version: 66.14
glider: 195
mission: 15
dive: 686
start: 2 26 118 14 26 59
data:
$ID,195
$MISSION,15
$DIVE,686
$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,49
$R_STBD_OVSHOOT,42
$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
$GPS1,260218,142133,4738.3789,-12253.2949,9,0.8,22,16.4,0.4,75.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.7
$GPS2,260218,142617,4738.3911,-12253.2344,7,0.9,30,16.4,0.3,78.2,10,5.0
$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,230.1,1947,-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,7,begin dive
$GC,10,-0.79,-244.4,174,1840,523,452,0.0,0.0,0,59,0.00,0.00,-47.08,0.000,16386,0.000,0.000,174,1841,1618,1667,1570,0,0,0,0,0,0,26.41,28.83,26.42,8.32,49.44
$GC,63,-0.79,-244.4,174,1840,1667,1570,2.3,-2.4,7,133,9.05,2.25,-52.10,0.000,19204,0.194,0.050,2545,3249,3245,3307,3183,0,0,0,0,0,0,24.99,25.34,25.35,8.42,49.21
$GC,146,-0.60,-244.4,2544,3249,3307,3183,9.0,-15.9,19,155,0.20,2.15,0.00,0.000,3078,0.109,0.026,2610,1842,3245,3307,3184,0,0,0,0,0,0,25.25,25.79,25.32,8.56,48.85
$GC,220,-0.53,-244.4,2610,1842,3307,3183,20.3,-14.5,32,223,0.10,0.00,0.00,0.000,2054,0.141,0.000,2645,1842,3245,3307,3184,0,0,0,0,0,0,25.98,26.03,26.01,8.56,48.77
$GC,342,-0.58,-244.4,2644,1842,3307,3184,34.8,-11.0,44,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1842,3246,3308,3184,0,0,0,0,0,0,26.48,26.48,26.48,8.56,49.21
$GC,471,-0.58,-244.4,2644,1842,3307,3183,48.1,-9.6,57,476,0.00,2.22,0.00,0.000,260,0.000,0.039,2637,3245,3245,3307,3183,0,0,0,0,0,0,26.48,25.47,26.49,8.56,50.03
$GC,507,-0.64,-244.4,2636,3245,3307,3183,51.2,-9.3,60,516,0.00,2.10,0.00,0.000,1030,0.000,0.025,2637,1850,3245,3307,3184,0,0,0,0,0,0,25.79,25.73,25.79,8.56,49.56
$GC,635,-0.64,-244.4,2636,1849,3307,3184,63.5,-9.4,73,639,0.00,2.25,0.00,0.000,516,0.000,0.039,2637,444,3245,3307,3184,0,0,0,0,0,0,26.48,25.39,26.50,8.56,49.96
$GC,678,-0.64,-244.4,2636,444,3307,3183,67.7,-9.6,77,683,0.00,2.15,0.00,0.000,1030,0.000,0.029,2629,1843,3245,3307,3183,0,0,0,0,0,0,25.77,25.69,25.81,8.56,49.72
$GC,811,-0.64,-244.4,2628,1844,3307,3184,81.2,-10.3,90,822,0.00,2.22,0.00,0.000,260,0.000,0.038,2619,3251,3245,3307,3184,0,0,0,0,0,0,26.49,25.43,26.50,8.56,50.19
$GC,846,-0.64,-244.4,2618,3251,3307,3184,84.5,-9.6,93,850,0.00,2.15,0.00,0.000,1030,0.000,0.026,2619,1834,3245,3307,3184,0,0,0,0,0,0,25.79,25.72,25.82,8.56,50.15
$GC,979,-0.64,-244.4,2618,1834,3307,3183,98.0,-10.6,106,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1834,3245,3307,3184,0,0,0,0,0,0,26.49,26.51,26.50,8.56,50.55
$GC,1103,-0.64,-244.4,2618,1834,3307,3183,110.5,-10.1,118,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1834,3245,3307,3183,0,0,0,0,0,0,26.46,26.46,26.46,8.56,50.63
$GC,1290,-0.64,-244.4,2618,1834,3307,3184,129.7,-9.9,137,1294,0.00,2.20,0.00,0.000,516,0.000,0.040,2619,452,3245,3307,3184,0,0,0,0,0,0,26.49,25.32,26.51,8.57,50.43
$GC,1338,-0.64,-244.4,2618,451,3307,3183,134.6,-10.3,141,1350,0.00,2.12,0.00,0.000,1030,0.000,0.028,2610,1837,3245,3307,3184,0,0,0,0,0,0,25.69,25.66,25.72,8.56,50.07
$GC,1531,-0.64,-244.4,2610,1837,3307,3183,154.8,-10.5,160,1535,0.00,2.25,0.00,0.000,260,0.000,0.039,2600,3254,3245,3307,3183,0,0,0,0,0,0,26.50,25.37,26.51,8.57,51.06
$GC,1587,-0.64,-244.4,2600,3255,3307,3184,160.5,-10.2,165,1596,0.00,2.17,0.00,0.000,1030,0.000,0.027,2600,1844,3245,3307,3184,0,0,0,0,0,0,25.71,25.68,25.74,8.57,51.26
$STATE,1613,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1613,begin apogee
$GC,1619,-0.21,0.0,2600,1844,3307,3184,163.6,-10.2,168,1815,0.40,0.00,189.77,0.670,10246,0.093,0.000,2744,1844,2247,2374,2120,0,0,0,0,0,0,25.26,24.77,24.06,8.57,50.47
$STATE,1816,end apogee,CONTROL_FINISHED_OK
$STATE,1816,begin climb
$GC,1819,0.79,244.4,2744,1844,2375,2120,165.8,0.0,188,2030,0.88,2.35,201.62,0.652,10756,0.065,0.041,3068,460,1248,1354,1143,0,0,0,0,0,0,25.04,24.63,23.89,8.49,48.42
$GC,2134,0.71,244.4,3067,460,1353,1140,134.7,13.8,219,2144,0.00,2.15,0.00,0.000,1030,0.000,0.028,3067,1843,1246,1353,1140,0,0,0,0,0,0,25.55,25.52,25.58,8.41,49.17
$GC,2324,0.62,244.4,3067,1843,1353,1139,108.1,13.8,238,2335,0.15,2.22,0.00,0.000,4612,0.119,0.039,3023,449,1245,1353,1138,0,0,0,0,0,0,25.72,25.47,25.75,8.41,49.60
$GC,2380,0.62,244.4,3022,449,1353,1138,102.0,10.3,243,2384,0.00,2.17,0.00,0.000,1030,0.000,0.028,3023,1853,1245,1353,1138,0,0,0,0,0,0,25.83,25.75,25.86,8.41,49.80
$GC,2573,0.62,244.4,3022,1853,1353,1138,83.0,10.1,262,2577,0.00,2.17,0.00,0.000,260,0.000,0.037,3023,3250,1245,1353,1138,0,0,0,0,0,0,26.46,25.55,26.46,8.40,50.00
$GC,2606,0.62,244.4,3022,3250,1353,1138,79.7,9.9,265,2617,0.00,2.12,0.00,0.000,1030,0.000,0.028,3028,1845,1245,1353,1138,0,0,0,0,0,0,25.76,25.74,25.80,8.41,49.96
$GC,2737,0.62,244.4,3028,1845,1353,1138,66.9,9.6,278,2747,0.00,2.22,0.00,0.000,516,0.000,0.041,3038,451,1245,1353,1138,0,0,0,0,0,0,26.47,25.43,26.48,8.41,50.90
$GC,2794,0.62,244.4,3038,451,1353,1138,61.1,10.6,283,2802,0.00,2.17,0.00,0.000,1030,0.000,0.028,3039,1845,1245,1353,1137,0,0,0,0,0,0,25.78,25.75,25.81,8.41,50.03
$GC,2923,0.62,244.4,3038,1845,1353,1138,46.8,11.0,296,2932,0.00,2.22,0.00,0.000,260,0.000,0.037,3038,3255,1245,1353,1138,0,0,0,0,0,0,26.48,25.51,26.48,8.40,49.88
$GC,2949,0.62,244.4,3038,3255,1353,1138,44.1,10.9,298,2957,0.08,2.20,0.00,0.000,5126,0.122,0.028,3018,1832,1245,1353,1138,0,0,0,0,0,0,25.44,25.71,25.48,8.40,50.59
$GC,3077,0.70,323.7,3018,1832,1353,1138,32.6,7.8,311,3148,0.00,2.22,60.92,0.590,8708,0.000,0.041,3025,452,924,1012,837,0,0,0,0,0,0,26.48,24.97,24.51,8.40,50.31
$GC,3182,0.70,323.7,3025,452,1012,836,24.2,8.1,321,3193,0.00,2.15,0.00,0.000,1030,0.000,0.027,3025,1853,924,1012,836,0,0,0,0,0,0,25.64,25.64,25.66,8.37,50.00
$GC,3318,0.84,405.7,3025,1853,1012,834,13.9,7.7,341,3369,0.10,2.30,44.03,0.505,10756,0.076,0.040,3146,452,588,645,532,0,0,0,0,0,0,26.13,25.31,24.60,8.37,49.84
$STATE,3390,end climb,SURFACE_DEPTH_REACHED
$STATE,3390,begin surface coast
$FINISH,0.7,1.004321
$STATE,3408,end surface coast,CONTROL_FINISHED_OK
$STATE,3408,begin surface
$SM_CCo,3428,6.62,0.054,0,0,532,420.20
$SM_GC,2.66,7.78,2.22,6.62,0.026,0.027,0.054,169,1857,532,-8.11,-1.13,420.20,0,0,0,0,0,0,25.79,25.68,25.44
$IRIDIUM_FIX,4738.72,-12249.11,260218,134202
$TT8_MAMPS,0.026964,0.265146
$HUMID,48.77
$INTERNAL_PRESSURE,8.27308
$TCM_TEMP,9.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.8
$ALTIM_BOTTOM_PING,141.0,32.4
$24V_AH,23.89,107.142
$10V_AH,9.84,71.001
$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,18.725,57.175,496.350,6.625,0.000,0.000,0.000,180.775,3.500,0.000,31.412,874.105,1082.355,515.391,1136.011,146.623,0.000,1229.201,0.000,720.582,0.000,28.605,0.000
$DEVICE_MAMPS,193.545,49.725,670.140,54.315,0.000,0.000,0.000,70.380,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.596,764.220,464.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312076
$DATA_FILE_SIZE,24603,355
$CAP_FILE_SIZE,61372,0
$CFSIZE,2097872896,2027257856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,48.02,1
$GPS,260218,152532,4738.333,-12253.877,9,1.4,34,16.4,0.4,66.3,10,4.9