version: 66.14
glider: 46
mission: 1
dive: 4
start: 8 2 118 20 12 25
data:
$ID,46
$MISSION,1
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79651
$MASS_COMP,10878
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.8500004e-06
$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,320
$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,3450
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.5
$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,2220
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2221
$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,20
$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,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.008195
$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,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044181761
$SEABIRD_T_H,0.00064858171
$SEABIRD_T_I,2.6944237e-05
$SEABIRD_T_J,3.3790316e-06
$SEABIRD_C_G,-9.9767895
$SEABIRD_C_H,1.1543746
$SEABIRD_C_I,-0.0025079898
$SEABIRD_C_J,0.00027491429
$SEABIRD_C_Z,2946.22
$GPS1,020818,200743,4744.4937,-12223.5742,4,1.0,13,16.3,0.0,138.8,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.5
$GPS2,020818,201121,4744.5239,-12223.5420,6,1.0,15,16.3,0.0,219.8,8,9.5
$SPEED_LIMITS,0.119,0.262
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.241846,-0.099521
$KALMAN_X,999.553711,428.853394,309.352356,-999.326172,404.347900
$KALMAN_Y,754.943787,287.383270,200.066513,909.030151,309.770569
$MHEAD_RNG_PITCHd_Wd,251.6,1194,-18.1,-10.000,-20.93,2236
$D_GRID,161
$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,-1.63,-146.6,205,2216,260,436,0.0,0.0,0,177,0.00,0.00,-167.35,0.146,16386,0.000,0.000,205,2217,2442,2410,2475,0,0,0,0,0,0,27.20,28.83,27.21,8.60,16.17
$GC,180,-1.63,-146.6,204,2216,2409,2476,3.5,-5.8,28,213,10.82,3.80,-13.35,0.179,18948,0.266,0.094,2919,807,2727,2669,2786,0,0,0,0,0,0,26.39,26.54,26.50,8.83,15.54
$GC,572,-1.63,-146.6,2919,808,2665,2791,70.8,-18.7,77,581,0.00,3.55,0.00,0.000,1030,0.000,0.067,2905,2220,2728,2665,2791,0,0,0,0,0,0,27.01,26.94,27.03,8.85,15.66
$GC,700,-1.63,-146.6,2903,2220,2664,2791,89.3,-13.4,90,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2220,2728,2665,2791,0,0,0,0,0,0,27.28,27.30,27.29,8.84,15.66
$GC,820,-1.63,-146.6,2903,2220,2664,2791,105.8,-13.6,102,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2219,2727,2664,2791,0,0,0,0,0,0,27.32,27.34,27.34,8.83,15.66
$GC,940,-1.63,-146.6,2904,2220,2664,2791,124.0,-15.5,114,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2219,2727,2664,2791,0,0,0,0,0,0,27.36,27.37,27.36,8.83,15.70
$GC,1060,-1.63,-146.6,2904,2220,2664,2790,141.5,-14.0,126,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2219,2728,2665,2791,0,0,0,0,0,0,27.39,27.40,27.39,8.83,15.85
$GC,1181,-1.63,-146.6,2904,2220,2662,2792,152.2,0.3,138,1191,0.00,3.72,0.00,0.000,516,0.000,0.094,2904,811,2727,2662,2793,0,0,0,0,0,0,27.41,27.02,27.41,8.83,15.89
$STATE,1361,end dive,NO_VERTICAL_VELOCITY
$STATE,1362,begin apogee
$GC,1368,-0.40,0.0,2901,2057,2661,2793,152.2,0.0,156,1477,1.20,0.00,104.05,0.710,10246,0.139,0.000,3316,2057,2221,2120,2322,0,0,0,0,0,0,27.01,25.93,25.46,8.82,15.74
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1479,1.63,146.6,3315,2057,2120,2322,153.4,0.0,167,1595,1.42,3.85,105.38,0.693,10500,0.124,0.082,3804,3460,1715,1606,1825,0,0,0,0,0,0,25.96,25.56,25.22,8.78,15.34
$GC,1640,1.64,154.3,3804,3460,1606,1825,145.0,9.6,183,1658,0.00,3.65,7.22,0.564,11270,0.000,0.065,3812,2049,1689,1582,1797,0,0,1,0,0,0,26.27,26.20,25.60,8.74,15.15
$GC,1777,1.72,219.3,3811,2049,1582,1797,134.5,7.0,197,1832,0.00,3.95,47.33,0.673,10756,0.000,0.102,3818,639,1464,1357,1572,0,0,0,0,0,0,26.82,26.01,25.55,8.72,15.78
$GC,1907,1.77,256.0,3816,639,1358,1572,124.8,8.3,209,1945,0.00,3.62,27.48,0.656,11270,0.000,0.065,3818,2053,1338,1229,1448,0,0,0,0,0,0,26.51,26.43,25.62,8.70,15.26
$GC,2064,1.82,297.7,3817,2053,1229,1448,112.8,8.1,225,2097,0.00,0.00,30.45,0.651,10758,0.000,0.000,3818,2053,1195,1085,1306,0,0,0,0,0,0,26.82,26.15,25.70,8.69,15.19
$GC,2214,1.84,316.2,3817,2053,1086,1306,99.7,9.2,240,2236,0.00,3.97,14.62,0.616,10756,0.000,0.099,3819,636,1131,1021,1242,0,0,0,0,0,0,26.83,26.32,25.86,8.67,15.42
$GC,2309,1.86,328.6,3818,636,1021,1242,90.9,9.4,249,2329,0.00,3.58,10.38,0.586,13318,0.000,0.067,3819,2038,1089,979,1199,0,0,0,0,0,0,26.61,26.59,25.94,8.66,15.46
$GC,2448,1.94,393.5,3818,2038,980,1199,80.3,7.0,263,2503,0.00,3.90,47.83,0.643,10756,0.000,0.102,3819,636,866,754,978,0,0,1,0,0,0,26.96,26.10,25.66,8.66,15.42
$GC,2556,1.95,402.8,3818,636,754,977,71.0,9.6,273,2575,0.00,3.62,8.23,0.546,13318,0.000,0.067,3819,2050,834,724,945,0,0,0,0,0,0,26.45,26.41,25.82,8.64,15.50
$GC,2695,1.99,437.3,3818,2050,724,945,58.3,8.4,287,2729,0.00,3.92,26.95,0.618,10756,0.000,0.102,3819,639,715,604,827,0,0,1,0,0,0,26.89,26.25,25.82,8.63,15.62
$GC,2786,2.00,443.9,3818,639,604,827,49.4,9.7,296,2800,0.00,3.60,6.10,0.504,11270,0.000,0.067,3819,2048,694,584,805,0,0,0,0,0,0,26.55,26.51,25.94,8.61,15.38
$GC,2929,2.01,456.0,3818,2048,584,805,36.8,9.4,310,2948,0.00,3.88,11.12,0.569,10756,0.000,0.104,3819,638,650,540,761,0,0,0,0,0,0,26.96,26.48,26.03,8.61,15.19
$GC,3003,2.04,475.8,3818,639,541,761,30.0,9.1,317,3031,0.00,3.60,16.58,0.586,11270,0.000,0.065,3819,2048,582,472,693,0,0,0,0,0,0,26.74,26.66,25.97,8.60,15.74
$GC,3151,2.08,511.3,3819,2048,472,693,16.9,8.4,335,3182,0.00,0.00,28.73,0.596,10246,0.000,0.000,3819,2048,459,346,572,0,0,0,0,0,0,26.97,26.32,25.89,8.60,16.01
$GC,3245,2.16,576.9,3819,2048,346,573,9.7,7.0,352,3282,0.00,3.95,26.25,0.586,10756,0.000,0.099,3819,641,350,236,464,0,0,0,0,0,0,26.82,26.22,25.79,8.59,15.74
$STATE,3333,end climb,SURFACE_DEPTH_REACHED
$STATE,3333,begin surface coast
$FINISH,0.2,1.022863
$STATE,3355,end surface coast,CONTROL_FINISHED_OK
$STATE,3355,begin surface
$SM_CCo,3436,0.00,0.000,0,0,349,544.11
$SM_GC,1.16,9.80,4.10,0.00,0.082,0.065,0.000,202,2213,349,-10.08,-1.37,544.11,0,0,1,0,0,0,26.51,26.53,26.58
$IRIDIUM_FIX,4744.97,-12226.80,020818,200331
$TT8_MAMPS,0.020972,0.181258
$HUMID,15.62
$INTERNAL_PRESSURE,8.5363
$TCM_TEMP,14.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,110.3,52.3
$24V_AH,25.22,0.696
$10V_AH,10.53,0.187
$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,23.250,67.425,518.675,0.000,180.700,0.000,0.000,0.000,1.000,0.000,16.695,880.217,1226.130,637.824,743.588,28.021,32.441,1117.510,0.000,723.006,0.000,5.589,0.000
$DEVICE_MAMPS,265.681,104.286,710.138,0.000,178.776,0.000,0.000,0.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.159,481.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312672
$DATA_FILE_SIZE,24548,372
$CAP_FILE_SIZE,70312,0
$CFSIZE,2046525440,2043543552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,1,0
$GPS,020818,211055,4745.069,-12223.915,5,0.9,38,16.3,0.3,33.3,8,6.1