version: 66.14
glider: 45
mission: 2
dive: 16
start: 5 1 119 14 49 58
data:
$ID,45
$MISSION,2
$DIVE,16
$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,40
$T_MISSION,50
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,450
$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,11
$R_STBD_OVSHOOT,13
$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,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
$GPS1,010519,144225,4744.7061,-12225.3428,15,1.1,36,16.3,0.7,26.7,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-64.2
$GPS2,010519,144842,4744.8311,-12225.2549,6,0.9,21,16.3,0.8,33.4,10,9.6
$SPEED_LIMITS,0.126,0.237
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.106872,-0.210994
$KALMAN_X,-8838.300781,-219.110260,29.048536,7703.303711,-201.922012
$KALMAN_Y,-8324.328125,48.065010,263.763123,10689.715820,308.453125
$MHEAD_RNG_PITCHd_Wd,148.2,3519,-30.3,-15.000,-32.38,994
$D_GRID,202
$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,-2.50,-97.8,135,3855,1045,1033,0.0,0.0,0,113,0.00,0.00,-103.12,0.146,16386,0.000,0.000,135,3855,2211,2202,2220,0,0,0,0,0,0,26.26,28.83,26.27,8.28,28.10
$GC,115,-2.50,-97.8,135,3855,2202,2220,3.0,-1.3,17,173,10.65,0.00,-43.75,0.151,18438,0.303,0.000,2632,3856,2927,2901,2953,0,0,0,0,0,0,25.56,25.85,25.72,8.38,27.16
$GC,235,-2.50,-97.8,2631,3856,2901,2953,19.5,-22.6,38,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,3856,2927,2901,2953,0,0,0,0,0,0,26.23,26.25,26.24,8.45,26.76
$GC,300,-2.50,-97.8,2631,3856,2901,2953,32.0,-18.2,45,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,3856,2927,2901,2954,0,0,0,0,0,0,26.31,26.32,26.32,8.46,25.78
$GC,420,-2.50,-97.8,2631,3856,2901,2953,51.4,-14.9,57,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,3856,2927,2901,2953,0,0,0,0,0,0,26.42,26.44,26.44,8.45,26.84
$GC,540,-2.50,-97.8,2631,3856,2902,2953,70.9,-17.2,69,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,3856,2927,2901,2953,0,0,0,0,0,0,26.51,26.53,26.52,8.45,26.64
$GC,660,-2.50,-97.8,2631,3856,2901,2953,91.3,-16.5,81,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,3856,2927,2901,2953,0,0,0,0,0,0,26.57,26.59,26.59,8.45,26.61
$GC,794,-2.50,-97.8,2631,3856,2901,2954,113.3,-16.9,93,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,3856,2927,2902,2953,0,0,0,0,0,0,26.62,26.63,26.63,8.45,26.84
$GC,928,-2.50,-97.8,2631,3856,2901,2953,137.1,-18.1,105,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,3856,2927,2901,2953,0,0,0,0,0,0,26.66,26.68,26.67,8.45,27.39
$GC,1048,-2.50,-97.8,2631,3856,2901,2953,157.0,-16.6,117,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,3856,2927,2901,2953,0,0,0,0,0,0,26.70,26.72,26.72,8.45,27.31
$GC,1168,-2.50,-97.8,2631,3856,2901,2953,177.1,-15.9,129,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,3856,2927,2902,2953,0,0,0,0,0,0,26.74,26.75,26.75,8.45,27.00
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1190,-0.39,0.0,2632,3856,2901,2953,180.2,-15.8,131,1269,2.35,0.00,71.32,0.780,10246,0.241,0.000,3305,3856,2588,2560,2617,0,0,0,0,0,0,26.20,25.39,24.82,8.44,26.76
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1271,begin climb
$GC,1272,2.50,97.8,3305,3856,2560,2617,182.2,0.0,139,1350,1.48,0.00,72.65,0.762,10246,0.146,0.000,3804,3856,2251,2221,2281,0,0,0,0,0,0,25.42,24.96,24.42,8.42,26.53
$GC,1470,2.55,139.3,3804,3856,2221,2281,163.8,10.7,159,1509,0.00,0.00,31.60,0.730,10246,0.000,0.000,3804,3856,2108,2079,2137,0,0,0,0,0,0,25.96,25.23,24.70,8.38,25.86
$GC,1630,2.61,185.2,3804,3856,2080,2137,147.5,10.3,175,1669,0.00,0.00,34.47,0.723,10246,0.000,0.000,3804,3856,1949,1922,1977,0,0,0,0,0,0,26.06,25.28,24.75,8.37,26.53
$GC,1790,2.67,233.5,3804,3856,1922,1977,130.0,10.0,191,1829,0.00,0.00,35.83,0.713,10246,0.000,0.000,3804,3856,1784,1759,1809,0,0,0,0,0,0,26.07,25.29,24.76,8.35,26.53
$GC,1950,2.72,275.0,3804,3856,1759,1809,112.2,10.7,207,1989,0.00,0.00,31.48,0.695,10246,0.000,0.000,3804,3856,1640,1619,1662,0,0,0,0,0,0,26.07,25.33,24.82,8.34,26.84
$GC,2110,2.75,295.1,3804,3856,1619,1663,92.6,12.9,223,2129,0.00,0.00,16.00,0.653,10246,0.000,0.000,3804,3856,1572,1551,1593,0,0,0,0,0,0,26.09,25.53,25.01,8.32,26.29
$GC,2250,2.76,303.1,3804,3856,1551,1593,73.4,14.2,237,2259,0.00,0.00,7.38,0.571,10246,0.000,0.000,3804,3856,1544,1523,1565,0,0,0,0,0,0,26.17,25.72,25.19,8.32,26.64
$GC,2380,2.78,323.5,3803,3856,1523,1566,55.5,12.9,250,2399,0.00,0.00,16.05,0.641,10246,0.000,0.000,3804,3856,1474,1455,1493,0,0,0,0,0,0,26.28,25.70,25.19,8.31,26.88
$GC,2520,2.82,355.7,3804,3856,1455,1493,38.8,11.7,264,2549,0.00,0.00,24.48,0.651,10246,0.000,0.000,3804,3856,1363,1347,1380,0,0,0,0,0,0,26.29,25.62,25.13,8.30,27.67
$GC,2670,2.84,374.0,3804,3856,1348,1380,20.3,13.1,279,2687,0.00,0.00,14.55,0.616,10246,0.000,0.000,3804,3856,1300,1284,1316,0,0,0,0,0,0,26.24,25.69,25.20,8.29,26.72
$GC,2749,2.88,403.8,3804,3856,1284,1316,10.7,11.9,293,2775,0.00,0.00,22.35,0.631,10246,0.000,0.000,3804,3856,1198,1185,1211,0,0,0,0,0,0,26.20,25.58,25.08,8.29,27.31
$GC,2837,2.94,450.5,3804,3856,1185,1212,2.1,10.2,309,2852,0.00,0.00,12.20,0.586,10242,0.000,0.000,3804,3856,1146,1133,1160,0,0,0,0,0,0,26.12,28.83,26.13,8.28,26.61
$STATE,2852,end climb,SURFACE_DEPTH_REACHED
$STATE,2853,begin surface coast
$FINISH,0.4,1.009629
$STATE,2874,end surface coast,CONTROL_FINISHED_OK
$STATE,2874,begin surface
$SM_CCo,2890,23.77,0.628,0,0,1039,450.27
$SM_GC,2.80,9.55,0.00,23.77,0.084,0.000,0.628,191,3857,1039,-10.08,-0.11,450.27,0,0,0,0,0,0,25.79,26.08,24.98
$IRIDIUM_FIX,4741.67,-12220.67,010519,133241
$TT8_MAMPS,0.021721,0.154294
$HUMID,26.57
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.3
$ALTIM_BOTTOM_PING,125.6,113.7
$24V_AH,24.42,4.901
$10V_AH,10.52,1.710
$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,24.025,9.600,390.350,23.775,146.875,25.683,36.807,224.520,9.000,0.000,22.310,775.885,1138.769,523.548,845.496,34.913,33.441,844.440,0.000,470.086,0.000,88.806,0.000
$DEVICE_MAMPS,302.926,76.973,779.662,628.199,151.463,34.760,160.000,223.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,60.410,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.289,408.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312664
$DATA_FILE_SIZE,20970,315
$CAP_FILE_SIZE,53110,0
$CFSIZE,2046525440,2040889344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1316.56,0x236d44,1,24
$GPS,010519,153949,4745.258,-12225.079,13,1.1,47,16.3,0.6,50.0,8,5.4