version: 66.14
glider: 46
mission: 1
dive: 14
start: 8 3 118 6 50 26
data:
$ID,46
$MISSION,1
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$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,75
$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,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79651
$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,320
$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,3
$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,3505
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,65
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2221
$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,-14.008195
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,115
$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,161
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044181761
$SEABIRD_T_H,0.00064858171
$SEABIRD_T_I,2.6944237e-05
$SEABIRD_T_J,3.3790316e-06
$SEABIRD_C_G,-9.9767895
$SEABIRD_C_H,1.1543746
$SEABIRD_C_I,-0.0025079898
$SEABIRD_C_J,0.00027491429
$SEABIRD_C_Z,2946.22
$GPS1,030818,064219,4743.2656,-12224.8428,5,0.7,41,16.3,0.3,25.5,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.4
$GPS2,030818,064920,4743.3306,-12224.7979,9,0.7,14,16.3,0.4,19.7,12,9.0
$SPEED_LIMITS,0.114,0.220
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.110047,0.190148
$KALMAN_X,-38.080009,-153.420563,-300.146851,-319.744965,-360.812408
$KALMAN_Y,881.998108,-323.981262,-487.055267,-128.532196,-111.131653
$MHEAD_RNG_PITCHd_Wd,353.4,2197,-16.8,-8.000,-20.01,2232
$D_GRID,176
$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,-1.49,-117.3,205,2222,1029,1208,0.0,0.0,0,112,0.00,0.00,-102.75,0.149,16386,0.000,0.000,205,2223,2416,2387,2445,0,0,0,0,0,0,26.86,28.83,26.87,8.62,15.62
$GC,114,-1.49,-117.3,205,2222,2388,2445,3.7,-5.7,17,147,11.55,3.83,-9.50,0.189,19204,0.273,0.084,3004,3633,2627,2573,2681,0,0,0,0,0,0,26.22,26.39,26.32,8.76,15.30
$GC,199,-1.49,-117.3,3004,3633,2573,2682,16.8,-14.3,32,206,0.00,3.62,0.00,0.000,1030,0.000,0.065,3004,2217,2628,2574,2682,0,0,0,0,0,0,26.60,26.53,26.62,8.79,15.07
$GC,268,-1.49,-117.3,3004,2217,2570,2684,25.8,-13.3,41,278,0.00,3.78,0.00,0.000,516,0.000,0.092,3005,811,2627,2569,2685,0,0,0,0,0,0,26.89,26.54,26.90,8.79,14.99
$GC,580,-1.49,-117.3,3004,811,2567,2688,69.6,-13.9,72,591,0.12,3.58,0.00,0.000,3078,0.209,0.067,3028,2222,2627,2567,2688,0,0,0,0,0,0,26.70,26.84,26.79,8.78,14.75
$GC,710,-1.49,-117.3,3028,2222,2567,2688,83.5,-10.4,85,721,0.00,3.78,0.00,0.000,516,0.000,0.092,3028,806,2627,2567,2688,0,0,0,0,0,0,27.17,26.83,27.19,8.77,14.91
$GC,745,-1.49,-117.3,3028,806,2567,2689,87.1,-11.1,88,753,0.00,3.58,0.00,0.000,1030,0.000,0.067,3013,2221,2627,2567,2688,0,0,0,0,0,0,26.98,26.91,26.99,8.77,15.19
$GC,872,-1.49,-117.3,3013,2221,2567,2688,101.3,-11.0,101,883,0.00,3.70,0.00,0.000,260,0.000,0.084,2997,3632,2628,2567,2689,0,0,0,0,0,0,27.23,26.91,27.24,8.77,15.22
$GC,999,-1.49,-117.3,2996,3632,2567,2688,119.0,-15.3,113,1010,0.05,3.53,0.00,0.000,3078,0.209,0.062,3011,2217,2628,2568,2689,0,0,0,0,0,0,26.85,26.99,26.91,8.77,15.26
$GC,1128,-1.49,-117.3,3011,2217,2566,2690,135.0,-8.1,126,1139,0.00,3.70,0.00,0.000,516,0.000,0.092,3012,811,2627,2566,2689,0,0,0,0,0,0,27.29,26.94,27.31,8.77,15.19
$GC,1261,-1.49,-117.3,3011,812,2564,2690,152.4,-13.5,139,1272,0.08,3.53,0.00,0.000,3078,0.199,0.067,3020,2222,2627,2565,2690,0,0,0,0,0,0,26.89,27.04,26.99,8.77,15.11
$GC,1391,-1.49,-117.3,3019,2221,2565,2690,168.3,-12.5,152,1401,0.00,3.70,0.00,0.000,260,0.000,0.084,3008,3639,2627,2565,2690,0,0,0,0,0,0,27.34,27.03,27.36,8.76,15.82
$STATE,1442,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1442,begin apogee
$GC,1450,-0.40,0.0,3008,2049,2565,2689,174.6,-10.3,157,1544,1.12,0.00,84.47,0.760,10246,0.171,0.000,3368,2049,2222,2126,2318,0,0,0,0,0,0,26.93,25.91,25.39,8.76,15.15
$STATE,1545,end apogee,CONTROL_FINISHED_OK
$STATE,1545,begin climb
$GC,1546,1.49,117.3,3368,2049,2126,2318,180.7,0.0,167,1645,1.27,4.03,85.88,0.740,10756,0.119,0.104,3823,643,1816,1710,1922,0,0,0,0,0,0,25.96,25.39,25.04,8.73,14.79
$GC,1727,1.49,117.3,3824,642,1712,1922,172.3,5.5,185,1738,0.00,3.67,0.00,0.000,5126,0.000,0.065,3824,2058,1817,1712,1922,0,0,0,0,0,0,26.24,26.20,26.26,8.69,14.79
$GC,1857,1.49,117.3,3823,2058,1712,1922,166.2,3.7,198,1868,0.00,3.72,0.00,0.000,4356,0.000,0.082,3824,3461,1817,1712,1922,0,0,0,0,0,0,26.75,26.44,26.76,8.69,15.30
$GC,1921,1.49,117.3,3823,3461,1712,1921,162.8,5.6,204,1931,0.05,3.58,0.00,0.000,5126,0.216,0.065,3824,2059,1817,1713,1922,0,0,0,0,0,0,26.42,26.57,26.52,8.68,15.03
$GC,2050,1.49,117.3,3823,2059,1712,1922,157.2,4.2,217,2060,0.00,3.85,0.00,0.000,4612,0.000,0.099,3831,641,1817,1712,1922,0,0,0,0,0,0,26.98,26.62,26.98,8.69,15.19
$GC,2112,1.49,117.3,3831,641,1713,1922,155.1,4.2,223,2122,0.00,3.55,0.00,0.000,5126,0.000,0.065,3832,2050,1817,1713,1922,0,0,0,0,0,0,26.79,26.76,26.81,8.68,15.38
$GC,2242,1.49,117.3,3831,2050,1712,1922,148.9,3.9,236,2243,0.00,0.00,0.00,0.000,4102,0.000,0.000,3832,2050,1817,1712,1922,0,0,0,0,0,0,27.11,27.11,27.11,8.67,15.89
$GC,2362,1.49,117.3,3831,2050,1713,1922,141.8,5.7,248,2372,0.00,3.83,0.00,0.000,4612,0.000,0.099,3845,639,1817,1712,1922,0,0,0,0,0,0,27.16,26.80,27.17,8.68,15.54
$GC,2486,1.49,117.3,3845,639,1712,1922,133.7,6.5,260,2495,0.08,3.55,0.00,0.000,5126,0.219,0.065,3825,2052,1817,1713,1922,0,0,0,0,0,0,26.79,26.94,26.94,8.68,15.11
$GC,2614,1.49,117.3,3824,2052,1713,1922,124.2,6.7,273,2624,0.00,3.65,0.00,0.000,4356,0.000,0.082,3824,3458,1817,1713,1921,0,0,0,0,0,0,27.26,26.93,27.26,8.67,15.15
$GC,2986,1.49,117.3,3823,3458,1713,1921,102.3,5.8,310,2997,0.05,3.55,0.00,0.000,5126,0.261,0.067,3824,2047,1817,1713,1922,0,0,0,0,0,0,26.92,27.05,27.06,8.67,15.42
$GC,3116,1.49,117.3,3824,2047,1713,1921,95.6,5.3,323,3127,0.00,3.75,0.00,0.000,4612,0.000,0.099,3834,644,1817,1713,1922,0,0,0,0,0,0,27.36,27.00,27.37,8.67,15.54
$GC,3489,1.49,117.3,3834,644,1713,1921,73.6,5.5,360,3499,0.00,3.50,0.00,0.000,5126,0.000,0.065,3834,2050,1817,1713,1921,0,0,0,0,0,0,27.18,27.15,27.19,8.67,15.19
$GC,3619,1.49,117.3,3834,2050,1713,1921,67.7,4.5,373,3629,0.00,3.78,0.00,0.000,4612,0.000,0.099,3849,641,1817,1713,1921,0,0,0,0,0,0,27.43,27.06,27.43,8.67,15.34
$GC,3834,1.49,117.3,3849,642,1713,1921,57.2,5.1,394,3842,0.10,3.53,0.00,0.000,5126,0.211,0.065,3820,2054,1817,1713,1921,0,0,0,0,0,0,27.02,27.17,27.16,8.66,15.97
$GC,3961,1.49,117.3,3819,2055,1712,1921,50.8,4.3,407,3971,0.00,3.78,0.00,0.000,2564,0.000,0.099,3832,641,1817,1713,1921,0,0,0,0,0,0,27.46,27.09,27.46,8.66,15.97
$GC,4035,1.49,117.3,3831,641,1713,1921,47.9,4.1,414,4044,0.00,3.50,0.00,0.000,5126,0.000,0.065,3832,2049,1817,1713,1921,0,0,0,0,0,0,27.27,27.19,27.27,8.66,15.62
$GC,4163,1.63,234.5,3831,2049,1713,1921,43.8,2.6,427,4255,0.00,3.97,82.82,0.675,12804,0.000,0.102,3847,638,1412,1301,1524,0,0,0,0,0,0,27.47,25.99,25.65,8.67,15.58
$GC,4357,1.63,234.5,3846,637,1302,1524,32.8,7.4,446,4368,0.08,3.62,0.00,0.000,5126,0.219,0.065,3827,2049,1413,1302,1524,0,0,0,0,0,0,26.36,26.51,26.51,8.64,15.07
$GC,4487,1.63,234.5,3826,2048,1302,1524,24.1,6.8,459,4497,0.00,3.85,0.00,0.000,4612,0.000,0.099,3830,640,1413,1302,1524,0,0,0,0,0,0,26.94,26.59,26.95,8.64,15.26
$GC,4589,1.63,234.5,3830,640,1302,1524,17.4,6.4,472,4596,0.00,3.58,0.00,0.000,5126,0.000,0.065,3830,2049,1412,1302,1523,0,0,0,0,0,0,26.84,26.77,26.85,8.64,15.38
$GC,4658,1.63,234.5,3830,2049,1302,1523,13.0,5.5,485,4664,0.00,0.00,0.00,0.000,4102,0.000,0.000,3830,2049,1413,1302,1524,0,0,0,0,0,0,27.08,27.09,27.08,8.63,15.11
$GC,4726,1.63,234.5,3830,2049,1302,1524,8.7,5.8,498,4733,0.00,3.85,0.00,0.000,4612,0.000,0.099,3842,639,1412,1302,1523,0,0,0,0,0,0,27.13,26.76,27.13,8.63,15.66
$GC,4755,1.63,234.5,3841,639,1302,1523,7.0,12.6,503,4763,0.08,3.58,0.00,0.000,5126,0.219,0.065,3820,2052,1412,1302,1523,0,0,0,0,0,0,26.72,26.86,26.86,8.64,15.34
$GC,4825,1.63,234.5,3820,2052,1302,1523,2.5,7.1,516,4831,0.00,0.00,0.00,0.000,4102,0.000,0.000,3821,2052,1412,1302,1523,0,0,0,0,0,0,27.17,27.17,27.17,8.64,15.70
$STATE,4842,end climb,SURFACE_DEPTH_REACHED
$STATE,4842,begin surface coast
$FINISH,-0.6,1.022517
$STATE,4873,end surface coast,CONTROL_FINISHED_OK
$STATE,4873,begin surface
$SM_CCo,4890,60.75,0.641,0,0,1118,320.13
$SM_GC,1.99,9.65,0.40,60.75,0.082,0.084,0.641,204,2218,1118,-10.25,-1.37,320.13,0,0,0,0,0,0,26.88,26.91,25.70
$IRIDIUM_FIX,4742.17,-12225.08,030818,051247
$TT8_MAMPS,0.021721,0.17976
$HUMID,14.87
$INTERNAL_PRESSURE,8.57536
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,115.3,73.6
$24V_AH,25.04,1.817
$10V_AH,10.56,0.470
$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,24.275,125.975,253.175,60.750,112.250,23.270,14.961,300.126,1.000,0.000,15.381,1412.443,1873.440,558.819,1497.844,53.044,33.439,1218.359,0.000,1123.919,0.000,10.023,0.000
$DEVICE_MAMPS,273.130,104.286,759.798,640.614,188.708,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.228,682.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312744
$DATA_FILE_SIZE,34880,525
$CAP_FILE_SIZE,87029,0
$CFSIZE,2046525440,2042527744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,030818,081401,4743.908,-12224.285,6,0.9,25,16.3,0.2,15.4,9,5.9