version: 66.14
glider: 195
mission: 15
dive: 692
start: 2 26 118 20 8 49
data:
$ID,195
$MISSION,15
$DIVE,692
$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,60
$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
$GPS1,260218,200355,4737.2612,-12256.0771,8,1.0,18,16.4,0.3,54.8,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.6
$GPS2,260218,200807,4737.2783,-12256.0381,10,1.0,18,16.4,0.0,60.0,8,4.7
$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,43.2,2116,-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,-244.4,179,1853,549,484,0.0,0.0,0,60,0.00,0.00,-48.20,0.000,16386,0.000,0.000,179,1853,1694,1748,1641,0,0,0,0,0,0,26.39,28.83,26.40,8.30,48.74
$GC,64,-0.79,-244.4,179,1853,1749,1642,2.5,-3.0,7,128,9.00,2.28,-48.38,0.000,18948,0.193,0.050,2550,462,3246,3306,3186,0,0,0,0,0,0,24.98,23.49,25.34,8.41,49.09
$GC,321,-0.71,-244.4,2549,461,3307,3187,38.9,-15.1,42,326,0.12,2.15,0.00,0.000,3078,0.127,0.030,2581,1847,3247,3307,3188,0,0,0,0,0,0,25.32,25.63,25.41,8.55,49.21
$GC,455,-0.71,-244.4,2581,1847,3307,3187,56.4,-12.7,55,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1847,3247,3307,3187,0,0,0,0,0,0,26.48,26.48,26.48,8.55,49.84
$GC,575,-0.71,-244.4,2581,1847,3307,3187,71.2,-12.1,67,584,0.00,2.17,0.00,0.000,260,0.000,0.039,2574,3239,3247,3307,3187,0,0,0,0,0,0,26.48,25.38,26.49,8.55,49.92
$GC,630,-0.71,-244.4,2573,3239,3307,3187,77.6,-12.1,72,638,0.00,2.12,0.00,0.000,1030,0.000,0.028,2573,1858,3247,3307,3188,0,0,0,0,0,0,25.70,25.66,25.72,8.55,50.70
$GC,758,-0.71,-244.4,2573,1858,3307,3187,93.7,-12.5,85,768,0.00,2.25,0.00,0.000,516,0.000,0.040,2573,450,3247,3307,3187,0,0,0,0,0,0,26.48,25.28,26.49,8.56,50.23
$GC,805,-0.71,-244.4,2573,449,3307,3187,99.5,-13.1,89,813,0.00,2.17,0.00,0.000,1030,0.000,0.030,2566,1835,3247,3307,3187,0,0,0,0,0,0,25.65,25.62,25.68,8.56,49.88
$GC,937,-0.71,-244.4,2566,1835,3307,3187,115.8,-12.9,102,941,0.00,2.25,0.00,0.000,260,0.000,0.039,2556,3249,3247,3307,3187,0,0,0,0,0,0,26.44,25.34,26.45,8.57,51.22
$GC,976,-0.71,-244.4,2555,3250,3307,3187,120.5,-12.2,105,984,0.00,2.17,0.00,0.000,1030,0.000,0.027,2556,1834,3247,3307,3187,0,0,0,0,0,0,25.68,25.65,25.71,8.57,50.86
$GC,1165,-0.71,-244.4,2555,1834,3307,3187,145.9,-13.8,124,1169,0.00,2.20,0.00,0.000,516,0.000,0.040,2556,453,3247,3307,3188,0,0,0,0,0,0,26.48,25.25,26.50,8.58,50.82
$GC,1198,-0.65,-244.4,2555,453,3307,3187,150.6,-14.5,127,1203,0.17,2.15,0.00,0.000,3078,0.114,0.029,2603,1842,3247,3307,3188,0,0,0,0,0,0,25.18,25.60,25.28,8.58,50.51
$STATE,1300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1300,begin apogee
$GC,1306,-0.21,0.0,2603,1842,3307,3187,161.4,-9.9,137,1502,0.38,0.00,192.45,0.662,10246,0.090,0.000,2743,1841,2246,2368,2125,0,0,0,0,0,0,25.30,24.74,24.02,8.58,51.41
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1503,begin climb
$GC,1506,0.79,244.4,2742,1842,2368,2124,167.4,0.0,157,1723,0.88,2.30,202.75,0.645,10756,0.064,0.039,3065,460,1248,1350,1147,0,0,0,0,0,0,24.99,24.29,23.82,8.50,48.81
$GC,1779,0.70,244.4,3064,459,1350,1145,141.3,14.2,184,1789,0.00,2.15,0.00,0.000,1030,0.000,0.028,3065,1832,1247,1350,1145,0,0,0,0,0,0,25.29,25.25,25.32,8.42,47.87
$GC,1969,0.60,244.4,3064,1831,1350,1143,113.7,14.3,203,1977,0.17,0.00,0.00,0.000,4102,0.117,0.000,3008,1831,1246,1349,1143,0,0,0,0,0,0,25.60,25.71,25.67,8.41,48.81
$GC,2158,0.60,244.4,3007,1831,1349,1141,93.8,10.0,222,2168,0.00,2.22,0.00,0.000,516,0.000,0.041,3016,447,1245,1350,1141,0,0,0,0,0,0,26.41,25.41,26.42,8.41,50.00
$GC,2204,0.60,244.4,3015,447,1349,1140,89.2,10.4,226,2213,0.00,2.15,0.00,0.000,1030,0.000,0.028,3016,1843,1245,1350,1140,0,0,0,0,0,0,25.75,25.73,25.81,8.41,49.72
$GC,2332,0.60,244.4,3015,1843,1349,1140,75.9,10.1,239,2337,0.00,2.22,0.00,0.000,260,0.000,0.037,3016,3259,1244,1349,1140,0,0,0,0,0,0,26.44,25.50,26.46,8.41,50.15
$GC,2348,0.60,244.4,3015,3260,1349,1140,74.4,10.2,240,2355,0.00,2.17,0.00,0.000,1030,0.000,0.027,3022,1848,1244,1349,1140,0,0,0,0,0,0,25.75,25.72,25.78,8.41,49.72
$GC,2475,0.60,244.4,3022,1848,1349,1140,60.8,10.3,253,2480,0.00,2.25,0.00,0.000,516,0.000,0.041,3032,448,1244,1349,1139,0,0,0,0,0,0,26.46,25.39,26.47,8.40,49.68
$GC,2541,0.60,244.4,3032,448,1349,1140,54.1,10.6,259,2548,0.00,2.20,0.00,0.000,1030,0.000,0.028,3032,1847,1244,1349,1140,0,0,0,0,0,0,25.75,25.71,25.77,8.40,49.84
$GC,2669,0.60,244.4,3032,1848,1349,1140,40.3,10.4,272,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1847,1244,1349,1140,0,0,0,0,0,0,26.47,26.48,26.48,8.40,49.96
$GC,2789,0.60,244.4,3032,1847,1349,1140,28.0,9.9,284,2798,0.00,2.20,0.00,0.000,260,0.000,0.037,3032,3251,1244,1349,1140,0,0,0,0,0,0,26.47,25.45,26.48,8.39,49.88
$GC,2804,0.60,244.4,3032,3251,1350,1140,27.1,9.7,285,2813,0.10,2.17,0.00,0.000,5126,0.106,0.028,3004,1843,1244,1349,1139,0,0,0,0,0,0,25.39,25.69,25.43,8.39,49.68
$GC,2935,0.73,376.4,3003,1843,1349,1140,16.7,6.3,302,3012,0.08,2.33,69.80,0.528,10756,0.093,0.041,3116,442,707,788,627,0,0,0,0,0,0,26.26,25.27,24.60,8.39,49.84
$GC,3048,0.64,376.4,3115,442,788,624,4.1,11.5,319,3056,0.25,2.20,0.00,0.000,5126,0.095,0.027,3021,1846,705,788,622,0,0,0,0,0,0,25.10,25.58,25.25,8.33,49.01
$STATE,3063,end climb,SURFACE_DEPTH_REACHED
$STATE,3063,begin surface coast
$FINISH,0.7,1.010706
$STATE,3090,end surface coast,CONTROL_FINISHED_OK
$STATE,3090,begin surface
$SM_CCo,3107,22.45,0.053,0,0,533,420.20
$SM_GC,1.74,7.45,0.00,22.45,0.027,0.000,0.053,178,1846,533,-8.07,0.08,420.20,0,0,0,0,0,0,25.82,26.24,25.41
$IRIDIUM_FIX,4735.65,-12317.49,260218,192331
$TT8_MAMPS,0.026215,0.298102
$HUMID,48.26
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.9
$ALTIM_BOTTOM_PING,120.5,50.2
$24V_AH,23.49,107.625
$10V_AH,9.83,71.293
$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,18.600,48.500,465.000,22.450,0.000,0.000,0.000,157.550,2.000,0.000,19.901,792.499,979.011,487.063,1021.166,134.669,0.000,1133.938,0.000,666.872,0.000,16.478,0.000
$DEVICE_MAMPS,192.780,49.725,661.725,52.785,0.000,0.000,0.000,80.325,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.921,701.737,426.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24455,326
$CAP_FILE_SIZE,54873,0
$CFSIZE,2097872896,2026668032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,337.62,1
$GPS,260218,210219,4737.562,-12255.445,13,0.9,36,16.4,0.3,60.9,9,4.4