version: 66.14
glider: 45
mission: 1
dive: 18
start: 8 3 118 12 4 6
data:
$ID,45
$MISSION,1
$DIVE,18
$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,20
$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
$GPS1,030818,115631,4744.3960,-12224.1777,15,0.9,32,16.3,0.0,0.0,9,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-55.2
$GPS2,030818,120259,4744.3896,-12224.2070,6,0.9,17,16.3,0.0,202.0,9,9.9
$SPEED_LIMITS,0.114,0.199
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.100626,-0.171895
$KALMAN_X,5148.550293,-554.797546,106.173157,-4874.832031,412.748962
$KALMAN_Y,5119.146484,-712.106506,703.153015,-3267.628906,558.263306
$MHEAD_RNG_PITCHd_Wd,171.8,2599,-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,-97.8,200,2303,727,713,0.0,0.0,0,118,0.00,0.00,-108.50,0.146,16386,0.000,0.000,200,2303,2094,2087,2102,0,0,0,0,0,0,26.30,28.83,26.32,8.97,17.19
$GC,121,-1.53,-97.8,200,2303,2087,2103,3.2,-1.1,18,147,9.30,3.80,-5.85,0.214,19204,0.268,0.092,2600,889,2195,2162,2229,0,0,1,0,0,0,25.73,25.87,25.82,9.12,16.80
$GC,511,-1.53,-97.8,2599,888,2162,2229,48.4,-11.0,71,520,0.00,3.55,0.00,0.000,1030,0.000,0.072,2584,2303,2195,2162,2229,0,0,0,0,0,0,26.37,26.33,26.40,9.13,16.84
$GC,640,-1.53,-97.8,2584,2303,2162,2229,60.4,-5.4,84,650,0.00,3.70,0.00,0.000,516,0.000,0.089,2585,889,2195,2162,2229,0,0,0,0,0,0,26.67,26.34,26.68,9.13,17.04
$GC,1012,-1.53,-97.8,2584,889,2162,2229,94.6,-8.4,121,1023,0.10,3.50,0.00,0.000,3078,0.201,0.070,2598,2300,2195,2162,2229,0,0,0,0,0,0,26.39,26.55,26.49,9.12,16.68
$GC,1142,-1.53,-97.8,2597,2299,2162,2229,105.7,-8.4,134,1152,0.00,3.70,0.00,0.000,260,0.000,0.089,2582,3717,2195,2162,2229,0,0,0,0,0,0,26.84,26.53,26.84,9.12,16.17
$GC,1267,-1.53,-97.8,2582,3717,2161,2229,117.8,-10.7,146,1277,0.00,3.55,0.00,0.000,1030,0.000,0.070,2582,2294,2195,2162,2229,0,0,0,0,0,0,26.65,26.63,26.67,9.12,16.64
$GC,1397,-1.53,-97.8,2582,2294,2162,2229,130.5,-11.0,159,1407,0.00,3.60,0.00,0.000,516,0.000,0.092,2582,893,2195,2162,2229,0,0,0,0,0,0,26.89,26.55,26.89,9.12,16.52
$GC,1429,-1.53,-97.8,2581,893,2162,2229,133.8,-10.7,162,1440,0.12,3.45,0.00,0.000,3078,0.199,0.070,2603,2294,2195,2162,2229,0,0,0,0,0,0,26.46,26.63,26.56,9.12,17.31
$GC,1559,-1.53,-97.8,2602,2294,2162,2229,142.6,-9.0,175,1569,0.00,3.62,0.00,0.000,516,0.000,0.092,2603,895,2195,2162,2229,0,0,0,0,0,0,26.90,26.58,26.92,9.12,16.52
$GC,1641,-1.53,-97.8,2603,895,2162,2229,151.9,-11.2,183,1651,0.00,3.47,0.00,0.000,1030,0.000,0.070,2588,2301,2195,2162,2229,0,0,0,0,0,0,26.72,26.65,26.74,9.12,16.33
$GC,1772,-1.53,-97.8,2587,2301,2162,2229,163.2,-7.1,196,1781,0.00,3.67,0.00,0.000,260,0.000,0.089,2570,3715,2195,2162,2229,0,0,0,0,0,0,26.94,26.63,26.94,9.12,16.29
$STATE,1863,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1863,begin apogee
$GC,1870,-0.39,0.0,2569,2297,2162,2229,172.8,-11.6,205,1945,1.17,0.00,69.15,0.728,10246,0.176,0.000,2964,2297,1858,1829,1888,0,0,0,0,0,0,26.52,25.70,25.20,9.11,17.23
$STATE,1946,end apogee,CONTROL_FINISHED_OK
$STATE,1946,begin climb
$GC,1947,1.53,97.8,2963,2297,1829,1888,175.5,0.0,213,2028,1.67,3.90,71.07,0.713,10756,0.124,0.097,3585,894,1520,1495,1545,0,0,0,0,0,0,25.72,25.22,24.72,9.08,16.60
$GC,2118,1.53,97.8,3585,894,1496,1547,163.9,10.3,230,2126,0.00,3.62,0.00,0.000,1030,0.000,0.072,3585,2295,1521,1496,1547,0,0,0,0,0,0,25.84,25.77,25.85,9.05,16.72
$GC,2245,1.53,97.8,3585,2295,1496,1547,151.7,10.9,243,2255,0.00,3.83,0.00,0.000,260,0.000,0.092,3586,3715,1521,1496,1547,0,0,0,0,0,0,26.29,25.98,26.30,9.05,16.84
$GC,2280,1.53,97.8,3585,3715,1496,1547,148.6,9.7,246,2288,0.00,3.62,0.00,0.000,1030,0.000,0.072,3604,2308,1521,1496,1547,0,0,0,0,0,0,26.15,26.10,26.17,9.05,16.92
$GC,2407,1.53,97.8,3603,2307,1496,1547,135.7,10.2,259,2418,0.00,3.78,0.00,0.000,260,0.000,0.092,3604,3717,1521,1496,1547,0,0,0,0,0,0,26.48,26.17,26.49,9.04,17.31
$GC,2440,1.53,97.8,3603,3717,1496,1547,131.9,11.4,262,2451,0.10,3.60,0.00,0.000,5126,0.189,0.070,3590,2299,1521,1496,1547,0,0,0,0,0,0,26.12,26.26,26.20,9.05,16.96
$GC,2570,1.53,98.4,3589,2299,1496,1547,119.8,8.0,275,2580,0.00,3.80,0.00,0.000,260,0.000,0.092,3589,3719,1521,1496,1547,0,0,0,0,0,0,26.60,26.29,26.61,9.04,16.64
$GC,2605,1.53,98.4,3589,3719,1496,1547,116.9,8.8,278,2613,0.00,3.60,0.00,0.000,1030,0.000,0.070,3606,2298,1521,1496,1547,0,0,0,0,0,0,26.43,26.36,26.45,9.05,16.72
$GC,2732,1.53,100.8,3605,2298,1496,1547,105.7,7.9,291,2743,0.00,3.83,3.80,0.437,8452,0.000,0.092,3606,3723,1510,1485,1535,0,0,0,0,0,0,26.68,26.15,25.78,9.04,16.84
$GC,2768,1.53,100.8,3605,3723,1485,1536,102.5,9.1,294,2777,0.12,3.62,0.00,0.000,5126,0.204,0.070,3585,2297,1510,1485,1536,0,0,0,0,0,0,26.26,26.41,26.40,9.05,16.76
$GC,2895,1.53,100.8,3584,2297,1485,1536,91.1,9.2,307,2906,0.00,3.67,0.00,0.000,516,0.000,0.094,3601,893,1510,1485,1536,0,0,0,0,0,0,26.72,26.39,26.73,9.04,17.23
$GC,2998,1.53,100.8,3600,893,1485,1536,80.1,11.0,317,3008,0.00,3.55,0.00,0.000,1030,0.000,0.072,3600,2309,1511,1485,1537,0,0,0,0,0,0,26.55,26.47,26.58,9.04,16.96
$GC,3128,1.53,100.8,3600,2309,1485,1537,67.0,9.5,330,3138,0.00,3.72,0.00,0.000,516,0.000,0.094,3618,889,1510,1485,1536,0,0,0,0,0,0,26.79,26.47,26.81,9.04,17.00
$GC,3170,1.53,100.8,3617,889,1485,1536,63.2,9.1,334,3180,0.00,3.53,0.00,0.000,1030,0.000,0.072,3618,2294,1510,1485,1536,0,0,0,0,0,0,26.61,26.55,26.63,9.04,17.12
$GC,3300,1.53,100.8,3617,2293,1485,1536,52.4,8.9,347,3311,0.00,3.67,0.00,0.000,516,0.000,0.094,3635,890,1511,1485,1537,0,0,0,0,0,0,26.84,26.51,26.84,9.04,16.52
$GC,3342,1.53,100.8,3634,890,1485,1536,48.4,9.2,351,3353,0.12,3.53,0.00,0.000,5126,0.199,0.072,3589,2299,1510,1485,1536,0,0,0,0,0,0,26.45,26.58,26.53,9.04,16.68
$GC,3473,1.54,108.3,3588,2299,1485,1536,38.3,7.6,364,3486,0.00,3.78,6.75,0.536,8452,0.000,0.092,3588,3714,1484,1460,1509,0,0,0,0,0,0,26.86,26.47,25.95,9.04,16.80
$GC,3504,1.55,111.7,3588,3714,1460,1509,35.8,7.8,367,3515,0.00,3.55,4.22,0.444,9222,0.000,0.070,3604,2303,1472,1448,1496,0,0,0,0,0,0,26.58,26.55,25.92,9.04,17.08
$GC,3634,1.56,125.6,3604,2303,1449,1498,25.8,7.2,380,3655,0.00,3.72,11.25,0.579,8708,0.000,0.094,3622,889,1425,1403,1448,0,0,0,0,0,0,26.81,26.34,25.86,9.03,16.88
$GC,3696,1.56,125.6,3622,888,1402,1448,20.0,9.0,386,3705,0.00,3.55,0.00,0.000,1030,0.000,0.072,3622,2299,1425,1402,1448,0,0,0,0,0,0,26.50,26.43,26.51,9.03,17.04
$GC,3766,1.56,125.6,3621,2299,1402,1448,13.8,8.3,399,3774,0.00,3.78,0.00,0.000,260,0.000,0.092,3622,3719,1425,1402,1449,0,0,0,0,0,0,26.73,26.41,26.74,9.04,17.55
$GC,3796,1.56,125.6,3621,3719,1402,1448,10.7,10.3,404,3804,0.12,3.60,0.00,0.000,5126,0.201,0.070,3602,2299,1425,1402,1448,0,0,0,0,0,0,26.34,26.48,26.48,9.03,16.64
$GC,3865,1.56,125.6,3601,2299,1402,1448,4.4,9.0,417,3872,0.00,3.70,0.00,0.000,516,0.000,0.094,3618,889,1425,1402,1448,0,0,0,0,0,0,26.77,26.44,26.77,9.03,16.72
$STATE,3897,end climb,SURFACE_DEPTH_REACHED
$STATE,3898,begin surface coast
$FINISH,1.2,1.007299
$STATE,3924,end surface coast,CONTROL_FINISHED_OK
$STATE,3924,begin surface
$SM_CCo,3943,144.30,0.626,0,0,722,330.01
$SM_GC,1.92,8.70,3.58,144.30,0.079,0.070,0.626,189,2306,722,-9.00,-1.14,330.01,0,0,1,0,0,0,26.51,26.50,24.82
$IRIDIUM_FIX,4744.48,-12222.38,030818,104734
$TT8_MAMPS,0.020972,0.183505
$HUMID,16.37
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,115.3,71.7
$24V_AH,24.72,1.865
$10V_AH,10.57,0.836
$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,21.550,131.325,166.250,144.300,114.350,26.366,40.515,240.534,1.250,0.000,17.781,1164.500,1525.549,563.376,1204.759,45.810,33.434,1093.977,0.000,863.064,0.000,9.115,0.000
$DEVICE_MAMPS,268.164,96.837,727.519,625.716,213.538,34.760,160.000,223.000,420.000,0.000,13.480,12.220,2.190,11.470,36.190,51.920,56.410,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.294,557.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,30.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312652
$DATA_FILE_SIZE,27838,428
$CAP_FILE_SIZE,76846,0
$CFSIZE,2046525440,2042593280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$GPS,030818,131331,4743.837,-12224.162,14,1.0,38,16.3,0.0,214.4,10,8.5