version: 66.14
glider: 46
mission: 3
dive: 4
start: 4 9 119 20 53 18
data:
$ID,46
$MISSION,3
$DIVE,4
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,670
$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,250
$C_ROLL_CLIMB,250
$HEAD_ERRBAND,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,32
$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
$GPS1,090419,204815,4743.6421,-12223.7715,7,1.0,12,16.3,0.0,0.0,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-48.8
$GPS2,090419,205213,4743.6548,-12223.7246,9,1.1,18,16.3,0.0,0.0,9,9.0
$SPEED_LIMITS,0.089,0.293
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.173622,-0.236535
$KALMAN_X,571.347595,365.783936,229.574585,-665.897583,303.096497
$KALMAN_Y,964.617249,547.960144,407.469940,-1364.940063,466.290192
$MHEAD_RNG_PITCHd_Wd,202.2,1551,-10.2,-7.500,-14.34,4925
$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,-1.12,-243.3,197,256,296,494,0.0,0.0,0,293,0.00,0.00,-281.05,0.144,16386,0.000,0.000,198,256,3187,3085,3289,0,0,0,0,0,0,27.08,28.83,27.10,8.01,20.27
$GC,294,-1.12,-243.3,197,256,3085,3289,3.4,-2.8,47,332,9.95,0.00,-21.83,0.161,18438,0.268,0.000,2660,255,3542,3419,3665,0,0,0,0,0,0,26.09,26.39,26.24,8.28,19.28
$GC,395,-0.91,-243.3,2659,255,3418,3665,14.3,-11.5,65,402,0.20,0.00,0.00,0.000,2054,0.211,0.000,2720,255,3542,3419,3665,0,0,0,0,0,0,26.27,26.46,26.39,8.31,19.32
$GC,464,-0.77,-243.3,2719,255,3419,3664,21.6,-10.0,77,466,0.17,0.00,0.00,0.000,2054,0.209,0.000,2768,255,3542,3419,3665,0,0,0,0,0,0,26.36,26.60,26.54,8.31,19.20
$GC,584,-0.69,-243.3,2768,255,3419,3665,32.5,-8.7,89,586,0.10,0.00,0.00,0.000,2054,0.211,0.000,2798,255,3541,3419,3664,0,0,0,0,0,0,26.55,26.72,26.67,8.29,19.32
$GC,704,-0.62,-243.3,2797,255,3419,3664,42.1,-8.4,101,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,255,3541,3419,3664,0,0,0,0,0,0,27.05,27.08,27.07,8.30,19.56
$GC,824,-0.57,-243.3,2797,255,3419,3664,53.7,-9.8,113,826,0.12,0.00,0.00,0.000,2054,0.194,0.000,2835,255,3541,3419,3664,0,0,0,0,0,0,26.65,26.84,26.79,8.29,19.67
$GC,944,-0.57,-243.3,2834,256,3419,3663,63.8,-9.1,125,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3541,3420,3663,0,0,0,0,0,0,27.16,27.17,27.17,8.29,20.46
$GC,1063,-0.57,-243.3,2834,255,3419,3663,73.7,-7.2,137,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3541,3420,3663,0,0,0,0,0,0,27.20,27.21,27.21,8.28,19.91
$GC,1183,-0.57,-243.3,2834,255,3419,3663,83.5,-8.3,149,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3541,3419,3663,0,0,0,0,0,0,27.23,27.24,27.24,8.29,20.30
$GC,1303,-0.57,-243.3,2835,255,3420,3663,93.3,-8.7,161,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3541,3419,3663,0,0,0,0,0,0,27.26,27.27,27.27,8.28,20.62
$GC,1424,-0.57,-243.3,2834,255,3419,3662,101.0,-5.1,173,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3541,3419,3663,0,0,0,0,0,0,27.27,27.29,27.28,8.28,19.83
$GC,1543,-0.57,-243.3,2834,255,3419,3662,109.2,-7.2,185,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3540,3419,3662,0,0,0,0,0,0,27.30,27.32,27.31,8.28,20.27
$GC,1663,-0.57,-243.3,2834,255,3419,3662,117.9,-7.3,197,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3541,3419,3663,0,0,0,0,0,0,27.32,27.33,27.33,8.28,20.38
$GC,1783,-0.57,-243.3,2834,255,3419,3663,126.5,-7.3,209,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3540,3419,3662,0,0,0,0,0,0,27.33,27.35,27.34,8.27,20.07
$GC,1904,-0.57,-243.3,2835,255,3419,3662,135.5,-7.7,221,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3540,3419,3662,0,0,0,0,0,0,27.35,27.36,27.36,8.27,19.99
$GC,2024,-0.57,-243.3,2834,255,3419,3661,143.5,-5.8,233,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3540,3419,3661,0,0,0,0,0,0,27.36,27.38,27.37,8.27,20.15
$GC,2143,-0.57,-243.3,2835,255,3419,3661,151.9,-7.9,245,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,255,3540,3419,3662,0,0,0,0,0,0,27.37,27.39,27.39,8.27,20.46
$STATE,2193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2193,begin apogee
$GC,2196,-0.40,0.0,2834,255,3420,3661,156.0,-8.2,250,2375,0.17,0.00,171.32,0.983,10246,0.176,0.000,2890,255,2706,2593,2819,0,0,0,0,0,0,26.87,25.16,24.75,8.27,20.30
$STATE,2376,end apogee,CONTROL_FINISHED_OK
$STATE,2376,begin climb
$GC,2377,1.12,243.3,2890,255,2594,2819,164.3,0.0,268,2556,1.58,0.00,173.93,0.906,10246,0.171,0.000,3363,255,1864,1747,1982,0,0,0,0,0,0,25.39,25.19,24.66,8.21,19.79
$GC,2674,1.03,243.3,3362,255,1747,1982,138.7,9.7,298,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,255,1864,1747,1981,0,0,0,0,0,0,26.33,26.35,26.34,8.14,19.56
$GC,2794,0.94,243.3,3362,255,1747,1982,126.9,10.2,310,2796,0.12,0.00,0.00,0.000,4102,0.171,0.000,3327,254,1864,1747,1982,0,0,0,0,0,0,26.23,26.39,26.35,8.14,19.91
$GC,2914,0.88,243.3,3326,255,1747,1982,116.3,9.0,322,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,255,1864,1747,1982,0,0,0,0,0,0,26.77,26.79,26.78,8.13,20.30
$GC,3034,0.83,243.3,3327,255,1747,1982,105.8,8.6,334,3036,0.12,0.00,0.00,0.000,4102,0.196,0.000,3288,255,1864,1747,1981,0,0,0,0,0,0,26.48,26.65,26.61,8.13,19.83
$GC,3153,0.83,243.3,3288,255,1747,1982,97.4,6.2,346,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,255,1864,1747,1982,0,0,0,0,0,0,26.97,26.98,26.98,8.13,20.38
$GC,3274,0.83,243.3,3288,255,1747,1982,88.6,7.9,358,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,255,1864,1747,1982,0,0,0,0,0,0,27.04,27.05,27.05,8.13,20.23
$GC,3393,0.83,243.3,3288,255,1747,1983,80.0,7.1,370,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,255,1864,1747,1982,0,0,0,0,0,0,27.09,27.10,27.10,8.13,19.91
$GC,3514,0.83,243.3,3289,255,1747,1982,70.3,8.3,382,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,255,1864,1747,1982,0,0,0,0,0,0,27.14,27.15,27.15,8.12,20.19
$GC,3633,0.83,243.3,3288,255,1747,1982,60.8,7.9,394,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,255,1864,1747,1982,0,0,0,0,0,0,27.17,27.19,27.19,8.12,19.95
$GC,3753,0.83,243.3,3287,255,1747,1982,51.3,7.8,406,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,255,1864,1747,1982,0,0,0,0,0,0,27.21,27.22,27.22,8.12,20.78
$GC,3874,0.83,243.3,3287,255,1747,1982,42.3,8.0,418,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,255,1864,1747,1982,0,0,0,0,0,0,27.24,27.25,27.24,8.11,20.19
$GC,3994,0.83,243.3,3288,255,1747,1982,32.8,8.8,430,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,255,1864,1747,1982,0,0,0,0,0,0,27.26,27.28,27.27,8.12,20.46
$GC,4113,0.83,243.3,3288,255,1747,1982,22.9,8.0,442,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,255,1864,1747,1982,0,0,0,0,0,0,27.28,27.29,27.29,8.12,20.74
$GC,4234,0.83,243.3,3288,255,1747,1982,13.6,8.8,462,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,255,1864,1747,1982,0,0,0,0,0,0,27.30,27.32,27.31,8.12,20.19
$GC,4302,0.83,243.3,3288,255,1747,1982,8.4,7.4,475,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,255,1864,1747,1982,0,0,0,0,0,0,27.31,27.32,27.32,8.12,20.42
$GC,4370,0.83,243.3,3288,255,1747,1982,3.7,6.6,488,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,255,1864,1747,1982,0,0,0,0,0,0,27.32,27.34,27.33,8.12,20.19
$STATE,4398,end climb,SURFACE_DEPTH_REACHED
$STATE,4398,begin surface coast
$FINISH,0.8,1.006513
$STATE,4425,end surface coast,CONTROL_FINISHED_OK
$STATE,4425,begin surface
$SM_CCo,4440,303.95,0.834,0,0,396,670.18
$SM_GC,1.46,8.30,0.00,303.95,0.084,0.000,0.834,188,255,396,-8.79,0.23,670.18,0,0,0,0,0,0,27.01,27.34,24.80
$IRIDIUM_FIX,4743.02,-12222.38,090419,204446
$TT8_MAMPS,0.021721,0.183505
$HUMID,19.67
$INTERNAL_PRESSURE,7.96987
$TCM_TEMP,9.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,100.2,70.3
$24V_AH,24.66,3.619
$10V_AH,10.41,4.342
$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,20.850,0.000,345.250,303.950,302.875,0.000,0.000,0.000,1.000,0.000,19.502,1188.591,1962.131,883.293,751.819,34.201,32.437,1337.160,0.000,733.828,0.000,7.262,0.000
$DEVICE_MAMPS,268.164,0.000,983.268,834.288,161.395,0.000,0.000,0.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.031,646.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312720
$DATA_FILE_SIZE,31419,498
$CAP_FILE_SIZE,91152,0
$CFSIZE,2046525440,2042953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090419,221331,4743.718,-12223.572,8,0.7,39,16.3,0.0,164.3,11,5.5