version: 66.14
glider: 46
mission: 3
dive: 23
start: 4 10 119 15 4 6
data:
$ID,46
$MISSION,3
$DIVE,23
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,100419,145619,4743.1313,-12224.4033,8,0.8,38,16.3,0.3,93.8,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-48.5
$GPS2,100419,145619,4743.1313,-12224.4033,8,0.8,38,16.3,0.3,93.8,9,4.7
$SPEED_LIMITS,0.100,0.216
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.080243,0.200793
$KALMAN_X,14708.788086,-1094.825439,884.262024,-14824.153320,237.750122
$KALMAN_Y,-4613.280273,668.990417,-1399.055298,4944.882812,295.606018
$MHEAD_RNG_PITCHd_Wd,341.0,2537,-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,-97.3,204,2054,1233,1418,0.0,0.0,0,184,0.00,0.00,-173.20,0.144,16390,0.000,0.000,204,2054,3039,2942,3136,0,0,0,0,0,0,26.54,26.20,26.07,8.05,19.20
$GC,186,-1.91,-97.3,203,2054,2942,3135,3.5,-3.3,29,201,8.98,2.35,0.00,0.000,2564,0.268,0.077,2406,1187,3039,2938,3140,0,0,0,0,0,0,25.94,26.15,26.14,8.22,18.85
$GC,544,-1.75,-97.3,2406,1186,2935,3142,45.6,-10.8,77,554,0.22,2.12,0.00,0.000,3078,0.206,0.065,2462,2040,3038,2935,3142,0,0,0,0,0,0,26.39,26.61,26.57,8.21,18.89
$GC,674,-1.66,-97.3,2460,2040,2935,3143,57.6,-8.5,90,684,0.10,2.25,0.00,0.000,2564,0.231,0.079,2492,1182,3038,2935,3142,0,0,0,0,0,0,26.50,26.63,26.60,8.21,18.89
$GC,1046,-1.56,-97.3,2491,1182,2935,3143,89.9,-8.3,127,1056,0.12,2.15,0.00,0.000,3078,0.214,0.065,2518,2051,3038,2935,3142,0,0,0,0,0,0,26.63,26.84,26.79,8.20,19.12
$GC,1176,-1.56,-97.3,2517,2051,2935,3142,99.6,-7.2,140,1180,0.00,2.25,0.00,0.000,516,0.000,0.082,2518,1185,3038,2935,3142,0,0,0,0,0,0,27.12,26.82,27.13,8.20,19.32
$GC,1346,-1.50,-97.3,2518,1185,2934,3143,112.7,-7.8,156,1356,0.10,2.12,0.00,0.000,3078,0.221,0.065,2541,2046,3038,2935,3142,0,0,0,0,0,0,26.70,26.91,26.80,8.20,19.71
$GC,1475,-1.50,-97.3,2541,2046,2935,3142,123.4,-9.1,169,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2046,3038,2935,3142,0,0,0,0,0,0,27.19,27.20,27.20,8.20,19.48
$GC,1595,-1.50,-97.3,2541,2046,2934,3142,132.8,-7.9,181,1599,0.00,2.20,0.00,0.000,260,0.000,0.074,2533,2914,3038,2934,3142,0,0,0,0,0,0,27.22,26.92,27.22,8.20,19.40
$GC,1794,-1.50,-97.3,2533,2914,2934,3142,146.1,-5.0,200,1801,0.00,2.12,0.00,0.000,1030,0.000,0.062,2533,2044,3038,2934,3142,0,0,0,0,0,0,27.04,26.98,27.05,8.20,19.91
$GC,1921,-1.50,-97.3,2533,2045,2934,3142,155.2,-7.9,213,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2045,3038,2934,3142,0,0,0,0,0,0,27.26,27.27,27.27,8.20,19.16
$GC,2041,-1.50,-97.3,2532,2044,2934,3142,164.4,-7.6,225,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2044,3038,2934,3142,0,0,0,0,0,0,27.27,27.29,27.29,8.20,19.32
$STATE,2140,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2140,begin apogee
$GC,2143,-0.40,0.0,2533,2044,2934,3142,172.0,-7.3,235,2222,1.15,0.00,74.18,1.070,10246,0.179,0.000,2891,2044,2701,2588,2814,0,0,0,0,0,0,26.82,25.56,24.91,8.20,19.40
$STATE,2223,end apogee,CONTROL_FINISHED_OK
$STATE,2223,begin climb
$GC,2224,1.91,97.3,2891,2045,2588,2814,173.7,0.0,243,2305,2.20,2.40,71.32,0.996,10756,0.127,0.082,3632,1187,2365,2260,2471,0,0,0,0,0,0,25.63,25.22,24.61,8.17,19.48
$GC,2383,1.80,97.3,3631,1187,2260,2471,153.8,15.8,259,2392,0.00,2.20,0.00,0.000,1030,0.000,0.062,3632,2043,2365,2260,2471,0,0,0,0,0,0,26.00,25.94,26.01,8.16,19.60
$GC,2513,1.70,97.3,3631,2043,2261,2471,133.2,15.7,272,2515,0.22,0.00,0.00,0.000,4102,0.199,0.000,3570,2043,2366,2261,2472,0,0,0,0,0,0,26.09,26.28,26.25,8.15,18.89
$GC,2632,1.70,97.3,3569,2044,2261,2471,115.7,14.3,284,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2044,2365,2260,2471,0,0,0,0,0,0,26.67,26.69,26.69,8.15,19.32
$GC,2752,1.70,97.3,3569,2044,2260,2472,99.2,13.8,296,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2043,2365,2260,2471,0,0,0,0,0,0,26.79,26.81,26.80,8.15,19.64
$GC,2872,1.70,97.3,3569,2044,2261,2472,83.1,13.2,308,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2044,2365,2260,2471,0,0,0,0,0,0,26.88,26.89,26.89,8.14,20.19
$GC,2992,1.70,97.3,3569,2044,2260,2471,67.4,12.7,320,2996,0.00,2.25,0.00,0.000,516,0.000,0.082,3579,1187,2365,2260,2471,0,0,0,0,0,0,26.95,26.64,26.96,8.14,19.40
$GC,3342,1.65,97.3,3578,1187,2260,2471,22.9,12.7,354,3349,0.00,2.15,0.00,0.000,1030,0.000,0.065,3578,2051,2365,2260,2471,0,0,0,0,0,0,26.89,26.83,26.91,8.14,19.71
$GC,3470,1.65,97.3,3578,2051,2260,2471,6.8,11.3,377,3477,0.00,2.25,0.00,0.000,516,0.000,0.082,3589,1187,2365,2260,2471,0,0,0,0,0,0,27.13,26.81,27.13,8.14,19.64
$STATE,3513,end climb,SURFACE_DEPTH_REACHED
$STATE,3513,begin surface coast
$FINISH,0.7,1.001001
$STATE,3529,end surface coast,CONTROL_FINISHED_OK
$STATE,3529,begin surface
$SM_CCo,3547,213.95,0.921,0,0,1325,400.02
$SM_GC,1.67,9.07,2.17,213.95,0.079,0.065,0.921,199,2042,1325,-8.76,-1.50,400.02,0,0,1,0,0,0,26.83,26.87,24.63
$IRIDIUM_FIX,4746.19,-12146.74,100419,134237
$TT8_MAMPS,0.021721,0.170023
$HUMID,19.64
$INTERNAL_PRESSURE,8.02846
$TCM_TEMP,8.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.0,18.8
$ALTIM_BOTTOM_PING,100.8,86.1
$24V_AH,24.61,6.445
$10V_AH,10.41,4.815
$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,22.175,31.000,145.500,213.950,173.200,24.698,37.362,266.538,1.000,0.000,14.352,1049.142,1421.444,530.155,1148.740,40.216,33.428,978.746,0.000,793.096,0.000,8.077,0.000
$DEVICE_MAMPS,268.164,81.939,1070.173,921.193,144.014,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.954,504.308,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312684
$DATA_FILE_SIZE,24560,388
$CAP_FILE_SIZE,61935,0
$CFSIZE,2046525440,2041053184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,100419,160801,4743.379,-12224.254,7,0.9,35,16.3,0.4,73.7,10,5.6