version: 66.14
glider: 45
mission: 1
dive: 4
start: 8 2 118 20 29 47
data:
$ID,45
$MISSION,1
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,6010
$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,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79797
$MASS_COMP,10859
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,330
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$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,3097
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,65
$C_ROLL_DIVE,3500
$C_ROLL_CLIMB,3500
$HEAD_ERRBAND,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,1858
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.047719
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,115
$ALTIM_PING_DELTA,5
$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,161
$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
$GPS1,020818,202231,4744.2817,-12224.1992,8,1.0,31,16.3,0.4,53.0,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-54.6
$GPS2,020818,202837,4744.3394,-12224.1270,10,1.0,19,16.3,0.0,38.8,8,9.5
$SPEED_LIMITS,0.084,0.192
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.089022,-0.170348
$KALMAN_X,476.324066,451.539124,255.312912,-1268.003174,218.820511
$KALMAN_Y,182.081238,207.097260,203.744659,1153.289429,90.985260
$MHEAD_RNG_PITCHd_Wd,174.3,2524,-24.5,-10.000,-27.49,1187
$D_GRID,175
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-2.03,-78.2,178,3490,727,714,0.0,0.0,0,124,0.00,0.00,-111.20,0.146,16390,0.000,0.000,178,3491,2128,2126,2130,0,0,0,0,0,0,26.48,26.15,26.01,9.02,18.38
$GC,126,-2.03,-78.2,178,3491,2126,2130,3.2,-1.8,19,139,9.18,0.00,0.00,0.000,2054,0.286,0.000,2443,3492,2129,2123,2135,0,0,0,0,0,0,25.84,26.12,26.07,9.15,18.30
$GC,201,-2.03,-78.2,2442,3492,2121,2138,11.9,-10.2,33,207,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2120,2139,0,0,0,0,0,0,26.49,26.51,26.51,9.16,17.71
$GC,269,-2.03,-78.2,2442,3493,2120,2139,18.7,-10.5,46,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2120,2139,0,0,0,0,0,0,26.58,26.59,26.58,9.16,17.59
$GC,342,-2.03,-78.2,2442,3492,2120,2139,28.2,-13.1,54,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,3492,2129,2120,2139,0,0,0,0,0,0,26.64,26.66,26.65,9.16,17.23
$GC,463,-2.03,-78.2,2442,3493,2120,2139,44.2,-12.9,66,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2120,2139,0,0,0,0,0,0,26.72,26.74,26.74,9.16,17.67
$GC,582,-2.03,-78.2,2442,3493,2120,2139,57.3,-10.9,78,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2120,2139,0,0,0,0,0,0,26.79,26.80,26.79,9.16,17.71
$GC,702,-2.03,-78.2,2442,3493,2120,2139,70.1,-11.4,90,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2120,2139,0,0,0,0,0,0,26.84,26.86,26.85,9.15,17.63
$GC,822,-2.03,-78.2,2442,3493,2120,2138,83.8,-10.1,102,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2120,2139,0,0,0,0,0,0,26.88,26.89,26.89,9.15,17.39
$GC,943,-2.03,-78.2,2442,3493,2120,2139,94.1,-8.0,114,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3492,2129,2120,2139,0,0,0,0,0,0,26.91,26.93,26.93,9.16,17.27
$GC,1062,-2.03,-78.2,2442,3493,2120,2139,104.7,-9.1,126,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2120,2139,0,0,0,0,0,0,26.94,26.96,26.96,9.15,17.59
$GC,1182,-2.03,-78.2,2442,3493,2119,2139,117.5,-11.0,138,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2120,2139,0,0,0,0,0,0,26.96,26.98,26.98,9.15,18.34
$GC,1302,-2.03,-78.2,2442,3493,2119,2139,129.7,-10.5,150,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,3493,2129,2120,2139,0,0,0,0,0,0,26.98,27.00,27.00,9.15,17.90
$GC,1422,-2.03,-78.2,2442,3493,2119,2139,142.8,-12.0,162,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2119,2139,0,0,0,0,0,0,27.01,27.02,27.01,9.14,18.10
$GC,1542,-2.03,-78.2,2442,3493,2119,2139,155.9,-10.0,174,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2119,2139,0,0,0,0,0,0,27.02,27.03,27.03,9.14,17.51
$GC,1662,-2.03,-78.2,2442,3493,2119,2139,168.8,-10.4,186,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3493,2129,2119,2139,0,0,0,0,0,0,27.03,27.05,27.05,9.14,18.30
$STATE,1731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1731,begin apogee
$GC,1734,-0.39,0.0,2443,3493,2119,2139,175.7,-9.9,193,1794,1.67,0.00,55.70,0.720,10246,0.211,0.000,2961,3492,1857,1835,1880,0,0,0,0,0,0,26.53,25.94,25.42,9.14,17.63
$STATE,1795,end apogee,CONTROL_FINISHED_OK
$STATE,1796,begin climb
$GC,1797,2.03,78.2,2961,3491,1834,1880,177.5,0.0,199,1863,2.17,0.00,57.08,0.713,10246,0.139,0.000,3727,3493,1587,1569,1605,0,0,0,0,0,0,25.94,25.32,24.97,9.12,17.75
$GC,1982,2.03,78.2,3726,3493,1569,1607,156.1,14.4,218,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,3726,3493,1587,1569,1606,0,0,0,0,0,0,26.31,26.32,26.32,9.09,17.39
$GC,2102,2.03,78.2,3726,3492,1569,1607,138.9,13.5,230,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,3725,3492,1588,1570,1607,0,0,0,0,0,0,26.51,26.52,26.52,9.08,17.35
$GC,2222,2.03,78.2,3726,3492,1570,1607,123.3,12.4,242,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,3726,3493,1588,1569,1607,0,0,0,0,0,0,26.63,26.65,26.65,9.08,17.78
$GC,2342,2.03,78.2,3726,3493,1569,1607,107.7,13.2,254,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,3727,3492,1588,1570,1607,0,0,0,0,0,0,26.71,26.73,26.73,9.08,17.47
$GC,2462,2.03,78.2,3726,3493,1569,1607,92.2,13.8,266,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3727,3492,1588,1570,1607,0,0,0,0,0,0,26.78,26.79,26.79,9.09,17.94
$GC,2582,2.03,78.2,3726,3492,1569,1607,76.8,12.0,278,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,3727,3493,1588,1570,1607,0,0,0,0,0,0,26.83,26.84,26.84,9.08,18.30
$GC,2702,2.03,78.2,3726,3492,1569,1607,62.4,11.6,290,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,3727,3493,1588,1569,1607,0,0,0,0,0,0,26.87,26.89,26.89,9.08,18.14
$GC,2822,2.03,78.2,3726,3493,1569,1607,46.1,14.2,302,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,3727,3493,1588,1569,1607,0,0,0,0,0,0,26.91,26.92,26.92,9.08,17.86
$GC,2942,2.03,82.2,3726,3493,1569,1607,32.5,9.7,314,2952,0.00,0.00,4.60,0.467,8198,0.000,0.000,3726,3493,1572,1553,1592,0,0,0,0,0,0,26.93,26.37,26.01,9.08,18.02
$GC,3072,2.06,107.7,3726,3492,1554,1594,21.7,7.8,327,3093,0.00,0.00,18.80,0.606,8198,0.000,0.000,3727,3493,1486,1469,1504,0,0,0,0,0,0,26.93,26.32,25.86,9.08,18.49
$GC,3212,2.06,107.7,3726,3493,1469,1505,7.4,13.2,352,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,3727,3493,1487,1469,1506,0,0,0,0,0,0,26.78,26.79,26.79,9.08,18.45
$STATE,3254,end climb,SURFACE_DEPTH_REACHED
$STATE,3254,begin surface coast
$FINISH,1.3,1.009789
$STATE,3270,end surface coast,CONTROL_FINISHED_OK
$STATE,3270,begin surface
$SM_CCo,3285,156.68,0.618,0,0,721,330.01
$SM_GC,1.98,9.07,0.00,156.68,0.089,0.000,0.618,215,3493,721,-8.97,-0.36,330.01,0,0,0,0,0,0,26.40,26.83,24.90
$IRIDIUM_FIX,4744.92,-12331.63,020818,192009
$TT8_MAMPS,0.021721,0.167027
$HUMID,17.55
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,14.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,115.0,70.6
$24V_AH,24.90,0.678
$10V_AH,10.59,0.437
$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,22.100,3.200,136.175,156.675,111.200,26.012,34.115,223.694,0.750,0.000,20.765,965.010,1568.544,414.348,846.015,37.467,32.435,732.903,0.000,541.988,0.000,10.003,0.000
$DEVICE_MAMPS,285.545,84.422,720.070,618.267,146.497,34.760,160.000,223.000,420.000,0.000,13.480,12.220,2.190,11.470,36.190,51.920,56.410,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.985,473.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,30.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312640
$DATA_FILE_SIZE,24531,363
$CAP_FILE_SIZE,54064,0
$CFSIZE,2046525440,2044002304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020818,212819,4744.595,-12224.083,8,1.0,40,16.3,0.3,23.4,8,5.1