version: 66.14
glider: 46
mission: 3
dive: 16
start: 4 10 119 5 59 7
data:
$ID,46
$MISSION,3
$DIVE,16
$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,80
$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,200
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,100419,055400,4742.3066,-12225.9062,5,0.8,11,16.3,0.0,0.0,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-50.1
$GPS2,100419,055803,4742.3213,-12225.9092,9,0.8,15,16.3,0.0,0.0,10,9.5
$SPEED_LIMITS,0.130,0.267
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.028345,0.265972
$KALMAN_X,7413.553711,1235.467041,94.027443,-10953.522461,761.604492
$KALMAN_Y,-1537.683838,-2121.657715,-814.565674,2559.235840,162.715820
$MHEAD_RNG_PITCHd_Wd,7.2,4400,-11.8,-7.500,-15.66,3954
$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,-1.18,-194.6,199,2044,1220,1429,0.0,0.0,0,192,0.00,0.00,-182.05,0.144,16386,0.000,0.000,199,2044,3065,2969,3161,0,0,0,0,0,0,26.93,28.83,26.94,8.06,20.07
$GC,194,-1.18,-194.6,198,2044,2969,3161,3.2,-2.9,30,233,9.65,2.28,-20.65,0.164,18692,0.261,0.074,2628,2914,3373,3258,3489,0,0,0,0,0,0,26.15,26.32,26.24,8.22,19.71
$GC,555,-1.05,-194.6,2628,2914,3258,3490,38.3,-7.9,79,565,0.20,2.15,0.00,0.000,3078,0.179,0.065,2689,2048,3373,3258,3489,0,0,0,0,0,0,26.53,26.70,26.67,8.25,19.60
$GC,685,-0.98,-194.6,2688,2048,3258,3489,46.6,-5.4,92,695,0.00,2.25,0.00,0.000,516,0.000,0.082,2689,1186,3373,3258,3489,0,0,0,0,0,0,27.03,26.71,27.04,8.24,19.16
$GC,869,-0.87,-194.6,2688,1185,3258,3489,59.5,-6.3,110,878,0.17,2.17,0.00,0.000,3078,0.164,0.065,2738,2046,3373,3258,3488,0,0,0,0,0,0,26.67,26.84,26.77,8.24,19.40
$GC,996,-0.87,-194.6,2737,2046,3257,3489,66.0,-6.2,123,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2046,3373,3258,3488,0,0,0,0,0,0,27.14,27.16,27.15,8.24,19.44
$GC,1117,-0.87,-194.6,2737,2046,3258,3488,72.4,-5.6,135,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2046,3373,3258,3489,0,0,0,0,0,0,27.17,27.18,27.18,8.24,19.95
$GC,1236,-0.87,-194.6,2737,2046,3258,3488,79.8,-7.1,147,1241,0.00,2.25,0.00,0.000,516,0.000,0.084,2738,1182,3373,3258,3488,0,0,0,0,0,0,27.20,26.88,27.21,8.24,19.60
$GC,1305,-0.87,-194.6,2737,1182,3258,3488,85.3,-8.3,153,1309,0.00,2.15,0.00,0.000,1030,0.000,0.067,2738,2049,3373,3258,3488,0,0,0,0,0,0,27.01,26.94,27.01,8.24,19.60
$GC,1430,-0.87,-194.6,2737,2049,3258,3488,94.2,-6.4,165,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2049,3373,3258,3488,0,0,0,0,0,0,27.23,27.24,27.24,8.24,19.44
$GC,1550,-0.87,-194.6,2737,2049,3258,3487,103.1,-7.9,177,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2049,3373,3258,3488,0,0,0,0,0,0,27.25,27.27,27.27,8.24,19.64
$GC,1670,-0.87,-194.6,2737,2049,3258,3488,111.4,-6.7,189,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2050,3373,3258,3488,0,0,0,0,0,0,27.27,27.29,27.28,8.24,19.48
$GC,1790,-0.87,-194.6,2737,2049,3258,3488,119.9,-7.4,201,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2049,3373,3258,3488,0,0,0,0,0,0,27.28,27.30,27.30,8.24,19.79
$GC,1910,-0.87,-194.6,2737,2049,3258,3487,128.2,-7.1,213,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2049,3372,3258,3487,0,0,0,0,0,0,27.29,27.32,27.32,8.24,19.75
$GC,2030,-0.87,-194.6,2737,2049,3258,3487,136.9,-7.6,225,2034,0.00,2.22,0.00,0.000,516,0.000,0.082,2738,1185,3373,3258,3488,0,0,0,0,0,0,27.32,26.98,27.32,8.23,20.07
$GC,2086,-0.87,-194.6,2737,1185,3258,3487,141.3,-8.0,230,2090,0.00,2.12,0.00,0.000,1030,0.000,0.065,2733,2046,3372,3258,3487,0,0,0,0,0,0,27.11,27.05,27.13,8.23,20.23
$STATE,2190,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2190,begin apogee
$GC,2193,-0.40,0.0,2732,2046,3258,3487,149.1,-7.5,240,2341,0.50,0.00,139.07,1.025,10246,0.151,0.000,2895,2046,2701,2589,2814,0,0,0,0,0,0,26.90,25.28,24.68,8.24,19.79
$STATE,2342,end apogee,CONTROL_FINISHED_OK
$STATE,2342,begin climb
$GC,2343,1.18,194.6,2895,2046,2589,2813,154.2,0.0,255,2493,1.48,2.42,139.38,0.981,10756,0.124,0.084,3391,1185,2032,1921,2144,0,0,0,0,0,0,25.44,24.94,24.51,8.19,19.52
$GC,2529,1.10,194.6,3391,1185,1921,2144,142.6,8.8,273,2536,0.00,2.25,0.00,0.000,1030,0.000,0.065,3391,2045,2032,1921,2144,0,0,0,0,0,0,25.71,25.65,25.72,8.14,19.01
$GC,2656,1.03,194.6,3391,2044,1921,2144,130.5,9.3,286,2658,0.12,0.00,0.00,0.000,4102,0.169,0.000,3354,2045,2032,1921,2144,0,0,0,0,0,0,26.01,26.15,26.13,8.14,19.04
$GC,2776,1.03,194.6,3353,2045,1921,2144,121.1,7.6,298,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2045,2032,1921,2144,0,0,0,0,0,0,26.58,26.59,26.59,8.13,20.03
$GC,2896,1.03,194.6,3353,2045,1921,2144,111.0,7.9,310,2900,0.00,2.30,0.00,0.000,516,0.000,0.082,3361,1182,2032,1921,2144,0,0,0,0,0,0,26.72,26.42,26.73,8.13,19.52
$GC,2982,0.97,194.6,3360,1183,1921,2144,103.4,8.4,318,2991,0.00,2.17,0.00,0.000,1030,0.000,0.065,3361,2047,2032,1921,2144,0,0,0,0,0,0,26.61,26.55,26.63,8.13,19.87
$GC,3112,0.91,194.6,3360,2047,1921,2144,92.2,9.2,331,3114,0.15,0.00,0.00,0.000,4102,0.166,0.000,3315,2047,2032,1920,2144,0,0,0,0,0,0,26.51,26.67,26.63,8.13,19.60
$GC,3232,0.91,194.6,3315,2047,1921,2144,84.2,6.2,343,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2047,2032,1921,2144,0,0,0,0,0,0,26.96,26.98,26.98,8.12,19.87
$GC,3352,0.91,194.6,3315,2047,1921,2144,77.6,5.4,355,3361,0.00,2.28,0.00,0.000,516,0.000,0.084,3318,1184,2032,1921,2144,0,0,0,0,0,0,27.02,26.70,27.03,8.12,20.03
$GC,3446,0.91,194.6,3318,1184,1921,2144,71.4,6.4,364,3454,0.00,2.17,0.00,0.000,1030,0.000,0.065,3319,2042,2032,1921,2144,0,0,0,0,0,0,26.84,26.84,26.85,8.13,19.79
$GC,3573,0.91,194.6,3317,2042,1921,2144,61.9,7.2,377,3577,0.00,2.25,0.00,0.000,516,0.000,0.084,3322,1185,2032,1921,2144,0,0,0,0,0,0,27.10,26.78,27.11,8.13,19.95
$GC,3669,0.91,194.6,3321,1185,1920,2144,55.4,7.0,386,3673,0.00,2.17,0.00,0.000,1030,0.000,0.067,3322,2057,2032,1921,2144,0,0,0,0,0,0,26.93,26.86,26.94,8.13,19.83
$GC,3800,0.91,194.6,3321,2057,1921,2144,46.1,7.5,399,3804,0.00,2.28,0.00,0.000,516,0.000,0.082,3330,1186,2032,1921,2144,0,0,0,0,0,0,27.16,26.84,27.17,8.12,20.50
$GC,3939,0.91,194.6,3330,1186,1921,2144,33.6,9.4,412,3946,0.00,2.15,0.00,0.000,1030,0.000,0.065,3330,2051,2032,1921,2144,0,0,0,0,0,0,26.99,26.93,27.01,8.12,19.95
$GC,4066,0.91,194.6,3330,2050,1920,2144,22.6,8.0,425,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2051,2032,1921,2144,0,0,0,0,0,0,27.22,27.23,27.23,8.11,19.64
$GC,4188,0.91,194.6,3329,2051,1921,2144,12.9,9.0,445,4195,0.00,2.20,0.00,0.000,260,0.000,0.077,3330,2917,2032,1920,2144,0,0,0,0,0,0,27.24,26.94,27.24,8.11,19.79
$GC,4261,0.91,194.6,3330,2917,1920,2144,7.8,6.5,459,4268,0.00,2.15,0.00,0.000,1030,0.000,0.065,3338,2048,2032,1921,2144,0,0,0,0,0,0,27.04,26.98,27.06,8.12,19.95
$GC,4330,0.91,194.6,3337,2048,1920,2144,2.6,7.2,472,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2048,2032,1921,2144,0,0,0,0,0,0,27.25,27.27,27.27,8.11,19.75
$STATE,4341,end climb,SURFACE_DEPTH_REACHED
$STATE,4341,begin surface coast
$FINISH,0.8,1.001842
$STATE,4368,end surface coast,CONTROL_FINISHED_OK
$STATE,4368,begin surface
$SM_CCo,4383,145.57,0.914,0,0,1325,400.02
$SM_GC,1.65,8.38,0.00,145.57,0.079,0.000,0.914,193,2048,1325,-8.77,0.05,400.02,0,0,0,0,0,0,26.96,27.27,24.77
$IRIDIUM_FIX,4743.02,-12222.38,100419,055056
$TT8_MAMPS,0.021721,0.170772
$HUMID,19.56
$INTERNAL_PRESSURE,8.02846
$TCM_TEMP,8.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,18.8
$ALTIM_BOTTOM_PING,81.2,82.7
$24V_AH,24.51,5.505
$10V_AH,10.41,4.597
$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,20.650,44.400,278.450,145.575,202.700,0.000,0.000,0.000,1.000,0.000,16.140,1236.054,1824.752,612.030,900.379,35.112,33.425,1139.117,0.000,877.552,0.000,7.291,0.000
$DEVICE_MAMPS,260.715,84.422,1025.479,913.744,163.878,0.000,0.000,0.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.769,622.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312712
$DATA_FILE_SIZE,31332,479
$CAP_FILE_SIZE,82572,0
$CFSIZE,2046525440,2041708544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,87.07,0x236d44,0,24
$GPS,100419,071536,4743.024,-12225.630,6,1.4,21,16.3,0.0,344.0,8,10.0