version: 66.14
glider: 46
mission: 1
dive: 17
start: 8 3 118 11 26 10
data:
$ID,46
$MISSION,1
$DIVE,17
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,030818,111819,4744.8281,-12224.1963,11,0.9,39,16.3,0.0,0.0,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-62.0
$GPS2,030818,112504,4744.8442,-12224.2188,9,0.9,15,16.3,0.0,0.0,9,9.7
$SPEED_LIMITS,0.114,0.220
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.105189,-0.192878
$KALMAN_X,802.266968,-482.691467,375.559326,-784.096741,423.046753
$KALMAN_Y,1821.310547,-496.855072,647.782593,777.468750,443.186279
$MHEAD_RNG_PITCHd_Wd,169.6,3433,-16.8,-8.000,-20.01,2232
$D_GRID,177
$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,-117.3,203,2214,1031,1208,0.0,0.0,0,106,0.00,0.00,-96.55,0.149,16386,0.000,0.000,203,2215,2357,2328,2386,0,0,0,0,0,0,26.78,28.83,26.79,8.62,15.58
$GC,108,-1.49,-117.3,203,2214,2327,2386,3.5,-5.2,16,141,11.65,3.85,-13.00,0.176,18692,0.273,0.084,3012,3637,2626,2572,2680,0,0,0,0,0,0,26.18,26.34,26.27,8.76,14.99
$GC,501,-1.49,-117.3,3012,3637,2570,2682,55.8,-11.3,66,509,0.00,3.58,0.00,0.000,1030,0.000,0.062,3012,2223,2626,2569,2683,0,0,0,0,0,0,26.85,26.79,26.87,8.78,15.07
$GC,629,-1.49,-117.3,3012,2223,2567,2685,70.0,-10.5,79,639,0.00,3.72,0.00,0.000,260,0.000,0.084,2994,3632,2626,2567,2685,0,0,0,0,0,0,27.12,26.80,27.13,8.78,15.07
$GC,741,-1.49,-117.3,2994,3632,2567,2685,83.8,-11.9,90,752,0.10,3.55,0.00,0.000,3078,0.206,0.062,3023,2221,2626,2567,2685,0,0,0,0,0,0,26.74,26.89,26.88,8.77,14.83
$GC,871,-1.49,-117.3,3023,2221,2567,2685,97.2,-9.8,103,872,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2221,2626,2567,2685,0,0,0,0,0,0,27.22,27.23,27.22,8.77,15.15
$GC,991,-1.49,-117.3,3022,2221,2567,2686,109.4,-9.5,115,992,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2221,2625,2566,2685,0,0,0,0,0,0,27.24,27.27,27.26,8.76,15.07
$GC,1111,-1.49,-117.3,3022,2221,2566,2685,121.5,-10.2,127,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2221,2626,2566,2686,0,0,0,0,0,0,27.28,27.29,27.29,8.76,15.11
$GC,1231,-1.49,-117.3,3022,2221,2566,2686,133.3,-10.8,139,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2221,2626,2566,2686,0,0,0,0,0,0,27.31,27.32,27.32,8.76,15.74
$GC,1351,-1.49,-117.3,3022,2221,2566,2686,146.5,-7.4,151,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2221,2626,2567,2686,0,0,0,0,0,0,27.34,27.34,27.34,8.76,15.15
$GC,1471,-1.49,-117.3,3022,2221,2565,2686,159.3,-11.1,163,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2221,2625,2565,2686,0,0,0,0,0,0,27.35,27.37,27.36,8.76,15.22
$GC,1591,-1.49,-117.3,3022,2221,2565,2686,171.9,-11.5,175,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2221,2625,2563,2687,0,0,0,0,0,0,27.37,27.39,27.39,8.76,15.30
$STATE,1640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1640,begin apogee
$GC,1644,-0.40,0.0,3023,2046,2565,2687,177.5,-11.4,180,1732,1.08,0.00,84.28,0.780,10246,0.171,0.000,3368,2045,2220,2125,2316,0,0,0,0,0,0,26.96,25.91,25.38,8.76,15.66
$STATE,1733,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1735,1.49,117.3,3368,2045,2126,2317,182.5,0.0,189,1833,1.27,4.03,86.05,0.765,10756,0.122,0.102,3822,644,1816,1710,1923,0,0,0,0,0,0,25.92,25.51,24.99,8.73,15.58
$GC,1907,1.49,117.3,3821,644,1712,1923,175.4,4.9,206,1916,0.00,3.67,0.00,0.000,5126,0.000,0.065,3822,2058,1817,1711,1923,0,0,0,0,0,0,26.22,26.15,26.23,8.69,14.40
$GC,2035,1.49,117.3,3821,2058,1711,1922,168.8,5.1,219,2045,0.00,3.70,0.00,0.000,4356,0.000,0.082,3822,3458,1817,1712,1923,0,0,0,0,0,0,26.72,26.42,26.72,8.69,14.99
$GC,2140,1.49,117.3,3821,3458,1712,1923,162.8,6.2,229,2149,0.05,3.58,0.00,0.000,5126,0.251,0.065,3824,2052,1817,1712,1923,0,0,1,0,0,0,26.47,26.60,26.60,8.68,14.75
$GC,2267,1.49,117.3,3823,2053,1712,1923,156.3,4.2,242,2278,0.00,3.83,0.00,0.000,4612,0.000,0.099,3835,642,1817,1711,1923,0,0,0,0,0,0,26.99,26.64,27.00,8.68,15.26
$GC,2350,1.49,117.3,3835,643,1712,1922,150.9,6.7,250,2361,0.03,3.55,0.00,0.000,5126,0.241,0.065,3829,2052,1817,1712,1923,0,0,0,0,0,0,26.67,26.78,26.73,8.68,15.22
$GC,2480,1.49,117.3,3828,2052,1712,1923,146.6,5.1,263,2481,0.00,0.00,0.00,0.000,4102,0.000,0.000,3829,2052,1817,1712,1923,0,0,0,0,0,0,27.13,27.13,27.13,8.68,15.46
$GC,2600,1.49,117.3,3829,2052,1712,1922,141.3,4.3,275,2610,0.00,3.80,0.00,0.000,4612,0.000,0.097,3845,644,1817,1712,1923,0,0,0,0,0,0,27.17,26.82,27.18,8.68,15.30
$GC,2674,1.49,117.3,3844,644,1712,1923,137.8,5.3,282,2683,0.08,3.55,0.00,0.000,5126,0.214,0.065,3824,2053,1817,1712,1922,0,0,0,0,0,0,26.79,26.94,26.93,8.67,15.74
$GC,2802,1.49,117.3,3823,2053,1712,1922,132.5,3.4,295,2813,0.00,3.62,0.00,0.000,4356,0.000,0.082,3823,3453,1817,1712,1923,0,0,0,0,0,0,27.24,26.92,27.25,8.67,15.85
$GC,2987,1.49,117.3,3823,3453,1711,1922,122.0,6.3,313,2996,0.05,3.50,0.00,0.000,5126,0.258,0.065,3823,2050,1817,1712,1923,0,0,1,0,0,0,26.88,27.01,27.01,8.67,15.15
$GC,3114,1.49,117.3,3823,2050,1712,1922,112.9,6.1,326,3125,0.00,3.78,0.00,0.000,4612,0.000,0.099,3825,640,1817,1712,1922,0,0,0,0,0,0,27.32,26.96,27.33,8.67,15.30
$GC,3287,1.49,117.3,3825,640,1712,1922,103.0,5.7,343,3297,0.00,3.53,0.00,0.000,5126,0.000,0.065,3825,2050,1817,1712,1922,0,0,0,0,0,0,27.15,27.08,27.17,8.68,14.95
$GC,3417,1.49,117.3,3825,2050,1712,1922,96.5,4.6,356,3418,0.00,0.00,0.00,0.000,4102,0.000,0.000,3826,2050,1817,1712,1922,0,0,0,0,0,0,27.38,27.38,27.38,8.67,15.30
$GC,3537,1.49,117.3,3825,2050,1712,1923,91.2,4.6,368,3538,0.00,0.00,0.00,0.000,4102,0.000,0.000,3825,2050,1817,1712,1922,0,0,0,0,0,0,27.39,27.39,27.39,8.66,15.66
$GC,3657,1.49,117.3,3825,2050,1712,1922,85.8,4.4,380,3667,0.00,3.78,0.00,0.000,4612,0.000,0.099,3840,643,1817,1712,1922,0,0,0,0,0,0,27.41,27.04,27.41,8.67,15.38
$GC,3731,1.49,117.3,3839,643,1712,1922,82.2,4.7,387,3740,0.08,3.50,0.00,0.000,5126,0.214,0.065,3819,2051,1817,1712,1922,0,0,0,0,0,0,27.00,27.15,27.14,8.66,15.50
$GC,3859,1.49,117.3,3818,2051,1711,1922,75.8,4.7,400,3870,0.00,3.78,0.00,0.000,2564,0.000,0.099,3833,636,1816,1711,1922,0,0,0,0,0,0,27.42,27.05,27.43,8.66,15.15
$GC,4102,1.49,117.3,3832,636,1711,1922,64.6,4.4,424,4112,0.00,3.53,0.00,0.000,5126,0.000,0.065,3833,2052,1817,1713,1922,0,0,0,0,0,0,27.25,27.18,27.27,8.67,15.46
$GC,4232,1.49,117.3,3832,2052,1712,1921,58.8,3.9,437,4233,0.00,0.00,0.00,0.000,4102,0.000,0.000,3833,2051,1817,1712,1922,0,0,0,0,0,0,27.46,27.46,27.46,8.66,15.38
$GC,4352,1.49,117.3,3833,2052,1712,1922,53.7,4.1,449,4362,0.00,3.75,0.00,0.000,4612,0.000,0.097,3848,645,1817,1712,1922,0,0,0,0,0,0,27.47,27.10,27.47,8.67,15.38
$GC,4464,1.49,117.3,3848,645,1712,1922,49.2,3.6,460,4475,0.10,3.50,0.00,0.000,5126,0.206,0.062,3819,2054,1817,1712,1923,0,0,0,0,0,0,27.05,27.21,27.19,8.66,15.93
$GC,4594,1.49,117.3,3818,2054,1712,1922,43.7,4.4,473,4595,0.00,0.00,0.00,0.000,2054,0.000,0.000,3819,2054,1817,1712,1922,0,0,0,0,0,0,27.48,27.49,27.48,8.67,15.30
$GC,4714,1.49,117.3,3818,2054,1712,1922,39.0,4.0,485,4715,0.00,0.00,0.00,0.000,2054,0.000,0.000,3819,2054,1817,1712,1922,0,0,0,0,0,0,27.49,27.50,27.49,8.66,15.38
$GC,4834,1.49,117.3,3818,2055,1712,1922,34.2,4.2,497,4844,0.00,3.75,0.00,0.000,2564,0.000,0.097,3832,645,1817,1712,1922,0,0,0,0,0,0,27.50,27.13,27.51,8.66,15.11
$GC,5159,1.49,117.3,3832,645,1712,1922,21.6,4.7,529,5167,0.00,3.47,0.00,0.000,5126,0.000,0.065,3833,2049,1816,1711,1922,0,0,0,0,0,0,27.32,27.24,27.33,8.67,15.50
$GC,5286,1.49,117.3,3832,2049,1711,1922,16.4,3.2,551,5293,0.00,3.62,0.00,0.000,4356,0.000,0.082,3833,3459,1817,1712,1922,0,0,0,0,0,0,27.51,27.19,27.53,8.67,15.46
$GC,5410,2.01,543.5,3832,3459,1712,1922,11.5,4.0,575,5604,0.10,3.53,185.57,0.673,13314,0.211,0.065,3818,2043,914,796,1033,0,0,0,0,0,0,27.10,27.23,27.25,8.67,15.46
$STATE,5605,end climb,SURFACE_DEPTH_REACHED
$STATE,5605,begin surface coast
$FINISH,-0.9,0.999763
$STATE,5632,end surface coast,CONTROL_FINISHED_OK
$STATE,5632,begin surface
$SM_CCo,5709,0.00,0.000,0,0,913,380.26
$SM_GC,2.05,10.00,0.40,0.00,0.079,0.079,0.000,201,2211,913,-10.27,-1.73,380.26,0,0,1,0,0,0,25.98,25.95,26.04
$IRIDIUM_FIX,4745.33,-12219.67,030818,095132
$TT8_MAMPS,0.021721,0.182007
$HUMID,15.03
$INTERNAL_PRESSURE,8.55583
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,115.4,77.0
$24V_AH,24.99,2.095
$10V_AH,10.58,0.587
$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,24.575,95.825,355.900,0.000,109.550,23.539,15.394,282.651,1.000,0.000,16.323,1584.406,2426.818,529.781,1541.966,52.934,33.441,1212.798,0.000,1185.283,0.000,10.034,0.000
$DEVICE_MAMPS,273.130,101.803,779.662,0.000,176.293,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.968,796.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312612
$DATA_FILE_SIZE,38329,612
$CAP_FILE_SIZE,88613,1
$CFSIZE,2046525440,2042232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,2,0
$GPS,030818,130231,4744.301,-12224.238,8,0.8,35,16.3,0.2,0.0,11,5.1