version: 66.14
glider: 45
mission: 2
dive: 6
start: 5 1 119 0 28 13
data:
$ID,45
$MISSION,2
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79430
$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,645
$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,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,3441
$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,40
$C_ROLL_DIVE,3860
$C_ROLL_CLIMB,3860
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,2589
$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,-12.236565
$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,100
$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
$GPS1,010519,002309,4741.9370,-12225.6982,11,0.9,24,16.3,0.0,155.0,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-61.2
$GPS2,010519,002706,4741.9219,-12225.7070,13,0.9,26,16.3,0.0,0.0,9,9.9
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.067293,0.248730
$KALMAN_X,-2230.322754,-764.867676,-134.219513,1235.380249,-110.487732
$KALMAN_Y,-3968.424316,-1366.107666,-147.012177,2797.603516,-469.265076
$MHEAD_RNG_PITCHd_Wd,1.2,5006,-17.6,-10.000,-21.21,2209
$D_GRID,168
$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,-1.57,-146.6,196,3854,371,359,0.0,0.0,0,185,0.00,0.00,-174.40,0.144,16386,0.000,0.000,196,3856,2284,2278,2290,0,0,0,0,0,0,26.66,28.83,26.67,8.26,28.93
$GC,187,-1.57,-146.6,196,3856,2277,2291,3.2,-1.5,29,255,11.20,0.00,-49.70,0.149,18438,0.288,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,25.77,25.98,25.91,8.44,27.12
$GC,317,-1.57,-146.6,2932,3856,3067,3122,12.4,-10.4,52,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.43,26.44,26.44,8.52,26.68
$GC,385,-1.57,-146.6,2932,3856,3067,3122,20.3,-12.9,65,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.49,26.51,26.51,8.51,26.64
$GC,505,-1.57,-146.6,2932,3856,3067,3122,36.0,-12.4,77,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.58,26.60,26.60,8.51,27.35
$GC,625,-1.57,-146.6,2932,3856,3067,3122,50.4,-12.1,89,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,3856,3094,3067,3122,0,0,0,0,0,0,26.65,26.67,26.66,8.51,27.31
$GC,745,-1.57,-146.6,2932,3856,3067,3122,64.9,-11.7,101,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3857,3095,3067,3123,0,0,0,0,0,0,26.71,26.72,26.72,8.51,27.31
$GC,865,-1.57,-146.6,2932,3856,3067,3122,78.8,-12.0,113,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.75,26.77,26.76,8.50,28.02
$GC,985,-1.57,-146.6,2932,3856,3067,3122,94.2,-13.5,125,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.79,26.80,26.80,8.50,28.10
$GC,1105,-1.57,-146.6,2932,3856,3067,3122,110.0,-13.0,137,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.82,26.84,26.83,8.50,27.94
$GC,1225,-1.57,-146.6,2932,3856,3067,3122,124.6,-13.2,149,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,3856,3094,3067,3122,0,0,0,0,0,0,26.84,26.86,26.86,8.49,28.69
$GC,1345,-1.57,-146.6,2932,3856,3067,3122,140.8,-13.2,161,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.87,26.89,26.88,8.49,28.93
$GC,1465,-1.57,-146.6,2932,3856,3067,3122,156.9,-12.3,173,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.88,26.91,26.90,8.49,29.05
$GC,1585,-1.57,-146.6,2932,3856,3067,3122,165.4,-1.2,185,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.91,26.92,26.92,8.49,28.89
$GC,1705,-1.57,-146.6,2932,3856,3066,3122,165.4,0.3,197,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,3856,3094,3067,3122,0,0,0,0,0,0,26.92,26.94,26.94,8.49,29.16
$STATE,1714,end dive,NO_VERTICAL_VELOCITY
$STATE,1714,begin apogee
$GC,1718,-0.39,0.0,2933,3856,3067,3122,165.5,0.0,198,1827,1.08,0.00,105.35,0.772,10246,0.142,0.000,3315,3856,2589,2561,2618,0,0,0,0,0,0,26.49,25.26,24.70,8.49,28.61
$STATE,1828,end apogee,CONTROL_FINISHED_OK
$STATE,1828,begin climb
$GC,1829,1.57,146.6,3315,3856,2560,2617,165.6,0.0,209,1946,1.40,0.00,108.05,0.752,10246,0.129,0.000,3805,3856,2084,2057,2111,0,0,0,0,0,0,25.32,24.79,24.41,8.44,28.50
$GC,2065,1.63,195.8,3804,3856,2057,2112,150.3,7.7,233,2106,0.00,0.00,37.35,0.728,10246,0.000,0.000,3805,3856,1913,1887,1939,0,0,0,0,0,0,26.04,25.25,24.72,8.39,27.83
$GC,2225,1.64,205.0,3804,3856,1887,1939,136.5,9.6,249,2236,0.00,0.00,8.10,0.621,10246,0.000,0.000,3805,3856,1882,1857,1908,0,0,0,0,0,0,26.11,25.63,25.08,8.37,27.83
$GC,2355,1.64,205.0,3804,3856,1857,1908,122.4,11.7,262,2356,0.00,0.00,0.00,0.000,2054,0.000,0.000,3805,3856,1882,1857,1908,0,0,0,0,0,0,26.28,26.29,26.28,8.37,28.26
$GC,2475,1.66,225.3,3804,3856,1857,1908,111.0,9.1,274,2496,0.00,0.00,16.12,0.683,10246,0.000,0.000,3805,3856,1811,1788,1835,0,0,0,0,0,0,26.43,25.80,25.26,8.37,28.57
$GC,2615,1.67,231.5,3804,3856,1788,1836,97.3,9.7,288,2626,0.00,0.00,5.97,0.561,10246,0.000,0.000,3805,3856,1791,1767,1816,0,0,0,0,0,0,26.40,25.93,25.37,8.37,28.38
$GC,2745,1.67,231.5,3804,3856,1767,1817,84.3,11.0,301,2746,0.00,0.00,0.00,0.000,2054,0.000,0.000,3805,3856,1792,1767,1817,0,0,0,0,0,0,26.47,26.48,26.48,8.36,28.53
$GC,2865,1.67,233.7,3804,3856,1767,1817,72.3,9.9,313,2875,0.00,0.00,3.42,0.422,10246,0.000,0.000,3805,3856,1783,1759,1808,0,0,0,0,0,0,26.56,25.95,25.55,8.36,28.85
$GC,2995,1.70,257.1,3804,3856,1758,1809,59.7,8.9,326,3016,0.00,0.00,18.27,0.668,10246,0.000,0.000,3805,3856,1702,1680,1725,0,0,0,0,0,0,26.62,25.96,25.43,8.36,28.65
$GC,3135,1.70,257.1,3804,3856,1680,1725,45.5,11.0,340,3136,0.00,0.00,0.00,0.000,2054,0.000,0.000,3805,3856,1702,1679,1725,0,0,0,0,0,0,26.51,26.52,26.51,8.35,28.57
$GC,3255,1.70,257.1,3804,3856,1680,1725,31.1,11.9,352,3256,0.00,0.00,0.00,0.000,2054,0.000,0.000,3805,3856,1702,1680,1725,0,0,0,0,0,0,26.60,26.60,26.60,8.34,28.73
$GC,3376,1.70,257.1,3804,3856,1680,1725,18.2,10.3,365,3382,0.00,0.00,0.00,0.000,2054,0.000,0.000,3804,3856,1702,1680,1725,0,0,0,0,0,0,26.65,26.67,26.67,8.35,29.16
$GC,3444,1.70,257.1,3804,3856,1680,1725,11.1,11.4,378,3450,0.00,0.00,0.00,0.000,2054,0.000,0.000,3805,3856,1702,1680,1725,0,0,0,0,0,0,26.70,26.70,26.70,8.34,29.48
$GC,3512,1.72,268.3,3804,3856,1680,1725,3.7,9.5,391,3526,0.00,0.00,9.50,0.596,10246,0.000,0.000,3804,3856,1663,1642,1685,0,0,0,0,0,0,26.72,26.17,25.63,8.35,29.48
$STATE,3546,end climb,SURFACE_DEPTH_REACHED
$STATE,3546,begin surface coast
$FINISH,0.7,1.020160
$STATE,3583,end surface coast,CONTROL_FINISHED_OK
$STATE,3583,begin surface
$SM_CCo,3599,276.60,0.660,0,0,368,645.20
$SM_GC,1.77,9.45,0.00,276.60,0.092,0.000,0.660,199,3856,368,-10.07,-0.11,645.20,0,0,0,0,0,0,26.32,26.65,24.49
$IRIDIUM_FIX,4741.87,-12202.02,010519,001926
$TT8_MAMPS,0.020972,0.174517
$HUMID,28.34
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,11.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.5
$ALTIM_BOTTOM_PING,100.8,86.6
$24V_AH,24.41,3.465
$10V_AH,10.45,1.336
$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,23.125,0.000,312.150,276.600,224.100,0.000,0.000,0.000,0.750,0.000,26.972,975.132,1563.198,775.880,618.850,27.991,33.434,1152.514,0.000,595.034,0.000,7.277,0.000
$DEVICE_MAMPS,288.028,0.000,772.213,660.478,148.980,0.000,0.000,0.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,60.410,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,271.711,524.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312696
$DATA_FILE_SIZE,27924,404
$CAP_FILE_SIZE,80004,0
$CFSIZE,2046525440,2041937920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010519,013401,4742.036,-12225.586,27,1.0,43,16.3,0.0,0.0,8,8.6