version: 66.14
glider: 45
mission: 3
dive: 9
start: 5 28 119 14 31 36
data:
$ID,45
$MISSION,3
$DIVE,9
$N_DIVES,0
$STOP_T,5301919
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,6050
$D_NO_BLEED,50
$D_BOOST,0
$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,80
$T_MISSION,95
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,-15
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80120.602
$MASS_COMP,10859
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,510
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$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,200
$PITCH_MAX,3820
$C_PITCH,2963
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,3850
$C_ROLL_CLIMB,3850
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,2304
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.855844
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044369884
$SEABIRD_T_H,0.00066042581
$SEABIRD_T_I,2.7363718e-05
$SEABIRD_T_J,3.4006232e-06
$SEABIRD_C_G,-10.01541
$SEABIRD_C_H,1.1730425
$SEABIRD_C_I,-0.0023542538
$SEABIRD_C_J,0.00025774896
$SEABIRD_C_Z,2927.8301
$GPS1,280519,142410,3215.0774,-6432.5757,23,0.9,56,-14.9,0.5,74.9,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-45.6
$GPS2,280519,143038,3215.0276,-6432.5371,13,0.9,36,-14.9,0.3,182.1,9,4.9
$SPEED_LIMITS,0.179,0.232
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,209.0,10125,-31.2,-15.000,-32.87,1245
$D_GRID,2816
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,70,-2.49,-122.2,180,3838,543,545,0.4,0.4,12,200,0.00,0.00,-126.70,0.149,16386,0.000,0.000,181,3838,2669,2662,2677,0,0,0,0,0,0,26.63,28.83,26.65,8.56,26.53
$GC,203,-2.49,-122.2,181,3838,2662,2677,3.3,-6.3,32,218,7.95,0.00,-2.03,0.350,18438,0.288,0.000,2156,3838,2727,2708,2746,0,0,0,0,0,0,25.94,26.21,26.08,8.76,25.07
$GC,286,-2.43,-122.2,2155,3838,2708,2746,23.5,-25.8,46,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3838,2727,2708,2746,0,0,0,0,0,0,26.60,26.60,26.60,8.77,25.34
$GC,407,-2.43,-122.2,2155,3838,2708,2746,53.8,-24.7,58,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3838,2727,2708,2747,0,0,0,0,0,0,26.71,26.72,26.72,8.78,25.15
$GC,525,-2.43,-122.2,2155,3838,2708,2746,80.5,-22.2,70,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3838,2727,2708,2746,0,0,0,0,0,0,26.79,26.80,26.80,8.78,25.58
$GC,646,-2.43,-122.2,2155,3838,2709,2746,107.4,-21.4,82,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3839,2727,2708,2746,0,0,0,0,0,0,26.84,26.86,26.86,8.77,25.46
$GC,766,-2.43,-122.2,2155,3839,2708,2746,135.0,-22.7,94,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3839,2727,2708,2746,0,0,0,0,0,0,26.89,26.91,26.90,8.77,25.11
$GC,886,-2.43,-122.2,2155,3838,2709,2746,161.7,-22.2,106,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3838,2727,2708,2746,0,0,0,0,0,0,26.93,26.94,26.94,8.77,25.58
$GC,1006,-2.43,-122.2,2154,3838,2708,2746,187.6,-22.5,118,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3838,2727,2708,2746,0,0,0,0,0,0,26.96,26.97,26.96,8.76,25.70
$GC,1126,-2.43,-122.2,2155,3838,2708,2746,214.8,-22.7,130,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,3838,2727,2708,2746,0,0,0,0,0,0,26.98,26.99,26.99,8.76,25.74
$GC,1245,-2.43,-122.2,2155,3838,2708,2746,242.2,-23.1,142,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3838,2727,2708,2746,0,0,0,0,0,0,27.00,27.01,27.01,8.76,24.95
$GC,1365,-2.43,-122.2,2155,3838,2708,2746,270.5,-23.7,150,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3838,2727,2708,2746,0,0,0,0,0,0,27.02,27.03,27.03,8.75,25.50
$GC,1666,-2.43,-122.2,2155,3838,2708,2746,342.6,-24.3,165,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,3838,2727,2708,2746,0,0,0,0,0,0,27.05,27.07,27.06,8.75,26.25
$STATE,1744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1744,begin apogee
$GC,1747,-0.79,0.0,2155,3838,2709,2746,362.1,-24.4,169,1846,1.80,0.00,87.32,0.842,10246,0.216,0.000,2704,3838,2303,2279,2328,0,0,0,0,0,0,26.53,25.58,25.04,8.74,25.82
$STATE,1847,end apogee,CONTROL_FINISHED_OK
$STATE,1847,begin climb
$GC,1849,2.49,122.2,2704,3838,2279,2328,371.1,0.0,174,1946,3.08,0.00,88.18,0.842,10246,0.144,0.000,3751,3838,1883,1866,1900,0,0,0,0,0,0,25.68,25.27,24.75,8.70,24.99
$GC,2247,2.43,156.7,3750,3838,1866,1900,331.8,12.2,194,2275,0.00,0.00,25.85,0.785,8198,0.000,0.000,3750,3838,1763,1747,1780,0,0,0,0,0,0,26.63,25.89,25.37,8.66,25.38
$GC,2566,2.37,156.7,3750,3838,1746,1780,282.4,16.1,210,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,3750,3838,1763,1747,1780,0,0,0,0,0,0,26.72,26.73,26.73,8.64,26.13
$GC,2866,2.30,156.7,3750,3838,1747,1780,236.6,15.1,229,2868,0.17,0.00,0.00,0.000,4102,0.226,0.000,3702,3838,1763,1747,1780,0,0,0,0,0,0,26.41,26.63,26.58,8.64,26.41
$GC,2985,2.30,156.7,3701,3838,1747,1780,219.2,14.3,241,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1763,1747,1780,0,0,0,0,0,0,26.91,26.93,26.93,8.64,26.80
$GC,3105,2.30,156.7,3701,3838,1747,1780,201.8,13.8,253,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1763,1747,1780,0,0,0,0,0,0,26.95,26.96,26.96,8.64,26.57
$GC,3225,2.30,156.7,3701,3838,1746,1780,185.0,13.6,265,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1763,1747,1780,0,0,0,0,0,0,26.97,26.99,26.98,8.64,26.92
$GC,3345,2.30,156.7,3701,3838,1746,1780,168.3,13.9,277,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1763,1746,1780,0,0,0,0,0,0,27.00,27.01,27.01,8.64,26.88
$GC,3465,2.30,156.7,3701,3838,1746,1780,151.4,13.8,289,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1762,1746,1779,0,0,0,0,0,0,27.01,27.03,27.03,8.64,27.39
$GC,3585,2.30,156.7,3702,3838,1746,1780,134.5,14.4,301,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1763,1746,1780,0,0,0,0,0,0,27.03,27.05,27.04,8.64,26.57
$GC,3705,2.30,156.7,3701,3838,1746,1781,117.7,14.3,313,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1763,1746,1780,0,0,0,0,0,0,27.04,27.06,27.05,8.64,27.20
$GC,3827,2.30,156.7,3702,3838,1746,1780,99.8,14.9,325,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1763,1746,1780,0,0,0,0,0,0,27.05,27.07,27.07,8.63,26.72
$GC,3945,2.31,181.4,3702,3838,1746,1780,83.7,13.0,337,3966,0.00,0.00,17.90,0.636,8198,0.000,0.000,3702,3838,1678,1665,1692,0,0,0,0,0,0,27.07,26.46,25.94,8.64,26.49
$GC,4086,2.31,181.4,3701,3838,1665,1693,61.9,15.2,351,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1679,1665,1693,0,0,0,0,0,0,26.90,26.92,26.91,8.64,26.96
$GC,4205,2.31,181.4,3701,3838,1665,1693,44.1,13.4,363,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1679,1665,1693,0,0,0,0,0,0,26.95,26.96,26.96,8.63,26.64
$GC,4325,2.31,181.4,3702,3838,1665,1692,27.8,13.7,375,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,3838,1678,1665,1692,0,0,0,0,0,0,26.98,26.99,26.99,8.63,27.04
$GC,4447,2.32,222.3,3701,3838,1664,1693,13.1,11.6,392,4480,0.00,0.00,28.92,0.613,8198,0.000,0.000,3702,3838,1537,1524,1551,0,0,0,0,0,0,27.01,26.29,25.84,8.65,27.04
$STATE,4515,end climb,SURFACE_DEPTH_REACHED
$STATE,4515,begin surface coast
$FINISH,0.3,1.025377
$STATE,4531,end surface coast,CONTROL_FINISHED_OK
$STATE,4531,begin surface
$SM_CCo,4546,200.70,0.613,0,0,548,510.12
$SM_GC,0.49,8.95,0.00,200.70,0.087,0.000,0.613,196,3838,548,-8.56,-0.34,510.12,0,0,0,0,0,0,26.46,26.75,24.98
$IRIDIUM_FIX,3215.95,-6432.20,280519,125811
$TT8_MAMPS,0.021721,0.146804
$HUMID,25.50
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,20.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,18.9
$24V_AH,24.75,6.903
$10V_AH,10.69,2.352
$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,21.950,0.000,248.175,200.700,128.725,24.384,37.915,225.063,0.500,0.000,37.112,1145.164,2467.242,573.465,941.906,50.250,0.000,924.857,0.000,604.370,0.000,2.906,0.000
$DEVICE_MAMPS,288.028,0.000,841.737,613.301,350.103,34.760,160.000,223.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.191,530.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320288
$DATA_FILE_SIZE,28026,407
$CAP_FILE_SIZE,59986,0
$CFSIZE,2046525440,2040627200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.136,35.04,1
$GPS,280519,155203,3215.312,-6432.430,25,0.8,50,-14.9,0.0,218.1,11,4.9