version: 66.14
glider: 46
mission: 3
dive: 15
start: 4 10 119 4 50 10
data:
$ID,46
$MISSION,3
$DIVE,15
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,6000
$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,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,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79232.797
$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,400
$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,3025
$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,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2047
$C_ROLL_CLIMB,2047
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,2703
$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,-12.010625
$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,80
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,100419,044543,4741.7710,-12226.1230,5,1.0,16,16.3,0.0,245.8,8,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-52.3
$GPS2,100419,044905,4741.7612,-12226.1406,1,1.0,11,16.3,0.0,207.4,8,9.5
$SPEED_LIMITS,0.173,0.399
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.237363,0.320113
$KALMAN_X,5907.136719,1131.086548,576.782288,-10100.844727,952.858765
$KALMAN_Y,-1465.628784,-1439.368164,-1435.952515,1398.750122,-907.041382
$MHEAD_RNG_PITCHd_Wd,5.6,5468,-10.5,-10.000,-14.09,5921
$D_GRID,180
$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,-1.32,-389.3,204,2045,1222,1426,0.0,0.0,0,196,0.00,0.00,-184.93,0.144,16386,0.000,0.000,205,2045,3123,3027,3220,0,0,0,0,0,0,26.99,28.83,27.00,8.07,19.87
$GC,198,-1.32,-389.3,205,2046,3027,3220,3.2,-2.8,31,263,9.48,2.30,-45.75,0.151,18692,0.263,0.074,2586,2915,3961,3893,4030,0,0,0,0,0,0,26.17,26.36,26.25,8.25,19.56
$GC,405,-1.18,-389.3,2586,2916,3893,4029,32.0,-14.1,61,415,0.17,2.17,0.00,0.000,3078,0.174,0.065,2641,2044,3961,3893,4030,0,0,0,0,0,0,26.43,26.58,26.58,8.32,19.64
$GC,535,-1.09,-389.3,2640,2044,3893,4029,49.5,-13.4,74,545,0.10,2.25,0.00,0.000,2564,0.191,0.082,2675,1185,3961,3893,4029,0,0,0,0,0,0,26.55,26.63,26.63,8.31,19.08
$GC,580,-1.01,-389.3,2674,1184,3893,4029,55.3,-13.4,78,588,0.08,2.17,0.00,0.000,3078,0.181,0.065,2694,2044,3961,3893,4029,0,0,0,0,0,0,26.55,26.71,26.65,8.31,19.28
$GC,707,-1.01,-389.3,2694,2044,3893,4029,69.3,-9.2,91,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2044,3961,3893,4029,0,0,0,0,0,0,27.03,27.05,27.04,8.31,19.56
$GC,827,-1.01,-389.3,2694,2044,3893,4029,81.9,-11.9,103,831,0.00,2.22,0.00,0.000,260,0.000,0.077,2694,2917,3960,3893,4028,0,0,0,0,0,0,27.08,26.78,27.08,8.30,19.12
$GC,868,-1.01,-389.3,2693,2917,3893,4028,87.1,-12.9,107,872,0.00,2.15,0.00,0.000,1030,0.000,0.065,2694,2048,3960,3893,4028,0,0,0,0,0,0,26.89,26.82,26.91,8.30,19.40
$GC,993,-1.01,-389.3,2694,2047,3893,4028,102.1,-12.7,119,997,0.00,2.25,0.00,0.000,516,0.000,0.082,2694,1181,3960,3893,4028,0,0,0,0,0,0,27.13,26.81,27.15,8.30,20.11
$GC,1050,-0.94,-389.3,2694,1181,3893,4028,108.9,-12.1,124,1059,0.00,2.15,0.00,0.000,1030,0.000,0.067,2695,2049,3960,3893,4028,0,0,0,0,0,0,26.94,26.88,26.96,8.30,20.03
$GC,1179,-0.94,-389.3,2694,2049,3893,4028,124.1,-11.5,137,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2049,3960,3893,4028,0,0,0,0,0,0,27.17,27.20,27.19,8.30,19.48
$GC,1299,-0.94,-389.3,2694,2049,3893,4028,138.4,-12.2,149,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2049,3960,3893,4028,0,0,0,0,0,0,27.21,27.22,27.22,8.30,19.52
$STATE,1388,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1388,begin apogee
$GC,1392,-0.40,0.0,2694,2049,3893,4028,148.3,-10.7,158,1660,0.60,0.00,259.48,1.006,10246,0.146,0.000,2893,2049,2702,2591,2814,0,0,0,0,0,0,26.81,25.02,24.53,8.30,19.44
$STATE,1662,end apogee,CONTROL_FINISHED_OK
$STATE,1662,begin climb
$GC,1663,1.32,389.3,2893,2049,2590,2814,158.2,0.0,185,1951,1.65,0.00,278.92,0.946,10502,0.127,0.000,3432,2049,1360,1240,1480,0,0,0,0,0,0,25.29,24.82,24.29,8.21,19.20
$GC,2070,1.21,389.3,3432,2048,1240,1481,117.2,14.4,226,2079,0.00,2.38,0.00,0.000,516,0.000,0.084,3441,1182,1360,1240,1481,0,0,0,0,0,0,26.01,25.73,26.03,8.09,18.77
$GC,2111,1.10,389.3,3441,1182,1240,1480,111.2,14.7,230,2122,0.20,2.25,0.00,0.000,5126,0.164,0.065,3378,2049,1360,1240,1480,0,0,0,0,0,0,25.79,25.90,25.90,8.09,18.97
$GC,2241,1.04,389.3,3379,2049,1240,1481,95.9,11.1,243,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2049,1360,1240,1481,0,0,0,0,0,0,26.43,26.44,26.44,8.09,19.40
$GC,2361,0.97,389.3,3379,2049,1240,1481,83.2,10.9,255,2363,0.12,0.00,0.00,0.000,4102,0.174,0.000,3339,2049,1360,1240,1480,0,0,0,0,0,0,26.25,26.39,26.35,8.08,19.83
$GC,2481,0.97,389.3,3338,2049,1240,1481,71.5,9.8,267,2485,0.00,2.30,0.00,0.000,516,0.000,0.084,3346,1185,1360,1240,1480,0,0,0,0,0,0,26.73,26.42,26.74,8.08,19.44
$GC,2547,0.97,389.3,3345,1185,1240,1481,64.8,9.8,273,2551,0.00,2.17,0.00,0.000,1030,0.000,0.067,3346,2045,1360,1240,1481,0,0,0,0,0,0,26.59,26.53,26.60,8.08,19.52
$GC,2672,0.97,389.3,3345,2045,1240,1480,52.2,10.5,285,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2045,1360,1240,1480,0,0,0,0,0,0,26.88,26.89,26.89,8.08,19.91
$GC,2792,0.97,389.3,3345,2045,1240,1481,40.8,9.3,297,2796,0.00,2.28,0.00,0.000,516,0.000,0.084,3354,1184,1360,1240,1480,0,0,0,0,0,0,26.95,26.64,26.96,8.07,19.75
$GC,2848,0.97,389.3,3353,1183,1240,1480,35.0,10.2,302,2852,0.00,2.17,0.00,0.000,1030,0.000,0.067,3353,2049,1360,1240,1480,0,0,0,0,0,0,26.78,26.72,26.80,8.07,19.95
$GC,2973,0.97,389.3,3353,2050,1240,1480,20.4,11.3,314,2977,0.00,2.28,0.00,0.000,516,0.000,0.084,3358,1184,1360,1240,1481,0,0,0,0,0,0,27.03,26.72,27.04,8.07,19.71
$GC,3030,0.97,389.3,3358,1184,1240,1480,14.3,10.8,323,3037,0.00,2.17,0.00,0.000,1030,0.000,0.065,3358,2053,1360,1240,1481,0,0,0,0,0,0,26.86,26.79,26.87,8.07,20.03
$GC,3099,0.97,389.3,3358,2054,1240,1480,7.1,11.2,336,3106,0.00,2.20,0.00,0.000,260,0.000,0.077,3358,2914,1360,1240,1480,0,0,0,0,0,0,27.08,26.78,27.08,8.07,19.64
$STATE,3146,end climb,SURFACE_DEPTH_REACHED
$STATE,3147,begin surface coast
$FINISH,0.6,1.009413
$STATE,3163,end surface coast,CONTROL_FINISHED_OK
$STATE,3163,begin surface
$SM_CCo,3180,8.57,0.817,0,0,1326,400.02
$SM_GC,2.12,8.43,2.17,8.57,0.077,0.062,0.817,199,2045,1326,-8.75,1.69,400.02,0,0,1,0,0,0,26.80,26.84,25.93
$IRIDIUM_FIX,4744.97,-12226.80,100419,044221
$TT8_MAMPS,0.021721,0.167776
$HUMID,19.75
$INTERNAL_PRESSURE,8.0187
$TCM_TEMP,9.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,18.8
$ALTIM_BOTTOM_PING,80.7,82.4
$24V_AH,24.29,5.359
$10V_AH,10.45,4.561
$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,20.825,40.050,538.400,8.575,230.675,0.000,0.000,0.000,0.750,0.000,17.329,791.331,1125.189,721.163,607.117,26.577,33.414,1127.862,0.000,588.820,0.000,7.289,0.000
$DEVICE_MAMPS,263.198,84.422,1005.615,816.907,151.463,0.000,0.000,0.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.063,449.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312708
$DATA_FILE_SIZE,20902,348
$CAP_FILE_SIZE,71414,0
$CFSIZE,2046525440,2041806848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,252.39,0x236d42,0,24
$GPS,100419,054431,4742.289,-12225.897,5,0.8,33,16.3,0.0,0.0,10,5.8