version: 66.14
glider: 195
mission: 15
dive: 681
start: 2 26 118 10 31 24
data:
$ID,195
$MISSION,15
$DIVE,681
$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,47
$R_STBD_OVSHOOT,44
$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
$GPS1,260218,102522,4737.5923,-12255.4502,34,1.0,37,16.4,0.3,79.3,8,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-69.3
$GPS2,260218,103037,4737.5952,-12255.3867,7,1.0,15,16.4,0.0,0.0,8,4.5
$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,46.7,1117,-14.3,-10.000,-18.31,3174
$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,10,-0.81,-212.2,175,1842,552,488,0.0,0.0,0,53,0.00,0.00,-40.85,0.000,16386,0.000,0.000,175,1842,1498,1569,1428,0,0,0,0,0,0,26.39,28.83,26.39,8.30,48.66
$GC,56,-0.84,-244.4,175,1842,1569,1431,2.0,-1.4,6,133,8.98,2.25,-59.80,0.000,19204,0.192,0.048,2532,441,3243,3308,3178,0,0,0,0,0,0,24.97,25.33,25.44,8.40,48.85
$GC,329,-0.74,-244.4,2532,441,3309,3179,42.8,-18.4,42,340,0.12,2.17,0.00,0.000,3078,0.134,0.029,2569,1850,3244,3309,3179,0,0,0,0,0,0,25.27,25.66,25.32,8.55,48.50
$GC,459,-0.74,-244.4,2568,1850,3309,3179,62.2,-13.9,55,470,0.00,2.22,0.00,0.000,260,0.000,0.039,2561,3250,3244,3309,3179,0,0,0,0,0,0,26.48,25.43,26.48,8.55,49.60
$GC,494,-0.74,-244.4,2561,3250,3309,3179,67.0,-14.1,58,504,0.00,2.12,0.00,0.000,1030,0.000,0.026,2561,1835,3244,3309,3179,0,0,0,0,0,0,25.74,25.71,25.77,8.56,49.37
$GC,624,-0.74,-244.4,2560,1835,3308,3179,85.0,-13.7,71,634,0.00,2.22,0.00,0.000,260,0.000,0.039,2551,3251,3243,3308,3179,0,0,0,0,0,0,26.48,25.42,26.49,8.56,49.64
$GC,668,-0.74,-244.4,2551,3251,3308,3179,90.7,-12.9,75,679,0.00,2.12,0.00,0.000,1030,0.000,0.026,2551,1841,3244,3309,3179,0,0,0,0,0,0,25.72,25.69,25.75,8.56,49.64
$GC,799,-0.74,-244.4,2550,1841,3308,3179,108.4,-13.6,88,809,0.00,2.20,0.00,0.000,516,0.000,0.039,2551,453,3243,3308,3179,0,0,0,0,0,0,26.48,25.32,26.49,8.57,49.96
$GC,835,-0.74,-244.4,2550,453,3309,3179,113.7,-14.4,91,847,0.00,2.12,0.00,0.000,1030,0.000,0.029,2542,1840,3243,3308,3179,0,0,0,0,0,0,25.67,25.64,25.70,8.57,49.88
$GC,1026,-0.69,-244.4,2541,1839,3308,3179,141.7,-14.5,110,1037,0.12,2.22,0.00,0.000,2308,0.132,0.037,2578,3248,3244,3309,3179,0,0,0,0,0,0,25.86,25.34,25.88,8.58,50.27
$GC,1082,-0.69,-244.4,2578,3249,3309,3179,148.5,-11.6,115,1092,0.00,2.12,0.00,0.000,1030,0.000,0.026,2578,1836,3243,3308,3179,0,0,0,0,0,0,25.70,25.67,25.73,8.58,50.03
$STATE,1160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1160,begin apogee
$GC,1166,-0.21,0.0,2577,1836,3308,3179,157.7,-11.6,123,1362,0.45,0.00,190.98,0.660,10246,0.093,0.000,2739,1836,2246,2376,2116,0,0,0,0,0,0,25.15,24.79,24.06,8.58,50.23
$STATE,1363,end apogee,CONTROL_FINISHED_OK
$STATE,1363,begin climb
$GC,1366,0.84,244.4,2739,1836,2376,2116,164.6,0.0,143,1574,0.93,0.00,201.48,0.645,10502,0.065,0.000,3070,1835,1249,1352,1147,0,0,0,0,0,0,25.03,24.58,23.91,8.49,48.18
$GC,1753,0.75,244.4,3069,1836,1351,1142,118.0,14.7,182,1758,0.00,2.22,0.00,0.000,516,0.000,0.041,3081,450,1246,1351,1142,0,0,0,0,0,0,26.23,25.41,26.24,8.41,48.85
$GC,1828,0.65,244.4,3080,449,1349,1141,106.6,15.7,189,1838,0.17,2.15,0.00,0.000,5126,0.108,0.028,3023,1852,1245,1349,1141,0,0,0,0,0,0,25.26,25.72,25.32,8.42,49.05
$GC,2019,0.65,244.4,3023,1852,1349,1140,84.8,11.0,208,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1852,1244,1348,1140,0,0,0,0,0,0,26.43,26.44,26.44,8.42,49.84
$GC,2148,0.65,244.4,3023,1852,1349,1140,70.9,10.6,221,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1852,1244,1349,1140,0,0,0,0,0,0,26.46,26.46,26.46,8.41,49.68
$GC,2268,0.65,244.4,3023,1852,1349,1140,58.2,10.4,233,2278,0.00,2.22,0.00,0.000,516,0.000,0.040,3031,455,1244,1349,1140,0,0,0,0,0,0,26.47,25.43,26.48,8.41,49.88
$GC,2302,0.65,244.4,3030,454,1349,1140,54.7,10.2,236,2312,0.00,2.12,0.00,0.000,1030,0.000,0.028,3031,1842,1244,1349,1140,0,0,0,0,0,0,25.77,25.75,25.80,8.40,49.21
$GC,2432,0.65,244.4,3030,1842,1349,1140,41.2,10.1,249,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1842,1244,1349,1140,0,0,0,0,0,0,26.48,26.48,26.48,8.40,50.03
$GC,2552,0.65,244.4,3030,1841,1349,1140,29.4,9.5,261,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1842,1244,1349,1140,0,0,0,0,0,0,26.48,26.49,26.49,8.40,49.68
$GC,2675,0.71,307.5,3030,1842,1349,1139,18.3,8.0,274,2712,0.00,0.00,34.50,0.527,8710,0.000,0.000,3031,1842,991,1083,900,0,0,0,0,0,0,26.48,25.34,24.67,8.39,49.92
$GC,2777,0.80,392.4,3029,1842,1082,899,10.8,7.3,291,2833,0.08,2.28,44.62,0.495,10756,0.092,0.040,3136,451,643,718,568,0,0,0,0,0,0,26.11,25.25,24.55,8.36,49.17
$STATE,2844,end climb,SURFACE_DEPTH_REACHED
$STATE,2844,begin surface coast
$FINISH,0.7,1.001492
$STATE,2868,end surface coast,CONTROL_FINISHED_OK
$STATE,2868,begin surface
$SM_CCo,2888,13.82,0.054,0,0,534,420.20
$SM_GC,1.73,7.72,2.22,13.82,0.028,0.027,0.054,186,1847,534,-8.06,-1.24,420.20,0,0,0,0,0,0,25.79,25.68,25.48
$IRIDIUM_FIX,4737.86,-12251.79,260218,092446
$TT8_MAMPS,0.026215,0.23968
$HUMID,48.22
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,9.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.5
$ALTIM_BOTTOM_PING,140.2,27.2
$24V_AH,23.91,106.672
$10V_AH,9.86,70.813
$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,18.575,35.025,471.575,13.825,0.000,0.000,0.000,215.600,3.000,0.000,16.218,725.985,893.278,499.522,995.478,136.308,0.000,1166.756,0.000,611.117,0.000,22.817,0.000
$DEVICE_MAMPS,192.015,48.195,660.195,54.315,0.000,0.000,0.000,81.090,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,202.255,656.583,398.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,21062,305
$CAP_FILE_SIZE,49827,0
$CFSIZE,2097872896,2027749376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,42.62,1
$GPS,260218,112050,4737.862,-12254.726,5,0.9,20,16.4,0.2,58.5,9,4.8