version: 66.14
glider: 46
mission: 3
dive: 18
start: 4 10 119 8 39 18
data:
$ID,46
$MISSION,3
$DIVE,18
$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,27
$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
$GPS1,100419,083201,4743.7954,-12225.1875,7,0.8,33,16.3,0.0,6.0,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-54.3
$GPS2,100419,083814,4743.8755,-12225.1719,2,0.8,9,16.3,0.4,15.2,10,10.0
$SPEED_LIMITS,0.130,0.267
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.078740,0.255626
$KALMAN_X,9635.797852,1010.955505,-912.279419,-11022.901367,1002.117981
$KALMAN_Y,-3413.758545,-2692.283203,1960.886719,5118.005859,-362.927246
$MHEAD_RNG_PITCHd_Wd,19.6,1427,-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,-194.6,184,2048,1229,1420,0.0,0.0,0,190,0.00,0.00,-179.95,0.144,16386,0.000,0.000,184,2048,3077,2980,3175,0,0,0,0,0,0,26.59,28.83,26.60,8.05,19.67
$GC,192,-1.18,-194.6,184,2048,2980,3175,3.3,-3.0,30,231,9.85,2.30,-18.95,0.164,18692,0.261,0.077,2633,2915,3375,3258,3492,0,0,1,0,0,0,25.96,26.17,26.07,8.22,19.16
$GC,595,-1.06,-194.6,2632,2915,3258,3492,46.6,-11.9,86,604,0.15,2.17,0.00,0.000,3078,0.179,0.065,2679,2043,3375,3258,3492,0,0,0,0,0,0,26.47,26.63,26.57,8.23,19.24
$GC,723,-0.98,-194.6,2678,2042,3258,3492,59.5,-10.4,99,732,0.00,2.25,0.00,0.000,516,0.000,0.082,2679,1182,3375,3258,3492,0,0,0,0,0,0,26.97,26.65,26.98,8.24,19.36
$GC,827,-0.89,-194.6,2678,1183,3258,3492,70.8,-11.5,109,836,0.22,2.15,0.00,0.000,3078,0.169,0.065,2741,2049,3375,3258,3492,0,0,0,0,0,0,26.60,26.75,26.74,8.24,19.36
$GC,954,-0.89,-194.6,2740,2049,3258,3491,82.1,-8.8,122,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2049,3375,3258,3492,0,0,0,0,0,0,27.06,27.08,27.08,8.24,19.64
$GC,1074,-0.89,-194.6,2740,2049,3257,3491,92.3,-8.8,134,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2049,3375,3258,3492,0,0,0,0,0,0,27.10,27.12,27.12,8.24,19.28
$GC,1194,-0.89,-194.6,2740,2049,3257,3492,103.0,-9.4,146,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2049,3374,3258,3491,0,0,0,0,0,0,27.14,27.15,27.15,8.24,19.24
$GC,1314,-0.89,-194.6,2740,2049,3257,3491,113.0,-7.6,158,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2049,3374,3258,3491,0,0,0,0,0,0,27.17,27.18,27.18,8.23,20.11
$GC,1434,-0.89,-194.6,2740,2049,3258,3491,120.6,-5.7,170,1438,0.00,2.25,0.00,0.000,516,0.000,0.082,2741,1184,3374,3258,3491,0,0,0,0,0,0,27.20,26.87,27.20,8.23,19.99
$GC,1530,-0.89,-194.6,2740,1184,3258,3491,126.4,-5.1,179,1534,0.00,2.15,0.00,0.000,1030,0.000,0.067,2738,2048,3374,3258,3491,0,0,0,0,0,0,27.01,26.95,27.03,8.24,19.48
$GC,1661,-0.89,-194.6,2738,2049,3258,3491,134.5,-5.8,192,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2049,3374,3258,3491,0,0,0,0,0,0,27.23,27.24,27.24,8.23,19.75
$GC,1781,-0.89,-194.6,2738,2049,3257,3490,142.2,-6.1,204,1785,0.00,2.25,0.00,0.000,516,0.000,0.082,2738,1183,3374,3257,3491,0,0,0,0,0,0,27.25,26.93,27.27,8.23,20.19
$STATE,1856,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1856,begin apogee
$GC,1862,-0.40,0.0,2738,2053,3259,3490,147.3,-7.1,211,2009,0.45,0.00,140.90,1.038,10246,0.154,0.000,2891,2053,2702,2590,2815,0,0,0,0,0,0,26.84,25.22,24.63,8.23,19.95
$STATE,2010,end apogee,CONTROL_FINISHED_OK
$STATE,2010,begin climb
$GC,2011,1.18,194.6,2891,2053,2590,2815,151.3,0.0,226,2159,1.50,0.00,140.80,0.973,10246,0.127,0.000,3385,2054,2031,1920,2143,0,0,0,0,0,0,25.33,25.05,24.49,8.19,19.32
$GC,2278,1.10,194.6,3384,2054,1921,2143,129.3,10.8,253,2287,0.00,2.38,0.00,0.000,516,0.000,0.082,3393,1181,2032,1921,2143,0,0,0,0,0,0,26.20,25.91,26.20,8.13,19.79
$GC,2382,1.02,194.6,3392,1181,1921,2143,117.5,11.3,263,2390,0.12,2.22,0.00,0.000,5126,0.169,0.065,3355,2050,2032,1921,2144,0,0,0,0,0,0,26.09,26.20,26.20,8.13,20.03
$GC,2509,1.02,194.6,3354,2050,1921,2144,104.6,9.9,276,2513,0.00,2.33,0.00,0.000,516,0.000,0.084,3361,1181,2032,1921,2144,0,0,0,0,0,0,26.63,26.33,26.64,8.13,19.64
$GC,2607,0.96,194.6,3361,1181,1921,2143,95.3,9.9,285,2616,0.00,2.20,0.00,0.000,1030,0.000,0.065,3362,2053,2032,1921,2144,0,0,0,0,0,0,26.51,26.48,26.54,8.13,20.23
$GC,2735,0.90,194.6,3361,2054,1920,2143,83.3,8.8,298,2737,0.15,0.00,0.00,0.000,4102,0.164,0.000,3315,2053,2032,1921,2144,0,0,0,0,0,0,26.46,26.62,26.58,8.13,19.99
$GC,2855,0.90,194.6,3315,2053,1921,2143,74.9,6.6,310,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2053,2032,1921,2144,0,0,0,0,0,0,26.91,26.93,26.93,8.12,20.23
$GC,2975,0.90,194.6,3315,2053,1921,2144,65.9,7.7,322,2979,0.00,2.30,0.00,0.000,516,0.000,0.082,3319,1182,2032,1921,2144,0,0,0,0,0,0,26.98,26.67,26.99,8.12,20.07
$GC,3051,0.90,194.6,3318,1182,1921,2143,59.6,8.3,329,3055,0.00,2.17,0.00,0.000,1030,0.000,0.067,3319,2051,2032,1921,2144,0,0,0,0,0,0,26.82,26.75,26.83,8.12,19.75
$GC,3176,0.90,194.6,3318,2051,1921,2144,49.4,8.2,341,3180,0.00,2.28,0.00,0.000,516,0.000,0.084,3319,1183,2032,1921,2144,0,0,0,0,0,0,27.06,26.74,27.07,8.12,19.99
$GC,3267,0.90,194.6,3318,1184,1920,2143,41.8,8.3,350,3271,0.00,2.15,0.00,0.000,1030,0.000,0.065,3319,2047,2032,1920,2144,0,0,0,0,0,0,26.89,26.83,26.91,8.12,19.79
$GC,3392,0.90,194.6,3319,2047,1921,2144,30.5,9.6,362,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2047,2032,1921,2144,0,0,0,0,0,0,27.13,27.14,27.13,8.11,19.67
$GC,3515,0.90,194.6,3319,2047,1921,2143,19.8,8.2,374,3522,0.00,2.22,0.00,0.000,260,0.000,0.077,3319,2920,2032,1921,2143,0,0,0,0,0,0,27.13,26.86,27.15,8.12,19.75
$GC,3594,0.90,194.6,3319,2921,1921,2143,13.4,7.9,389,3601,0.00,2.17,0.00,0.000,1030,0.000,0.065,3319,2046,2032,1921,2143,0,0,0,0,0,0,26.97,26.91,26.98,8.12,19.95
$GC,3663,0.90,194.6,3319,2046,1921,2144,8.7,6.9,402,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2045,2032,1920,2144,0,0,0,0,0,0,27.18,27.20,27.20,8.12,19.79
$GC,3731,0.90,194.6,3319,2045,1921,2143,3.5,6.9,415,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2046,2032,1921,2143,0,0,0,0,0,0,27.20,27.22,27.21,8.11,19.71
$STATE,3758,end climb,SURFACE_DEPTH_REACHED
$STATE,3758,begin surface coast
$FINISH,0.6,1.014871
$STATE,3784,end surface coast,CONTROL_FINISHED_OK
$STATE,3784,begin surface
$SM_CCo,3799,145.32,0.926,0,0,1326,400.02
$SM_GC,1.75,8.32,0.00,145.32,0.077,0.000,0.926,196,2046,1326,-8.77,-0.09,400.02,0,0,0,0,0,0,26.90,27.22,24.72
$IRIDIUM_FIX,4742.17,-12225.08,100419,071644
$TT8_MAMPS,0.02247,0.168525
$HUMID,19.44
$INTERNAL_PRESSURE,8.02846
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,80.3,82.0
$24V_AH,24.49,5.792
$10V_AH,10.41,4.659
$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,20.775,40.150,281.700,145.325,198.900,23.492,35.209,234.404,0.750,0.000,16.946,1090.249,1502.295,624.747,1084.060,41.536,33.410,1084.066,0.000,762.444,0.000,8.063,0.000
$DEVICE_MAMPS,260.715,84.422,1037.894,926.159,163.878,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.243,551.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27956,425
$CAP_FILE_SIZE,65870,0
$CFSIZE,2046525440,2041511936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,100419,094555,4744.463,-12224.709,4,1.0,13,16.3,0.0,0.0,8,9.9