version: 66.14
glider: 46
mission: 3
dive: 17
start: 4 10 119 7 23 48
data:
$ID,46
$MISSION,3
$DIVE,17
$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,28
$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
$GPS1,100419,071536,4743.0239,-12225.6299,6,1.4,21,16.3,0.0,344.0,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-51.0
$GPS2,100419,072245,4743.0952,-12225.6289,3,1.4,18,16.3,0.0,347.1,8,10.0
$SPEED_LIMITS,0.130,0.267
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.019821,0.266742
$KALMAN_X,8663.968750,1096.964233,-505.453705,-11112.070312,659.851318
$KALMAN_Y,-2552.616943,-2580.576416,825.184143,3836.186768,118.786865
$MHEAD_RNG_PITCHd_Wd,12.1,2957,-11.8,-7.500,-15.66,3954
$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,-1.18,-194.6,193,2047,1229,1422,0.0,0.0,0,190,0.00,0.00,-179.82,0.144,16386,0.000,0.000,193,2047,3068,2971,3165,0,0,0,0,0,0,26.62,28.83,26.63,8.06,19.79
$GC,192,-1.18,-194.6,193,2047,2971,3164,3.4,-3.7,30,230,9.77,2.28,-19.85,0.164,18692,0.261,0.077,2633,2914,3374,3258,3491,0,0,1,0,0,0,25.98,26.19,26.08,8.22,19.20
$GC,546,-1.06,-194.6,2633,2914,3258,3491,39.7,-11.2,80,554,0.17,2.17,0.00,0.000,3078,0.176,0.065,2685,2042,3374,3256,3492,0,0,0,0,0,0,26.45,26.62,26.59,8.24,19.40
$GC,673,-0.99,-194.6,2685,2042,3258,3491,51.3,-8.9,93,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2041,3375,3258,3492,0,0,0,0,0,0,26.96,26.97,26.96,8.24,19.71
$GC,793,-0.91,-194.6,2684,2042,3258,3491,62.9,-9.8,105,803,0.12,2.25,0.00,0.000,2564,0.184,0.082,2729,1182,3375,3258,3492,0,0,0,0,0,0,26.61,26.70,26.69,8.23,19.40
$GC,998,-0.86,-194.6,2728,1182,3258,3491,79.1,-8.2,125,1005,0.00,2.17,0.00,0.000,1030,0.000,0.065,2723,2043,3374,3258,3491,0,0,0,0,0,0,26.85,26.83,26.88,8.24,19.52
$GC,1125,-0.86,-194.6,2723,2043,3258,3491,90.4,-9.1,138,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2042,3375,3258,3492,0,0,0,0,0,0,27.13,27.14,27.13,8.23,19.28
$GC,1245,-0.86,-194.6,2722,2043,3258,3491,99.7,-7.5,150,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2042,3374,3258,3491,0,0,0,0,0,0,27.16,27.17,27.17,8.23,19.64
$GC,1365,-0.86,-194.6,2723,2043,3258,3491,109.2,-7.7,162,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2042,3374,3258,3491,0,0,0,0,0,0,27.18,27.20,27.20,8.24,19.83
$GC,1485,-0.86,-194.6,2722,2043,3258,3490,119.2,-8.9,174,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2043,3374,3258,3491,0,0,0,0,0,0,27.21,27.22,27.22,8.23,19.48
$GC,1605,-0.86,-194.6,2722,2042,3258,3490,128.6,-7.5,186,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2043,3374,3258,3491,0,0,0,0,0,0,27.23,27.25,27.24,8.24,19.87
$GC,1725,-0.86,-194.6,2722,2042,3258,3490,137.9,-7.4,198,1729,0.00,2.22,0.00,0.000,516,0.000,0.082,2723,1185,3374,3258,3490,0,0,0,0,0,0,27.25,26.94,27.27,8.23,19.64
$GC,1792,-0.80,-194.6,2722,1185,3258,3490,142.8,-8.1,204,1801,0.15,2.15,0.00,0.000,3078,0.174,0.065,2763,2052,3374,3258,3490,0,0,0,0,0,0,26.84,26.99,26.98,8.23,19.44
$STATE,1880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1880,begin apogee
$GC,1884,-0.40,0.0,2763,2052,3258,3490,148.4,-6.3,213,2032,0.40,0.00,139.45,1.050,10246,0.146,0.000,2897,2052,2701,2589,2814,0,0,0,0,0,0,26.86,25.22,24.64,8.23,20.03
$STATE,2033,end apogee,CONTROL_FINISHED_OK
$STATE,2033,begin climb
$GC,2034,1.18,194.6,2896,2052,2589,2813,153.0,0.0,228,2182,1.48,0.00,140.50,0.978,10758,0.127,0.000,3384,2052,2031,1920,2143,0,0,0,0,0,0,25.39,25.06,24.51,8.19,19.20
$GC,2302,1.11,194.6,3384,2052,1920,2143,131.6,9.2,255,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2052,2031,1920,2143,0,0,0,0,0,0,26.21,26.22,26.22,8.13,19.20
$GC,2422,1.04,194.6,3383,2052,1920,2143,119.6,9.8,267,2431,0.00,2.33,0.00,0.000,516,0.000,0.082,3392,1186,2031,1920,2143,0,0,0,0,0,0,26.48,26.19,26.49,8.13,19.64
$GC,2493,0.96,194.6,3392,1186,1920,2143,111.6,11.0,274,2503,0.20,2.20,0.00,0.000,5126,0.159,0.065,3330,2051,2031,1920,2143,0,0,0,0,0,0,26.22,26.34,26.34,8.13,19.44
$GC,2623,0.96,194.6,3329,2051,1920,2143,100.7,8.7,287,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2051,2031,1920,2143,0,0,0,0,0,0,26.74,26.75,26.75,8.13,19.79
$GC,2743,0.96,194.6,3329,2051,1920,2143,90.9,7.8,299,2747,0.00,2.30,0.00,0.000,516,0.000,0.084,3334,1185,2031,1920,2143,0,0,0,0,0,0,26.84,26.53,26.85,8.12,19.56
$GC,2801,0.96,194.6,3333,1185,1920,2143,86.0,8.7,304,2809,0.00,2.17,0.00,0.000,1030,0.000,0.065,3333,2041,2031,1920,2143,0,0,0,0,0,0,26.65,26.62,26.67,8.13,19.64
$GC,2929,0.96,194.6,3333,2041,1920,2144,74.0,9.4,317,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2040,2032,1920,2144,0,0,0,0,0,0,26.95,26.96,26.96,8.12,19.79
$GC,3049,0.96,194.6,3333,2041,1920,2143,63.7,8.1,329,3053,0.00,2.25,0.00,0.000,516,0.000,0.084,3342,1185,2031,1920,2143,0,0,0,0,0,0,27.01,26.69,27.02,8.12,19.79
$GC,3155,0.96,194.6,3341,1185,1920,2143,54.6,8.5,339,3159,0.00,2.15,0.00,0.000,1030,0.000,0.067,3341,2048,2031,1920,2143,0,0,0,0,0,0,26.85,26.79,26.87,8.12,19.87
$GC,3286,0.96,194.6,3341,2049,1920,2144,43.5,8.1,352,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2049,2031,1920,2143,0,0,0,0,0,0,27.10,27.10,27.10,8.12,19.87
$GC,3406,0.96,194.6,3341,2048,1920,2144,34.7,6.9,364,3410,0.00,2.28,0.00,0.000,516,0.000,0.084,3348,1182,2031,1920,2143,0,0,0,0,0,0,27.13,26.81,27.14,8.12,19.64
$GC,3542,0.96,194.6,3347,1182,1920,2143,24.5,8.0,377,3546,0.00,2.15,0.00,0.000,1030,0.000,0.067,3347,2047,2031,1920,2143,0,0,0,0,0,0,26.96,26.90,26.98,8.12,19.75
$GC,3667,0.96,194.6,3347,2047,1920,2143,15.4,6.7,395,3674,0.00,2.20,0.00,0.000,260,0.000,0.074,3348,2915,2031,1920,2143,0,0,0,0,0,0,27.19,26.89,27.20,8.12,20.19
$GC,3766,0.96,194.6,3347,2915,1920,2143,7.2,8.1,414,3773,0.00,2.15,0.00,0.000,1030,0.000,0.065,3350,2049,2031,1920,2143,0,0,0,0,0,0,27.01,26.94,27.02,8.12,19.67
$STATE,3834,end climb,SURFACE_DEPTH_REACHED
$STATE,3834,begin surface coast
$FINISH,0.6,1.013018
$STATE,3860,end surface coast,CONTROL_FINISHED_OK
$STATE,3860,begin surface
$SM_CCo,3875,145.35,0.936,0,0,1325,400.02
$SM_GC,1.85,8.45,0.00,145.35,0.079,0.000,0.936,184,2048,1325,-8.81,0.09,400.02,0,0,0,0,0,0,26.91,27.24,24.72
$IRIDIUM_FIX,4744.48,-12222.38,100419,055437
$TT8_MAMPS,0.02247,0.170023
$HUMID,19.91
$INTERNAL_PRESSURE,8.02846
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,80.7,82.5
$24V_AH,24.51,5.650
$10V_AH,10.40,4.629
$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,20.750,35.425,279.950,145.350,199.675,23.977,39.161,270.405,0.750,0.000,24.067,1103.629,1564.042,613.596,1146.795,42.764,33.434,1078.225,0.000,774.699,0.000,8.069,0.000
$DEVICE_MAMPS,260.715,84.422,1050.309,936.091,163.878,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.239,560.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312672
$DATA_FILE_SIZE,27950,432
$CAP_FILE_SIZE,65631,0
$CFSIZE,2046525440,2041610240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,100419,083201,4743.795,-12225.188,7,0.8,33,16.3,0.0,6.0,10,8.1