version: 66.14
glider: 195
mission: 15
dive: 689
start: 2 26 118 17 17 10
data:
$ID,195
$MISSION,15
$DIVE,689
$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,45
$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
$GPS1,260218,171149,4737.9399,-12254.6152,8,1.0,16,16.4,0.4,71.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.8
$GPS2,260218,171628,4737.9565,-12254.5537,6,0.8,18,16.4,0.0,52.2,11,4.9
$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,219.8,2121,-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,-244.4,180,1844,552,486,0.0,0.0,0,54,0.00,0.00,-42.35,0.000,16386,0.000,0.000,180,1844,1542,1582,1503,0,0,0,0,0,0,26.39,28.83,26.40,8.30,49.56
$GC,58,-0.79,-244.4,180,1845,1581,1503,2.0,-1.7,6,134,9.00,2.28,-57.35,0.000,18692,0.192,0.050,2545,3251,3245,3310,3181,0,0,0,0,0,0,24.98,23.51,25.34,8.39,49.29
$GC,165,-0.63,-244.4,2545,3251,3310,3181,10.6,-16.2,22,173,0.15,2.17,0.00,0.000,3078,0.109,0.026,2608,1829,3245,3310,3181,0,0,0,0,0,0,25.22,25.75,25.34,8.55,48.81
$GC,244,-0.63,-244.4,2607,1830,3311,3181,22.0,-13.4,35,245,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1830,3246,3311,3181,0,0,0,0,0,0,26.46,26.46,26.46,8.55,48.46
$GC,364,-0.63,-244.4,2607,1829,3311,3181,37.2,-12.6,47,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1829,3246,3311,3181,0,0,0,0,0,0,26.47,26.48,26.48,8.55,49.68
$GC,484,-0.63,-244.4,2607,1830,3311,3181,50.9,-11.2,59,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1829,3246,3311,3181,0,0,0,0,0,0,26.48,26.49,26.49,8.55,50.47
$GC,604,-0.63,-244.4,2607,1829,3310,3181,63.8,-10.7,71,614,0.00,2.25,0.00,0.000,260,0.000,0.039,2600,3248,3246,3311,3181,0,0,0,0,0,0,26.48,25.40,26.49,8.55,50.07
$GC,629,-0.63,-244.4,2599,3248,3311,3181,66.4,-10.4,73,637,0.00,2.15,0.00,0.000,1030,0.000,0.027,2600,1850,3245,3310,3181,0,0,0,0,0,0,25.72,25.70,25.75,8.55,50.47
$GC,758,-0.63,-244.4,2599,1850,3310,3181,80.2,-10.6,86,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1849,3246,3311,3181,0,0,0,0,0,0,26.48,26.50,26.50,8.56,50.03
$GC,878,-0.63,-244.4,2599,1849,3309,3181,93.2,-10.9,98,882,0.00,2.25,0.00,0.000,516,0.000,0.039,2600,446,3246,3311,3181,0,0,0,0,0,0,26.49,25.32,26.50,8.56,50.98
$GC,923,-0.63,-244.4,2599,445,3310,3181,98.3,-11.5,102,928,0.00,2.17,0.00,0.000,1030,0.000,0.029,2592,1846,3245,3310,3181,0,0,0,0,0,0,25.70,25.62,25.74,8.57,51.10
$GC,1056,-0.63,-244.4,2592,1846,3310,3181,113.3,-11.1,115,1066,0.00,2.20,0.00,0.000,260,0.000,0.039,2582,3239,3245,3309,3181,0,0,0,0,0,0,26.49,25.37,26.50,8.57,50.74
$GC,1104,-0.63,-244.4,2582,3239,3310,3181,118.3,-10.8,119,1111,0.00,2.15,0.00,0.000,1030,0.000,0.027,2582,1845,3246,3311,3181,0,0,0,0,0,0,25.69,25.67,25.72,8.57,51.14
$GC,1294,-0.63,-244.4,2581,1845,3311,3181,139.3,-10.9,138,1309,0.00,2.20,0.00,0.000,516,0.000,0.039,2582,450,3245,3310,3181,0,0,0,0,0,0,26.49,25.29,26.50,8.57,50.63
$GC,1333,-0.63,-244.4,2581,450,3311,3181,144.2,-11.7,141,1338,0.10,2.17,0.00,0.000,3078,0.134,0.028,2606,1853,3245,3310,3181,0,0,0,0,0,0,25.36,25.62,25.44,8.58,50.59
$STATE,1506,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1506,begin apogee
$GC,1511,-0.21,0.0,2605,1854,3310,3181,161.5,-9.6,158,1709,0.38,0.00,192.05,0.665,10246,0.089,0.000,2746,1854,2246,2372,2120,0,0,0,0,0,0,25.32,24.75,24.03,8.58,50.47
$STATE,1710,end apogee,CONTROL_FINISHED_OK
$STATE,1710,begin climb
$GC,1712,0.79,244.4,2745,1854,2371,2120,164.3,0.0,178,1929,0.85,2.35,201.82,0.646,10756,0.061,0.039,3063,452,1249,1351,1147,0,0,0,0,0,0,25.02,24.33,23.87,8.50,48.62
$GC,1999,0.70,244.4,3063,451,1350,1144,136.6,13.9,206,2006,0.00,2.22,0.00,0.000,1030,0.000,0.028,3063,1846,1246,1350,1143,0,0,0,0,0,0,25.41,25.38,25.44,8.42,48.89
$GC,2186,0.61,244.4,3063,1846,1350,1141,110.0,13.8,225,2194,0.17,0.00,0.00,0.000,4102,0.116,0.000,3006,1846,1245,1350,1141,0,0,0,0,0,0,25.64,25.75,25.70,8.42,49.37
$GC,2375,0.61,244.4,3005,1846,1350,1140,90.6,9.8,244,2379,0.00,2.25,0.00,0.000,516,0.000,0.041,3015,449,1245,1350,1140,0,0,0,0,0,0,26.43,25.46,26.44,8.41,50.55
$GC,2438,0.61,244.4,3014,449,1350,1139,84.4,10.1,250,2443,0.00,2.17,0.00,0.000,1030,0.000,0.028,3014,1856,1244,1350,1139,0,0,0,0,0,0,25.83,25.75,25.86,8.41,50.47
$GC,2572,0.61,244.4,3014,1856,1350,1139,70.9,10.4,263,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1856,1244,1350,1139,0,0,0,0,0,0,26.46,26.47,26.46,8.41,49.96
$GC,2691,0.61,244.4,3014,1856,1350,1139,58.8,10.2,275,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1856,1244,1350,1139,0,0,0,0,0,0,26.46,26.47,26.48,8.41,50.43
$GC,2811,0.61,244.4,3014,1856,1350,1139,47.5,9.1,287,2821,0.00,2.28,0.00,0.000,516,0.000,0.041,3021,445,1244,1350,1139,0,0,0,0,0,0,26.47,25.40,26.48,8.41,49.88
$GC,2878,0.61,244.4,3021,444,1350,1139,41.4,9.3,293,2886,0.00,2.17,0.00,0.000,1030,0.000,0.028,3021,1839,1244,1350,1139,0,0,0,0,0,0,25.77,25.73,25.77,8.41,50.15
$GC,3005,0.61,244.4,3021,1839,1350,1139,29.6,8.5,306,3010,0.00,2.22,0.00,0.000,260,0.000,0.037,3021,3252,1244,1350,1139,0,0,0,0,0,0,26.48,25.48,26.48,8.40,49.84
$GC,3031,0.61,244.4,3021,3252,1350,1139,27.3,8.8,308,3039,0.00,2.17,0.00,0.000,1030,0.000,0.028,3027,1840,1244,1350,1139,0,0,0,0,0,0,25.72,25.70,25.76,8.40,50.03
$GC,3160,0.61,244.4,3026,1840,1350,1139,16.8,8.1,325,3167,0.00,2.25,0.00,0.000,516,0.000,0.041,3029,455,1244,1350,1139,0,0,0,0,0,0,26.48,25.35,26.48,8.39,49.64
$GC,3327,0.71,347.7,3029,456,1350,1139,4.3,7.1,356,3349,0.00,2.17,16.73,0.459,9218,0.000,0.028,3029,1848,1112,1214,1011,0,0,0,0,0,0,25.74,25.70,25.75,8.38,49.68
$STATE,3350,end climb,SURFACE_DEPTH_REACHED
$STATE,3350,begin surface coast
$FINISH,0.7,1.010868
$STATE,3391,end surface coast,CONTROL_FINISHED_OK
$STATE,3391,begin surface
$SM_CCo,3408,70.00,0.050,0,0,533,420.20
$SM_GC,1.76,7.45,0.00,70.00,0.029,0.000,0.050,184,1849,533,-8.05,0.17,420.20,0,0,0,0,0,0,25.93,26.42,25.55
$IRIDIUM_FIX,4738.92,-12346.72,260218,162942
$TT8_MAMPS,0.026964,0.246421
$HUMID,49.48
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,160.3,10.8
$24V_AH,23.51,107.395
$10V_AH,9.85,71.149
$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,18.100,44.275,410.600,70.000,0.000,0.000,0.000,184.350,4.750,0.000,19.824,921.028,1095.588,504.484,1126.660,142.630,0.000,1178.440,0.000,697.360,0.000,37.609,0.000
$DEVICE_MAMPS,192.015,50.490,664.785,50.490,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.673,790.094,480.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312060
$DATA_FILE_SIZE,24581,367
$CAP_FILE_SIZE,58491,0
$CFSIZE,2097872896,2026962944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.022,271.79,1
$GPS,260218,181639,4737.773,-12255.318,23,1.0,46,16.4,0.3,60.8,9,5.0