version: 66.14
glider: 46
mission: 3
dive: 22
start: 4 10 119 13 49 9
data:
$ID,46
$MISSION,3
$DIVE,22
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,34
$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,100
$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
$GPS1,100419,134131,4742.9351,-12224.4648,5,0.8,40,16.3,0.2,125.0,11,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-53.0
$GPS2,100419,134131,4742.9351,-12224.4648,5,0.8,40,16.3,0.2,125.0,11,7.3
$SPEED_LIMITS,0.100,0.216
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.060638,0.207556
$KALMAN_X,14213.811523,-637.805969,591.471436,-14577.124023,778.940186
$KALMAN_Y,-3625.118164,-458.348846,-905.693787,4225.470215,79.293762
$MHEAD_RNG_PITCHd_Wd,342.8,2898,-22.3,-10.000,-24.82,1493
$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,-1.91,-97.3,201,2043,1235,1415,0.0,0.0,0,183,0.00,0.00,-172.35,0.144,16390,0.000,0.000,201,2043,3039,2942,3136,0,0,0,0,0,0,26.55,26.21,26.08,8.05,19.64
$GC,186,-1.91,-97.3,201,2043,2942,3136,3.6,-3.3,29,200,8.90,2.33,0.00,0.000,2564,0.263,0.077,2410,1184,3040,2939,3141,0,0,0,0,0,0,25.95,26.15,26.15,8.22,18.45
$GC,563,-1.74,-97.3,2410,1184,2935,3144,46.4,-11.0,81,573,0.22,2.17,0.00,0.000,3078,0.211,0.065,2464,2051,3039,2935,3143,0,0,0,0,0,0,26.41,26.63,26.58,8.20,19.64
$GC,693,-1.65,-97.3,2463,2051,2935,3144,57.9,-8.1,94,695,0.10,0.00,0.00,0.000,2054,0.223,0.000,2491,2051,3039,2935,3143,0,0,0,0,0,0,26.53,26.71,26.67,8.21,19.20
$GC,813,-1.58,-97.3,2491,2051,2935,3143,66.5,-7.1,106,822,0.00,2.25,0.00,0.000,516,0.000,0.079,2491,1186,3039,2935,3143,0,0,0,0,0,0,27.01,26.70,27.02,8.20,19.28
$GC,917,-1.48,-97.3,2491,1186,2935,3143,76.5,-8.7,116,925,0.22,2.12,0.00,0.000,3078,0.201,0.062,2548,2048,3038,2933,3143,0,0,0,0,0,0,26.58,26.79,26.75,8.20,19.28
$GC,1044,-1.48,-97.3,2547,2048,2935,3143,87.4,-8.2,129,1048,0.00,2.20,0.00,0.000,260,0.000,0.074,2539,2913,3039,2935,3143,0,0,0,0,0,0,27.09,26.79,27.10,8.20,19.24
$GC,1110,-1.48,-97.3,2539,2913,2934,3143,91.8,-6.8,135,1114,0.00,2.12,0.00,0.000,1030,0.000,0.062,2539,2050,3039,2935,3143,0,0,0,0,0,0,26.91,26.84,26.92,8.20,19.24
$GC,1238,-1.48,-97.3,2539,2050,2934,3143,100.9,-7.9,147,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2050,3038,2933,3143,0,0,0,0,0,0,27.10,27.11,27.11,8.20,19.40
$GC,1365,-1.48,-97.3,2538,2049,2934,3143,113.2,-10.7,160,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2049,3038,2934,3143,0,0,0,0,0,0,27.17,27.19,27.18,8.20,19.32
$GC,1485,-1.48,-97.3,2539,2049,2934,3143,125.3,-10.0,172,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2050,3038,2934,3143,0,0,0,0,0,0,27.19,27.21,27.20,8.20,19.60
$GC,1605,-1.48,-97.3,2538,2049,2935,3143,134.9,-8.3,184,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2049,3038,2934,3143,0,0,0,0,0,0,27.22,27.23,27.22,8.20,19.99
$GC,1725,-1.48,-97.3,2539,2050,2934,3143,141.3,-3.8,196,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2049,3038,2934,3143,0,0,0,0,0,0,27.24,27.25,27.24,8.19,19.52
$GC,1845,-1.48,-97.3,2539,2049,2934,3144,146.3,-4.3,208,1855,0.00,2.25,0.00,0.000,516,0.000,0.082,2539,1178,3038,2933,3143,0,0,0,0,0,0,27.25,26.94,27.27,8.19,19.56
$GC,1990,-1.43,-97.3,2539,1178,2934,3143,155.0,-6.6,222,1998,0.12,2.15,0.00,0.000,3078,0.206,0.065,2563,2051,3038,2934,3143,0,0,0,0,0,0,26.81,27.01,26.98,8.19,19.60
$GC,2117,-1.43,-97.3,2562,2051,2934,3143,165.0,-8.6,235,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2051,3038,2933,3143,0,0,0,0,0,0,27.29,27.30,27.29,8.19,19.64
$GC,2237,-1.43,-97.3,2562,2051,2934,3143,174.6,-7.3,247,2241,0.00,2.17,0.00,0.000,260,0.000,0.074,2555,2914,3038,2934,3143,0,0,0,0,0,0,27.30,27.00,27.32,8.17,19.48
$STATE,2262,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2262,begin apogee
$GC,2268,-0.40,0.0,2554,2040,2934,3143,176.9,-7.9,249,2344,1.08,0.00,69.78,1.102,10246,0.179,0.000,2892,2039,2701,2588,2815,0,0,0,0,0,0,26.83,25.58,24.94,8.19,19.56
$STATE,2345,end apogee,CONTROL_FINISHED_OK
$STATE,2345,begin climb
$GC,2346,1.91,97.3,2892,2039,2588,2815,179.0,0.0,257,2427,2.17,2.38,71.07,1.028,10756,0.127,0.082,3629,1187,2366,2261,2471,0,0,0,0,0,0,25.67,25.22,24.60,8.17,19.36
$GC,2535,1.80,97.3,3628,1187,2261,2472,155.7,15.7,276,2544,0.00,2.20,0.00,0.000,1030,0.000,0.065,3628,2044,2366,2261,2472,0,0,0,0,0,0,26.10,26.04,26.11,8.16,19.56
$GC,2665,1.70,97.3,3628,2044,2261,2472,136.6,14.8,289,2667,0.20,0.00,0.00,0.000,4102,0.199,0.000,3574,2044,2366,2260,2472,0,0,0,0,0,0,26.13,26.33,26.29,8.15,18.97
$GC,2784,1.70,97.3,3573,2044,2261,2472,118.2,14.5,301,2788,0.00,2.28,0.00,0.000,516,0.000,0.082,3583,1185,2366,2260,2472,0,0,0,0,0,0,26.71,26.41,26.72,8.15,19.48
$GC,2893,1.64,97.3,3582,1185,2261,2472,102.8,15.0,311,2902,0.10,2.17,0.00,0.000,5126,0.199,0.065,3555,2052,2366,2261,2472,0,0,0,0,0,0,26.39,26.55,26.53,8.14,19.48
$GC,3020,1.64,97.3,3554,2052,2261,2472,84.9,14.1,324,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2052,2366,2260,2472,0,0,0,0,0,0,26.89,26.91,26.91,8.15,19.48
$GC,3140,1.64,97.3,3555,2051,2261,2472,69.5,12.5,336,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2052,2366,2260,2472,0,0,0,0,0,0,26.96,26.98,26.98,8.15,20.19
$GC,3260,1.64,97.3,3555,2052,2260,2472,55.0,12.1,348,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2052,2366,2260,2472,0,0,0,0,0,0,27.01,27.03,27.03,8.14,19.60
$GC,3381,1.64,97.3,3555,2052,2261,2472,39.9,12.6,360,3390,0.00,2.28,0.00,0.000,516,0.000,0.082,3564,1182,2366,2260,2472,0,0,0,0,0,0,27.06,26.74,27.08,8.14,19.87
$GC,3434,1.64,97.3,3563,1183,2260,2472,33.1,13.0,365,3442,0.00,2.17,0.00,0.000,1030,0.000,0.065,3564,2043,2366,2261,2472,0,0,0,0,0,0,26.86,26.82,26.87,8.14,19.40
$GC,3562,1.64,97.3,3562,2043,2260,2471,16.4,11.3,381,3569,0.00,2.25,0.00,0.000,516,0.000,0.082,3574,1182,2366,2260,2472,0,0,0,0,0,0,27.11,26.79,27.13,8.14,19.52
$STATE,3700,end climb,SURFACE_DEPTH_REACHED
$STATE,3700,begin surface coast
$FINISH,0.7,1.022644
$STATE,3721,end surface coast,CONTROL_FINISHED_OK
$STATE,3721,begin surface
$SM_CCo,3739,213.73,0.936,0,0,1325,400.02
$SM_GC,1.51,9.02,2.20,213.73,0.079,0.065,0.936,205,2059,1325,-8.75,-1.37,400.02,0,0,1,0,0,0,26.85,26.89,24.62
$IRIDIUM_FIX,4742.17,-12225.08,100419,122426
$TT8_MAMPS,0.021721,0.170023
$HUMID,19.08
$INTERNAL_PRESSURE,8.02846
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.7
$ALTIM_BOTTOM_PING,100.9,90.4
$24V_AH,24.60,6.322
$10V_AH,10.43,4.785
$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,22.150,39.875,140.850,213.725,172.350,22.474,41.945,251.127,0.750,0.000,14.354,1099.836,1592.373,544.041,1093.516,42.182,33.422,987.381,0.000,751.050,0.000,8.089,0.000
$DEVICE_MAMPS,263.198,81.939,1102.452,936.091,144.014,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,280.330,535.407,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312660
$DATA_FILE_SIZE,27955,412
$CAP_FILE_SIZE,67136,0
$CFSIZE,2046525440,2041118720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,100419,145619,4743.131,-12224.403,8,0.8,38,16.3,0.3,93.8,9,4.7