version: 66.14
glider: 46
mission: 1
dive: 15
start: 8 3 118 8 22 47
data:
$ID,46
$MISSION,1
$DIVE,15
$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,75
$T_MISSION,90
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,3505
$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,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,26
$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,5
$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,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,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
$GPS1,030818,081401,4743.9082,-12224.2852,6,0.9,25,16.3,0.2,15.4,9,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-61.3
$GPS2,030818,082141,4743.9717,-12224.2451,9,0.9,15,16.3,0.0,122.3,9,9.9
$SPEED_LIMITS,0.114,0.220
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.079304,0.123728
$KALMAN_X,227.781097,-378.824036,-202.987869,222.372925,35.205627
$KALMAN_Y,1143.755615,-550.287781,-217.164642,756.510864,446.720795
$MHEAD_RNG_PITCHd_Wd,325.7,1029,-16.8,-8.000,-20.01,2232
$D_GRID,174
$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,-1.49,-117.3,204,2219,1031,1207,0.0,0.0,0,106,0.00,0.00,-96.78,0.149,16386,0.000,0.000,204,2218,2339,2310,2369,0,0,0,0,0,0,26.79,28.83,26.80,8.61,15.66
$GC,108,-1.49,-117.3,204,2219,2310,2369,3.1,-3.2,16,147,11.55,3.85,-15.12,0.171,18692,0.273,0.084,3005,3636,2626,2571,2682,0,0,1,0,0,0,26.19,26.35,26.27,8.76,15.15
$GC,259,-1.49,-117.3,3005,3636,2571,2683,23.6,-14.5,42,269,0.00,3.60,0.00,0.000,1030,0.000,0.062,3005,2220,2626,2570,2683,0,0,0,0,0,0,26.62,26.58,26.64,8.78,14.87
$GC,389,-1.49,-117.3,3004,2220,2568,2685,40.9,-11.4,55,399,0.00,3.75,0.00,0.000,516,0.000,0.092,3005,811,2626,2567,2686,0,0,0,0,0,0,26.98,26.63,26.99,8.78,14.87
$GC,661,-1.49,-117.3,3005,811,2566,2689,79.7,-13.4,82,673,0.10,3.55,0.00,0.000,3078,0.216,0.065,3023,2218,2627,2566,2689,0,0,0,0,0,0,26.70,26.86,26.82,8.77,15.58
$GC,791,-1.49,-117.3,3022,2218,2566,2689,93.9,-10.9,95,802,0.00,3.72,0.00,0.000,260,0.000,0.084,3008,3634,2627,2566,2689,0,0,0,0,0,0,27.19,26.88,27.20,8.77,15.03
$GC,873,-1.49,-117.3,3008,3634,2566,2689,104.0,-12.7,103,884,0.00,3.55,0.00,0.000,1030,0.000,0.062,3008,2219,2627,2566,2689,0,0,0,0,0,0,27.01,26.94,27.03,8.77,14.95
$GC,1003,-1.49,-117.3,3007,2220,2566,2689,119.7,-11.8,116,1014,0.00,3.72,0.00,0.000,516,0.000,0.092,3008,809,2627,2565,2689,0,0,0,0,0,0,27.25,26.90,27.27,8.77,14.95
$GC,1116,-1.49,-117.3,3007,809,2563,2689,134.7,-17.6,127,1127,0.10,3.55,0.00,0.000,3078,0.221,0.065,3023,2221,2627,2564,2690,0,0,0,0,0,0,26.85,27.01,26.95,8.77,15.07
$GC,1246,-1.49,-117.3,3023,2222,2564,2690,149.3,-10.5,140,1256,0.00,3.70,0.00,0.000,260,0.000,0.084,3009,3638,2626,2564,2689,0,0,0,0,0,0,27.31,26.99,27.32,8.77,15.07
$GC,1351,-1.49,-117.3,3008,3638,2564,2690,161.5,-11.4,150,1359,0.00,3.55,0.00,0.000,1030,0.000,0.062,3009,2216,2627,2564,2690,0,0,0,0,0,0,27.13,27.05,27.14,8.76,14.99
$STATE,1437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1437,begin apogee
$GC,1441,-0.40,0.0,3009,2043,2564,2690,172.4,-11.7,159,1530,1.12,0.00,84.50,0.770,10246,0.171,0.000,3368,2043,2221,2125,2317,0,0,0,0,0,0,26.93,25.89,25.37,8.76,15.22
$STATE,1531,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1532,1.49,117.3,3367,2043,2126,2318,176.9,0.0,168,1622,1.27,0.00,86.15,0.745,10502,0.119,0.000,3808,2042,1816,1711,1922,0,0,0,0,0,0,25.91,25.49,25.01,8.73,14.87
$GC,1739,1.49,117.3,3808,2042,1712,1922,168.2,5.3,189,1750,0.00,3.88,0.00,0.000,2564,0.000,0.099,3825,645,1817,1712,1923,0,0,0,0,0,0,26.52,26.17,26.52,8.69,14.99
$GC,1801,1.49,117.3,3824,645,1712,1922,164.8,5.3,195,1812,0.00,3.62,0.00,0.000,5126,0.000,0.065,3825,2056,1817,1712,1922,0,0,0,0,0,0,26.48,26.41,26.49,8.68,15.07
$GC,1932,1.49,117.3,3824,2055,1712,1922,157.5,5.3,208,1933,0.00,0.00,0.00,0.000,4102,0.000,0.000,3825,2056,1817,1712,1922,0,0,0,0,0,0,26.86,26.87,26.87,8.68,15.62
$GC,2052,1.49,117.3,3824,2056,1712,1922,151.1,5.0,220,2062,0.00,3.85,0.00,0.000,4612,0.000,0.099,3841,645,1817,1712,1922,0,0,0,0,0,0,26.99,26.63,26.99,8.68,14.87
$GC,2114,1.49,117.3,3841,645,1712,1922,148.1,5.1,226,2125,0.08,3.55,0.00,0.000,5126,0.216,0.065,3820,2050,1817,1712,1922,0,0,0,0,0,0,26.62,26.77,26.77,8.68,15.11
$GC,2244,1.49,117.3,3820,2050,1712,1922,141.2,5.2,239,2245,0.00,0.00,0.00,0.000,4102,0.000,0.000,3820,2050,1817,1712,1922,0,0,0,0,0,0,27.11,27.12,27.12,8.68,15.89
$GC,2364,1.49,117.3,3820,2050,1712,1922,135.0,5.4,251,2374,0.00,3.80,0.00,0.000,4612,0.000,0.102,3831,645,1817,1713,1922,0,0,0,0,0,0,27.17,26.80,27.17,8.67,15.26
$GC,2449,1.49,117.3,3831,645,1712,1922,130.8,5.5,259,2457,0.00,3.53,0.00,0.000,5126,0.000,0.065,3832,2049,1817,1712,1922,0,0,0,0,0,0,27.01,26.92,27.01,8.68,15.34
$GC,2576,1.49,117.3,3831,2049,1712,1922,124.2,4.4,272,2577,0.00,0.00,0.00,0.000,4102,0.000,0.000,3832,2049,1817,1712,1922,0,0,0,0,0,0,27.24,27.24,27.24,8.67,15.46
$GC,2696,1.49,117.3,3831,2049,1712,1922,118.7,4.2,284,2707,0.00,3.65,0.00,0.000,4356,0.000,0.082,3832,3458,1817,1712,1922,0,0,0,0,0,0,27.27,26.96,27.29,8.68,15.54
$GC,3070,1.49,117.3,3831,3459,1712,1922,98.9,5.6,321,3080,0.08,3.50,0.00,0.000,5126,0.199,0.065,3825,2058,1816,1712,1921,0,0,0,0,0,0,26.93,27.07,27.03,8.67,15.50
$GC,3199,1.49,117.3,3825,2058,1712,1922,92.9,4.6,334,3209,0.00,3.78,0.00,0.000,4612,0.000,0.099,3838,642,1817,1712,1922,0,0,0,0,0,0,27.38,27.01,27.39,8.67,15.62
$GC,3573,1.49,117.3,3837,642,1712,1922,72.0,4.6,371,3582,0.05,3.50,0.00,0.000,5126,0.209,0.067,3823,2049,1816,1712,1921,0,0,0,0,0,0,27.00,27.15,27.09,8.67,15.30
$GC,3701,1.49,117.3,3823,2049,1712,1922,66.7,4.2,384,3712,0.00,3.75,0.00,0.000,4612,0.000,0.099,3836,645,1817,1712,1922,0,0,0,0,0,0,27.44,27.08,27.44,8.67,15.85
$GC,3887,1.49,117.3,3836,645,1712,1922,59.4,4.0,402,3895,0.05,3.50,0.00,0.000,5126,0.248,0.065,3823,2052,1816,1711,1922,0,0,0,0,0,0,27.03,27.18,27.17,8.67,15.42
$GC,4014,1.49,117.3,3823,2052,1712,1921,54.5,3.6,415,4024,0.00,3.62,0.00,0.000,4356,0.000,0.082,3823,3460,1816,1712,1921,0,0,0,0,0,0,27.46,27.14,27.46,8.66,15.42
$GC,4076,1.49,117.3,3822,3460,1712,1922,52.1,4.3,421,4086,0.00,3.53,0.00,0.000,5126,0.000,0.065,3836,2049,1816,1711,1921,0,0,0,0,0,0,27.26,27.18,27.27,8.67,15.97
$GC,4206,1.49,117.3,3835,2048,1712,1922,47.4,3.6,434,4216,0.00,3.75,0.00,0.000,4612,0.000,0.099,3851,639,1817,1712,1922,0,0,0,0,0,0,27.47,27.10,27.48,8.67,15.42
$GC,4388,1.49,117.3,3850,640,1712,1922,40.1,4.2,452,4399,0.10,3.53,0.00,0.000,5126,0.204,0.065,3822,2054,1816,1712,1921,0,0,0,0,0,0,27.05,27.21,27.20,8.67,15.62
$GC,4519,1.65,253.1,3821,2054,1712,1921,37.0,1.8,465,4622,0.00,4.00,95.82,0.688,12804,0.000,0.099,3824,643,1348,1234,1462,0,0,0,0,0,0,27.49,26.01,25.53,8.67,15.15
$GC,4772,1.65,253.1,3823,642,1236,1462,23.4,6.0,490,4780,0.00,3.60,0.00,0.000,5126,0.000,0.065,3824,2047,1349,1237,1462,0,0,0,0,0,0,26.60,26.53,26.62,8.63,15.54
$GC,4899,1.65,253.1,3823,2047,1236,1461,15.5,6.7,510,4906,0.00,3.85,0.00,0.000,4612,0.000,0.099,3828,640,1348,1235,1461,0,0,0,0,0,0,26.95,26.60,26.96,8.63,15.93
$GC,4958,1.65,253.1,3827,640,1236,1461,11.6,7.5,521,4965,0.00,3.58,0.00,0.000,5126,0.000,0.065,3828,2050,1348,1236,1461,0,0,0,0,0,0,26.81,26.73,26.82,8.63,15.26
$GC,5027,1.65,253.1,3827,2051,1237,1461,7.4,6.0,534,5034,0.00,3.72,0.00,0.000,4356,0.000,0.082,3827,3466,1348,1236,1461,0,0,0,0,0,0,27.05,26.73,27.06,8.63,15.78
$GC,5066,1.65,253.1,3827,3466,1236,1461,4.6,6.9,541,5074,0.08,3.58,0.00,0.000,5126,0.223,0.065,3819,2052,1349,1237,1461,0,0,0,0,0,0,26.67,26.79,26.80,8.63,15.30
$STATE,5100,end climb,SURFACE_DEPTH_REACHED
$STATE,5100,begin surface coast
$FINISH,1.0,1.022623
$STATE,5116,end surface coast,CONTROL_FINISHED_OK
$STATE,5116,begin surface
$SM_CCo,5133,47.92,0.648,0,0,1118,320.13
$SM_GC,2.09,10.00,0.38,47.92,0.099,0.084,0.648,208,2217,1118,-10.25,-1.55,320.13,0,0,1,0,0,0,26.77,26.84,25.72
$IRIDIUM_FIX,4745.46,-12130.78,030818,064324
$TT8_MAMPS,0.021721,0.182007
$HUMID,15.42
$INTERNAL_PRESSURE,8.57536
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,115.0,71.5
$24V_AH,25.01,1.910
$10V_AH,10.55,0.510
$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,24.575,117.975,266.475,47.925,111.900,22.285,25.907,320.810,1.250,0.000,16.726,1478.963,2030.762,545.652,1556.066,52.226,33.471,1205.291,0.000,1143.663,0.000,10.017,0.000
$DEVICE_MAMPS,273.130,101.803,769.730,648.063,171.327,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.866,715.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312568
$DATA_FILE_SIZE,34865,550
$CAP_FILE_SIZE,87035,0
$CFSIZE,2046525440,2042429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
$GPS,030818,095025,4744.650,-12223.850,8,0.9,38,16.3,0.2,327.4,9,8.1