70.764
$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,19.025,48.300,488.400,19.500,0.000,0.000,0.000,162.300,1.500,0.000,34.631,857.218,1027.241,497.791,1106.643,141.389,0.000,1179.931,0.000,719.213,0.000,12.021,0.000
$DEVICE_MAMPS,192.780,48.960,666.315,53.550,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.320,749.080,455.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,24557,348
$CAP_FILE_SIZE,57958,0
$CFSIZE,2097872896,2027847680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2793.31,0x2139aa,7,24
$CURRENT,0.011,9.48,1
$GPS,260218,102522,4737.592,-12255.450,34,1.0,37,16.4,0.3,79.3,8,4.2