version: 66.14
glider: 45
mission: 1
dive: 16
start: 8 3 118 9 45 46
data:
$ID,45
$MISSION,1
$DIVE,16
$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,75
$T_MISSION,85
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,19
$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,15
$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
$GPS1,030818,093801,4744.5396,-12224.1865,13,0.8,30,16.3,0.0,0.0,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-55.4
$GPS2,030818,094438,4744.5879,-12224.2207,7,1.1,7,16.3,0.5,325.9,8,0.0
$SPEED_LIMITS,0.114,0.199
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.072349,-0.185578
$KALMAN_X,4394.499023,-492.104767,63.867493,-4161.271973,324.641724
$KALMAN_Y,4890.543457,-946.823547,-54.288403,-1695.356567,880.656494
$MHEAD_RNG_PITCHd_Wd,170.4,2961,-17.9,-8.000,-21.88,1838
$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,-1.53,-97.8,195,2293,728,712,0.0,0.0,0,112,0.00,0.00,-102.55,0.146,16386,0.000,0.000,195,2293,2018,2012,2025,0,0,0,0,0,0,26.29,28.83,26.31,8.98,16.68
$GC,115,-1.53,-97.8,195,2293,2013,2026,3.1,-1.2,17,142,9.23,3.90,-11.18,0.181,18692,0.266,0.087,2581,3722,2196,2162,2230,0,0,0,0,0,0,25.73,25.89,25.82,9.11,16.96
$GC,180,-1.53,-97.8,2581,3722,2162,2230,9.2,-10.4,28,187,0.00,3.67,0.00,0.000,1030,0.000,0.070,2581,2291,2196,2162,2230,0,0,0,0,0,0,26.09,26.03,26.10,9.13,16.96
$GC,249,-1.53,-97.8,2581,2291,2162,2230,17.5,-11.6,41,257,0.00,3.70,0.00,0.000,516,0.000,0.092,2581,893,2196,2162,2230,0,0,0,0,0,0,26.37,26.05,26.38,9.13,16.56
$GC,617,-1.53,-97.8,2580,892,2162,2230,62.5,-12.3,79,625,0.12,3.55,0.00,0.000,3078,0.214,0.070,2600,2308,2196,2162,2230,0,0,0,0,0,0,26.23,26.39,26.39,9.13,16.88
$GC,743,-1.53,-97.8,2600,2308,2162,2230,75.1,-9.1,92,754,0.00,3.70,0.00,0.000,516,0.000,0.092,2601,892,2196,2162,2230,0,0,0,0,0,0,26.71,26.39,26.72,9.13,16.25
$GC,1116,-1.53,-97.8,2600,893,2162,2230,111.8,-10.5,129,1126,0.00,3.47,0.00,0.000,1030,0.000,0.070,2584,2296,2195,2161,2230,0,0,0,0,0,0,26.60,26.58,26.63,9.12,16.33
$GC,1246,-1.53,-97.8,2585,2296,2162,2230,124.4,-8.7,142,1256,0.00,3.70,0.00,0.000,260,0.000,0.089,2568,3714,2196,2162,2230,0,0,0,0,0,0,26.86,26.55,26.86,9.12,16.80
$GC,1340,-1.53,-97.8,2567,3714,2162,2230,134.4,-11.1,151,1349,0.12,3.53,0.00,0.000,3078,0.206,0.067,2605,2299,2196,2162,2230,0,0,0,0,0,0,26.45,26.63,26.60,9.12,17.04
$GC,1468,-1.53,-97.8,2604,2299,2161,2230,147.4,-9.9,164,1478,0.00,3.62,0.00,0.000,516,0.000,0.092,2606,893,2195,2161,2230,0,0,0,0,0,0,26.89,26.56,26.91,9.12,16.37
$GC,1510,-1.53,-97.8,2604,893,2162,2230,151.6,-9.9,168,1521,0.00,3.50,0.00,0.000,1030,0.000,0.070,2590,2302,2196,2162,2230,0,0,0,0,0,0,26.70,26.64,26.72,9.11,17.15
$GC,1640,-1.53,-97.8,2589,2302,2162,2230,164.8,-9.3,181,1651,0.00,3.67,0.00,0.000,260,0.000,0.089,2571,3714,2196,2162,2230,0,0,0,0,0,0,26.92,26.61,26.93,9.11,16.60
$STATE,1654,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1654,begin apogee
$GC,1661,-0.39,0.0,2571,2295,2162,2230,165.6,-9.1,182,1739,1.17,0.00,69.45,0.725,10246,0.176,0.000,2966,2294,1857,1828,1887,0,0,0,0,0,0,26.51,25.53,25.18,9.12,16.80
$STATE,1740,end apogee,CONTROL_FINISHED_OK
$STATE,1740,begin climb
$GC,1741,1.53,97.8,2965,2294,1828,1887,169.4,0.0,190,1822,1.70,3.88,70.68,0.708,10756,0.127,0.094,3592,901,1521,1496,1547,0,0,0,0,0,0,25.70,25.21,24.71,9.07,16.84
$GC,1849,1.55,111.6,3592,901,1496,1548,163.3,7.2,201,1871,0.00,3.62,11.65,0.628,9222,0.000,0.072,3593,2291,1472,1449,1496,0,0,0,0,0,0,25.56,25.53,24.89,9.05,16.84
$GC,1989,1.55,111.6,3592,2291,1449,1498,149.9,10.1,215,2000,0.00,3.88,0.00,0.000,260,0.000,0.092,3592,3718,1474,1449,1499,0,0,0,0,0,0,26.15,25.86,26.15,9.04,16.33
$GC,2094,1.55,111.6,3592,3717,1449,1499,136.2,14.2,225,2102,0.00,3.62,0.00,0.000,1030,0.000,0.070,3611,2306,1474,1449,1499,0,0,0,0,0,0,26.15,26.09,26.17,9.03,16.25
$GC,2222,1.55,111.6,3609,2306,1449,1499,121.5,11.2,238,2232,0.00,3.78,0.00,0.000,260,0.000,0.092,3610,3714,1474,1449,1499,0,0,0,0,0,0,26.47,26.16,26.48,9.04,17.00
$GC,2594,1.55,111.6,3610,3714,1449,1498,74.5,11.4,275,2605,0.12,3.58,0.00,0.000,5126,0.199,0.070,3585,2299,1474,1449,1499,0,0,0,0,0,0,26.31,26.46,26.41,9.04,16.52
$GC,2724,1.55,111.6,3584,2299,1449,1499,61.5,8.6,288,2734,0.00,3.70,0.00,0.000,516,0.000,0.097,3600,890,1474,1449,1499,0,0,0,0,0,0,26.75,26.43,26.77,9.04,16.72
$GC,3096,1.55,113.0,3600,890,1449,1499,26.8,7.9,325,3107,0.00,3.53,0.00,0.000,1030,0.000,0.072,3600,2299,1474,1449,1499,0,0,0,0,0,0,26.63,26.60,26.65,9.04,17.51
$GC,3227,1.56,118.5,3600,2299,1449,1499,15.6,7.7,343,3241,0.00,3.75,6.15,0.509,8452,0.000,0.092,3600,3721,1450,1427,1474,0,0,0,0,0,0,26.89,26.33,25.98,9.04,17.08
$GC,3288,1.56,118.5,3599,3721,1428,1475,9.9,9.8,354,3295,0.00,3.60,0.00,0.000,1030,0.000,0.070,3618,2295,1452,1428,1476,0,0,0,0,0,0,26.64,26.57,26.65,9.04,17.00
$GC,3357,1.56,118.5,3618,2295,1428,1475,3.7,8.7,367,3364,0.00,3.67,0.00,0.000,516,0.000,0.097,3636,890,1452,1428,1476,0,0,0,0,0,0,26.84,26.51,26.86,9.04,17.15
$GC,3376,1.56,118.5,3635,890,1428,1476,2.1,8.4,370,3384,0.12,3.53,0.00,0.000,5126,0.191,0.072,3595,2304,1452,1428,1476,0,0,0,0,0,0,26.46,26.58,26.59,9.04,16.92
$STATE,3389,end climb,SURFACE_DEPTH_REACHED
$STATE,3389,begin surface coast
$FINISH,1.2,1.009290
$STATE,3416,end surface coast,CONTROL_FINISHED_OK
$STATE,3416,begin surface
$SM_CCo,3430,149.35,0.621,0,0,721,330.01
$SM_GC,1.81,8.60,0.00,149.35,0.079,0.000,0.621,196,2304,721,-8.98,0.18,330.01,0,0,0,0,0,0,26.58,26.87,24.84
$IRIDIUM_FIX,4742.17,-12225.08,030818,082607
$TT8_MAMPS,0.020972,0.168525
$HUMID,16.72
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,120.0,60.3
$24V_AH,24.71,1.702
$10V_AH,10.58,0.773
$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,21.200,87.725,157.925,149.350,113.725,25.178,41.027,260.605,1.250,0.000,7.966,1042.880,1241.996,501.411,1178.389,41.852,33.434,979.964,0.000,827.813,0.000,13.568,0.000
$DEVICE_MAMPS,265.681,96.837,725.036,620.750,181.259,34.760,160.000,223.000,420.000,0.000,13.480,12.220,2.190,11.470,36.190,51.920,56.410,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.429,491.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,30.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312656
$DATA_FILE_SIZE,24486,377
$CAP_FILE_SIZE,65574,1
$CFSIZE,2046525440,2042789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,030818,104630,4744.591,-12224.139,15,1.0,25,16.3,0.0,0.0,8,9.9