version: 66.14
glider: 46
mission: 3
dive: 19
start: 4 10 119 9 52 44
data:
$ID,46
$MISSION,3
$DIVE,19
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,100419,094555,4744.4629,-12224.7090,4,1.0,13,16.3,0.0,0.0,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-54.3
$GPS2,100419,094555,4744.4629,-12224.7090,4,1.0,13,16.3,0.0,0.0,8,9.9
$SPEED_LIMITS,0.130,0.267
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.227991,-0.139873
$KALMAN_X,10863.765625,771.672119,-950.392395,-11398.160156,1249.874023
$KALMAN_Y,-3777.547363,-2741.062500,2245.195557,6332.750488,-946.294678
$MHEAD_RNG_PITCHd_Wd,158.2,2722,-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,-194.6,195,2045,1232,1420,0.0,0.0,0,184,0.00,0.00,-174.10,0.144,16386,0.000,0.000,195,2046,3028,2932,3125,0,0,0,0,0,0,26.56,28.83,26.58,8.06,19.87
$GC,186,-1.18,-194.6,195,2046,2931,3126,3.2,-2.1,29,226,9.80,2.35,-23.50,0.161,18948,0.263,0.082,2636,1180,3374,3256,3492,0,0,0,0,0,0,25.96,26.15,26.06,8.22,18.73
$GC,323,-1.03,-194.6,2635,1180,3256,3492,18.6,-13.5,54,331,0.20,2.20,0.00,0.000,3078,0.181,0.065,2688,2046,3374,3256,3492,0,0,0,0,0,0,26.21,26.38,26.36,8.25,18.97
$GC,398,-0.95,-194.6,2687,2046,3256,3492,26.5,-9.7,62,400,0.10,0.00,0.00,0.000,2054,0.194,0.000,2718,2046,3374,3256,3492,0,0,0,0,0,0,26.35,26.51,26.46,8.25,19.01
$GC,518,-0.89,-194.6,2717,2046,3256,3492,34.1,-5.2,74,528,0.00,2.30,0.00,0.000,516,0.000,0.082,2718,1177,3374,3256,3492,0,0,0,0,0,0,26.83,26.53,26.85,8.25,19.48
$GC,600,-0.82,-194.6,2717,1177,3256,3492,38.5,-6.1,82,610,0.15,2.20,0.00,0.000,3078,0.171,0.065,2758,2051,3374,3256,3492,0,0,0,0,0,0,26.49,26.63,26.62,8.25,19.20
$GC,729,-0.82,-194.6,2757,2051,3256,3493,46.4,-6.6,95,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2051,3374,3256,3492,0,0,0,0,0,0,26.96,26.98,26.98,8.24,19.60
$GC,849,-0.82,-194.6,2757,2051,3256,3492,54.8,-7.1,107,854,0.00,2.22,0.00,0.000,260,0.000,0.077,2752,2918,3374,3256,3492,0,0,0,0,0,0,27.03,26.72,27.03,8.24,19.48
$GC,1025,-0.82,-194.6,2751,2918,3255,3492,68.2,-8.0,124,1030,0.00,2.17,0.00,0.000,1030,0.000,0.065,2752,2039,3374,3256,3492,0,0,0,0,0,0,26.88,26.82,26.90,8.24,19.67
$GC,1151,-0.82,-194.6,2751,2039,3256,3492,78.4,-8.1,136,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2039,3374,3256,3492,0,0,0,0,0,0,27.12,27.14,27.13,8.23,19.32
$GC,1271,-0.82,-194.6,2751,2039,3256,3492,89.6,-9.5,148,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2038,3374,3256,3492,0,0,0,0,0,0,27.15,27.16,27.16,8.23,19.60
$GC,1391,-0.82,-194.6,2751,2039,3256,3492,99.9,-8.2,160,1395,0.00,2.22,0.00,0.000,516,0.000,0.084,2752,1183,3374,3256,3492,0,0,0,0,0,0,27.18,26.86,27.19,8.23,19.56
$GC,1459,-0.82,-194.6,2751,1182,3256,3492,106.0,-9.3,166,1467,0.00,2.17,0.00,0.000,1030,0.000,0.065,2752,2045,3374,3256,3492,0,0,0,0,0,0,26.96,26.93,26.98,8.23,19.60
$GC,1587,-0.82,-194.6,2752,2045,3256,3492,116.7,-7.5,179,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2045,3374,3256,3492,0,0,0,0,0,0,27.22,27.23,27.22,8.24,19.36
$GC,1706,-0.82,-194.6,2751,2045,3256,3492,126.0,-8.8,191,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2045,3374,3256,3492,0,0,0,0,0,0,27.23,27.25,27.24,8.23,19.60
$GC,1827,-0.82,-194.6,2751,2045,3255,3492,136.1,-8.1,203,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2045,3374,3256,3492,0,0,0,0,0,0,27.25,27.27,27.27,8.23,19.60
$GC,1947,-0.82,-194.6,2751,2045,3256,3492,146.2,-8.4,215,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2045,3374,3256,3492,0,0,0,0,0,0,27.27,27.29,27.28,8.23,19.64
$STATE,1956,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1956,begin apogee
$GC,1959,-0.40,0.0,2751,2045,3256,3491,147.1,-8.4,216,2107,0.45,0.00,139.35,1.060,10246,0.149,0.000,2899,2045,2702,2590,2815,0,0,0,0,0,0,26.86,25.20,24.60,8.24,19.64
$STATE,2108,end apogee,CONTROL_FINISHED_OK
$STATE,2108,begin climb
$GC,2109,1.18,194.6,2899,2045,2590,2815,152.8,0.0,231,2259,1.48,2.45,140.05,0.988,10756,0.124,0.084,3394,1186,2031,1921,2142,0,0,0,0,0,0,25.37,25.07,24.49,8.19,19.44
$GC,2332,1.09,194.6,3392,1186,1921,2143,137.4,10.1,253,2341,0.00,2.25,0.00,0.000,1030,0.000,0.065,3394,2050,2032,1921,2143,0,0,0,0,0,0,25.85,25.79,25.86,8.14,19.04
$GC,2462,1.01,194.6,3393,2050,1921,2143,123.4,11.0,266,2464,0.15,0.00,0.00,0.000,4102,0.166,0.000,3350,2049,2032,1921,2143,0,0,0,0,0,0,26.04,26.20,26.16,8.13,19.20
$GC,2581,1.01,194.6,3349,2050,1921,2143,112.7,8.6,278,2585,0.00,2.33,0.00,0.000,516,0.000,0.082,3357,1183,2032,1921,2143,0,0,0,0,0,0,26.59,26.29,26.60,8.13,19.52
$GC,2668,0.96,194.6,3357,1182,1921,2144,104.8,9.5,286,2677,0.00,2.20,0.00,0.000,1030,0.000,0.065,3357,2049,2032,1921,2143,0,0,0,0,0,0,26.50,26.44,26.52,8.13,19.79
$GC,2797,0.96,194.6,3356,2049,1921,2143,92.8,9.4,299,2802,0.00,2.30,0.00,0.000,516,0.000,0.082,3366,1184,2032,1921,2143,0,0,0,0,0,0,26.81,26.50,26.82,8.12,19.44
$GC,2866,0.90,194.6,3366,1184,1922,2143,87.2,8.2,305,2875,0.15,2.20,0.00,0.000,5126,0.151,0.065,3319,2050,2032,1921,2143,0,0,0,0,0,0,26.47,26.61,26.63,8.13,19.71
$GC,2993,0.90,194.6,3318,2049,1921,2143,79.4,6.4,318,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2049,2032,1921,2143,0,0,0,0,0,0,26.94,26.94,26.94,8.12,19.71
$GC,3113,0.90,194.6,3318,2050,1921,2143,71.3,7.0,330,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2050,2032,1921,2143,0,0,0,0,0,0,26.99,27.01,27.01,8.12,19.71
$GC,3233,0.90,194.6,3318,2050,1921,2143,63.5,6.7,342,3238,0.00,2.28,0.00,0.000,516,0.000,0.082,3319,1186,2032,1921,2143,0,0,0,0,0,0,27.04,26.72,27.05,8.12,19.64
$GC,3302,0.90,194.6,3319,1185,1921,2143,59.0,6.9,348,3310,0.00,2.17,0.00,0.000,1030,0.000,0.065,3319,2043,2032,1921,2143,0,0,0,0,0,0,26.84,26.81,26.86,8.12,20.23
$GC,3430,0.90,194.6,3319,2043,1921,2143,50.2,7.2,361,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2043,2032,1921,2143,0,0,0,0,0,0,27.10,27.12,27.12,8.12,20.34
$GC,3549,0.90,194.6,3319,2043,1921,2143,41.2,8.0,373,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2043,2032,1921,2143,0,0,0,0,0,0,27.14,27.15,27.15,8.12,19.36
$GC,3669,0.90,194.6,3318,2043,1921,2143,32.4,7.7,385,3674,0.00,2.25,0.00,0.000,516,0.000,0.084,3321,1184,2032,1921,2143,0,0,0,0,0,0,27.17,26.84,27.18,8.12,19.99
$GC,3765,0.90,194.6,3320,1184,1921,2143,24.6,8.3,394,3769,0.00,2.15,0.00,0.000,1030,0.000,0.065,3321,2051,2032,1921,2143,0,0,0,0,0,0,26.99,26.93,27.00,8.11,19.32
$GC,3892,0.90,194.6,3320,2051,1921,2143,16.6,5.7,411,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2051,2032,1921,2143,0,0,0,0,0,0,27.21,27.22,27.22,8.12,19.75
$GC,3962,0.90,194.6,3320,2051,1921,2143,12.3,6.3,424,3969,0.00,2.25,0.00,0.000,516,0.000,0.084,3329,1185,2031,1920,2143,0,0,0,0,0,0,27.22,26.90,27.24,8.12,19.75
$GC,4101,0.90,194.6,3328,1185,1921,2143,2.8,7.4,451,4108,0.00,2.15,0.00,0.000,1030,0.000,0.067,3329,2051,2032,1921,2143,0,0,0,0,0,0,27.04,26.98,27.05,8.12,19.75
$STATE,4113,end climb,SURFACE_DEPTH_REACHED
$STATE,4113,begin surface coast
$FINISH,0.6,1.022580
$STATE,4140,end surface coast,CONTROL_FINISHED_OK
$STATE,4140,begin surface
$SM_CCo,4155,145.35,0.924,0,0,1325,400.02
$SM_GC,1.74,8.35,0.00,145.35,0.077,0.000,0.924,188,2051,1325,-8.79,0.18,400.02,0,0,0,0,0,0,26.94,27.27,24.75
$IRIDIUM_FIX,4740.82,-12223.37,100419,083302
$TT8_MAMPS,0.02247,0.170023
$HUMID,19.20
$INTERNAL_PRESSURE,8.02846
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.8
$ALTIM_BOTTOM_PING,80.1,81.7
$24V_AH,24.49,5.935
$10V_AH,10.43,4.691
$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,20.825,44.825,279.400,145.350,197.600,22.247,13.856,235.609,0.750,0.000,14.610,1184.177,1722.152,607.887,1111.239,45.132,33.416,1110.447,0.000,814.435,0.000,8.064,0.000
$DEVICE_MAMPS,263.198,84.422,1060.241,923.676,161.395,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.210,594.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312660
$DATA_FILE_SIZE,27844,458
$CAP_FILE_SIZE,73429,0
$CFSIZE,2046525440,2041413632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100419,110532,4744.056,-12224.650,18,0.9,29,16.3,0.0,0.0,11,9.4