version: 66.14
glider: 46
mission: 3
dive: 21
start: 4 10 119 12 31 2
data:
$ID,46
$MISSION,3
$DIVE,21
$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,37
$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
$GPS1,100419,122323,4743.4766,-12224.5654,5,1.0,17,16.3,0.0,0.0,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-54.5
$GPS2,100419,122323,4743.4766,-12224.5654,5,1.0,17,16.3,0.0,0.0,8,9.8
$SPEED_LIMITS,0.130,0.267
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.250245,-0.094455
$KALMAN_X,12687.271484,66.834656,92.432327,-13376.240234,1242.765381
$KALMAN_Y,-2443.828613,-2053.883789,48.063202,4680.782227,-22.333740
$MHEAD_RNG_PITCHd_Wd,158.4,886,-19.0,-7.500,-22.11,1706
$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,-1.62,-83.6,186,2041,1231,1420,0.0,0.0,0,166,0.00,0.00,-156.02,0.144,16386,0.000,0.000,186,2041,2880,2785,2975,0,0,0,0,0,0,26.56,28.83,26.57,8.05,20.11
$GC,168,-1.62,-83.6,186,2041,2785,2975,3.0,-2.6,26,195,9.27,2.28,-8.48,0.194,18692,0.263,0.074,2488,2914,2991,2877,3106,0,0,0,0,0,0,25.96,26.17,26.06,8.20,18.93
$GC,555,-1.47,-83.6,2488,2914,2877,3106,33.2,-8.5,87,563,0.22,2.15,0.00,0.000,3078,0.196,0.062,2553,2048,2991,2877,3106,0,0,0,0,0,0,26.42,26.63,26.59,8.21,19.83
$GC,682,-1.38,-83.6,2552,2048,2877,3106,42.6,-6.3,100,684,0.10,0.00,0.00,0.000,2054,0.219,0.000,2580,2048,2991,2877,3106,0,0,0,0,0,0,26.54,26.72,26.67,8.21,19.20
$GC,802,-1.31,-83.6,2579,2048,2876,3106,50.2,-6.9,112,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2049,2991,2876,3106,0,0,0,0,0,0,27.01,27.03,27.02,8.20,19.24
$GC,922,-1.24,-83.6,2580,2048,2876,3106,57.2,-4.9,124,932,0.12,2.25,0.00,0.000,2564,0.204,0.079,2622,1185,2991,2876,3106,0,0,0,0,0,0,26.63,26.74,26.72,8.20,19.56
$GC,1296,-1.18,-83.6,2621,1185,2876,3105,77.6,-7.3,161,1306,0.08,2.12,0.00,0.000,3078,0.223,0.065,2637,2051,2990,2876,3105,0,0,0,0,0,0,26.73,26.91,26.82,8.20,19.60
$GC,1424,-1.18,-83.6,2636,2051,2876,3105,85.6,-5.0,174,1428,0.00,2.25,0.00,0.000,516,0.000,0.082,2638,1185,2990,2876,3105,0,0,0,0,0,0,27.18,26.87,27.20,8.19,19.52
$GC,1617,-1.18,-83.6,2637,1185,2876,3105,94.6,-4.8,193,1626,0.00,2.12,0.00,0.000,1030,0.000,0.065,2630,2037,2990,2876,3105,0,0,0,0,0,0,26.99,26.97,27.01,8.20,20.11
$GC,1745,-1.18,-83.6,2629,2037,2876,3104,100.9,-4.8,206,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2038,2990,2876,3105,0,0,0,0,0,0,27.24,27.25,27.25,8.20,19.79
$GC,1865,-1.18,-83.6,2629,2037,2876,3104,106.2,-4.5,218,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2037,2990,2876,3105,0,0,0,0,0,0,27.26,27.27,27.27,8.19,19.56
$GC,1985,-1.18,-83.6,2629,2038,2876,3105,111.1,-3.6,230,1989,0.00,2.20,0.00,0.000,516,0.000,0.082,2629,1186,2990,2876,3104,0,0,0,0,0,0,27.27,26.96,27.29,8.19,19.71
$GC,2141,-1.29,-167.2,2629,1186,2876,3105,115.1,-2.5,245,2145,0.00,2.12,0.00,0.000,1030,0.000,0.065,2619,2049,2990,2876,3105,0,0,0,0,0,0,27.09,27.03,27.11,8.20,19.52
$GC,2266,-1.29,-167.2,2619,2049,2876,3104,118.6,-4.0,257,2270,0.00,2.17,0.00,0.000,260,0.000,0.074,2610,2914,2990,2876,3104,0,0,0,0,0,0,27.30,27.01,27.32,8.19,19.60
$GC,2395,-1.29,-167.2,2609,2914,2876,3104,125.6,-6.8,269,2403,0.00,2.15,0.00,0.000,1030,0.000,0.062,2610,2046,2990,2876,3105,0,0,0,0,0,0,27.08,27.05,27.10,8.19,19.56
$GC,2522,-1.29,-167.2,2609,2045,2876,3104,134.0,-7.0,282,2526,0.00,2.20,0.00,0.000,516,0.000,0.082,2609,1187,2990,2876,3104,0,0,0,0,0,0,27.32,27.01,27.34,8.19,19.71
$GC,2599,-1.22,-167.2,2609,1186,2876,3104,138.6,-5.9,289,2608,0.10,2.10,0.00,0.000,3078,0.211,0.065,2627,2048,2990,2876,3104,0,0,0,0,0,0,26.88,27.08,27.04,8.19,19.75
$STATE,2707,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2707,begin apogee
$GC,2710,-0.40,0.0,2626,2048,2876,3104,145.6,-6.0,300,2779,0.85,0.00,60.20,1.058,10246,0.166,0.000,2898,2048,2703,2588,2818,0,0,0,0,0,0,26.89,25.78,25.14,8.19,19.75
$STATE,2780,end apogee,CONTROL_FINISHED_OK
$STATE,2780,begin climb
$GC,2781,1.73,167.2,2898,2048,2588,2818,147.1,0.0,307,2911,1.98,2.42,120.55,0.996,10756,0.124,0.084,3573,1188,2125,2017,2233,0,0,0,0,0,0,25.86,25.19,24.60,8.17,19.99
$GC,2974,1.62,167.2,3573,1187,2017,2235,126.2,14.9,326,2983,0.00,2.20,0.00,0.000,1030,0.000,0.062,3573,2045,2125,2018,2233,0,0,0,0,0,0,25.91,25.85,25.92,8.14,18.81
$GC,3104,1.52,167.2,3573,2044,2018,2234,105.0,15.8,339,3106,0.20,0.00,0.00,0.000,4102,0.186,0.000,3517,2044,2126,2018,2234,0,0,0,0,0,0,26.06,26.24,26.20,8.13,18.97
$GC,3224,1.47,167.2,3516,2044,2018,2234,89.3,13.4,351,3233,0.00,2.28,0.00,0.000,516,0.000,0.082,3525,1186,2125,2017,2234,0,0,0,0,0,0,26.64,26.34,26.65,8.12,20.07
$GC,3338,1.41,167.2,3525,1186,2017,2234,72.9,15.1,362,3346,0.17,2.17,0.00,0.000,5126,0.186,0.065,3474,2051,2126,2018,2234,0,0,0,0,0,0,26.35,26.51,26.49,8.12,19.48
$GC,3465,1.41,167.2,3473,2051,2017,2234,56.7,11.5,375,3469,0.00,2.28,0.00,0.000,516,0.000,0.082,3482,1188,2125,2017,2234,0,0,0,0,0,0,26.86,26.54,26.87,8.12,19.28
$GC,3634,1.41,167.2,3481,1187,2018,2234,37.0,11.3,391,3641,0.00,2.17,0.00,0.000,1030,0.000,0.065,3482,2046,2125,2017,2234,0,0,0,0,0,0,26.74,26.71,26.75,8.12,20.11
$GC,3761,1.41,167.2,3482,2046,2017,2234,21.8,11.7,404,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,2046,2125,2017,2234,0,0,0,0,0,0,27.01,27.03,27.03,8.12,19.79
$GC,3882,1.41,167.2,3482,2046,2017,2234,7.9,9.2,426,3889,0.00,2.22,0.00,0.000,260,0.000,0.074,3482,2919,2125,2017,2234,0,0,0,0,0,0,27.06,26.77,27.07,8.12,19.64
$STATE,3950,end climb,SURFACE_DEPTH_REACHED
$STATE,3950,begin surface coast
$FINISH,0.7,1.021974
$STATE,3967,end surface coast,CONTROL_FINISHED_OK
$STATE,3967,begin surface
$SM_CCo,3984,165.05,0.924,0,0,1324,400.02
$SM_GC,1.81,8.80,2.20,165.05,0.079,0.062,0.924,202,2044,1324,-8.76,1.46,400.02,0,0,1,0,0,0,26.78,26.83,24.68
$IRIDIUM_FIX,4742.66,-12229.50,100419,110634
$TT8_MAMPS,0.020972,0.170772
$HUMID,19.04
$INTERNAL_PRESSURE,8.02846
$TCM_TEMP,8.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,19.1
$ALTIM_BOTTOM_PING,80.5,82.9
$24V_AH,24.60,6.198
$10V_AH,10.42,4.755
$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,21.900,44.075,180.750,165.050,164.500,24.110,36.642,259.808,1.000,0.000,14.356,1191.505,1578.848,522.217,1233.224,43.987,33.420,1026.672,0.000,882.892,0.000,8.071,0.000
$DEVICE_MAMPS,263.198,84.422,1057.758,923.676,193.674,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.896,574.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312716
$DATA_FILE_SIZE,27896,442
$CAP_FILE_SIZE,69944,0
$CFSIZE,2046525440,2041217024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,100419,134131,4742.935,-12224.465,5,0.8,40,16.3,0.2,125.0,11,7.3