version: 66.14
glider: 45
mission: 2
dive: 5
start: 4 30 119 22 36 32
data:
$ID,45
$MISSION,2
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,6050
$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,-6
$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,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79430
$MASS_COMP,10859
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,645
$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,3441
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$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,40
$C_ROLL_DIVE,250
$C_ROLL_CLIMB,250
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,2589
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$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,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.236565
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044369884
$SEABIRD_T_H,0.00066042581
$SEABIRD_T_I,2.7363718e-05
$SEABIRD_T_J,3.4006232e-06
$SEABIRD_C_G,-10.01541
$SEABIRD_C_H,1.1730425
$SEABIRD_C_I,-0.0023542538
$SEABIRD_C_J,0.00025774896
$SEABIRD_C_Z,2927.8301
$GPS1,300419,223127,4742.2290,-12225.7275,4,0.9,15,16.3,0.0,0.0,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-60.4
$GPS2,300419,223524,4742.2061,-12225.7637,11,0.9,18,16.3,0.0,211.7,9,10.0
$SPEED_LIMITS,0.280,0.284
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.127953,0.253950
$KALMAN_X,-1677.794678,-667.268677,-260.123932,648.099182,-331.133850
$KALMAN_Y,-2434.252930,-1059.319946,-399.469269,1736.719482,-453.448181
$MHEAD_RNG_PITCHd_Wd,4.0,4530,-9.3,-7.500,-14.78,4759
$D_GRID,184
$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,-1.03,-244.4,196,265,370,358,0.0,0.0,0,185,0.00,0.00,-174.88,0.144,16386,0.000,0.000,197,265,2281,2272,2290,0,0,0,0,0,0,26.66,28.83,26.67,8.27,29.95
$GC,187,-1.03,-244.4,196,265,2272,2290,3.1,-1.2,29,285,11.62,0.00,-79.88,0.146,18438,0.281,0.000,3105,264,3431,3394,3468,0,0,0,0,0,0,25.81,25.98,25.91,8.45,28.93
$GC,347,-1.03,-244.4,3105,264,3395,3468,11.4,-9.1,57,353,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3431,3394,3468,0,0,0,0,0,0,26.44,26.45,26.44,8.56,28.18
$GC,416,-1.03,-244.4,3104,264,3394,3468,17.6,-8.9,70,422,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3431,3395,3468,0,0,0,0,0,0,26.51,26.52,26.51,8.56,28.10
$GC,483,-1.03,-244.4,3104,264,3395,3468,23.9,-9.3,79,485,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3431,3395,3468,0,0,0,0,0,0,26.56,26.58,26.58,8.55,28.18
$GC,603,-1.03,-244.4,3104,264,3395,3467,34.8,-9.0,91,605,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3431,3395,3468,0,0,0,0,0,0,26.65,26.66,26.65,8.55,28.26
$GC,723,-1.03,-244.4,3104,264,3394,3468,47.7,-11.5,103,725,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3431,3395,3467,0,0,0,0,0,0,26.71,26.72,26.72,8.55,28.61
$GC,844,-1.03,-244.4,3104,264,3394,3467,62.6,-12.7,115,845,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3431,3395,3468,0,0,0,0,0,0,26.76,26.77,26.77,8.54,28.69
$GC,963,-1.03,-244.4,3104,264,3395,3468,77.7,-12.5,127,965,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,264,3430,3394,3467,0,0,0,0,0,0,26.79,26.81,26.81,8.54,28.93
$GC,1084,-1.03,-244.4,3104,264,3395,3467,91.9,-12.1,139,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3431,3395,3468,0,0,0,0,0,0,26.83,26.84,26.84,8.54,28.61
$GC,1203,-1.03,-244.4,3104,264,3395,3467,106.4,-11.7,151,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,263,3431,3395,3467,0,0,0,0,0,0,26.86,26.87,26.86,8.54,29.20
$GC,1323,-1.03,-244.4,3104,264,3395,3467,120.4,-12.8,163,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,264,3431,3395,3467,0,0,0,0,0,0,26.88,26.90,26.89,8.54,28.57
$GC,1443,-1.03,-244.4,3104,264,3395,3467,134.3,-11.2,175,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3431,3395,3467,0,0,0,0,0,0,26.90,26.92,26.91,8.53,29.44
$GC,1564,-1.03,-244.4,3104,264,3394,3467,148.3,-11.6,187,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3430,3394,3467,0,0,0,0,0,0,26.92,26.94,26.93,8.53,29.16
$GC,1684,-1.03,-244.4,3104,264,3394,3467,161.2,-10.4,199,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3431,3395,3467,0,0,0,0,0,0,26.94,26.96,26.95,8.53,29.13
$GC,1803,-1.03,-244.4,3104,264,3394,3466,175.2,-11.1,211,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,264,3430,3394,3467,0,0,0,0,0,0,26.95,26.97,26.96,8.53,29.40
$STATE,1852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1852,begin apogee
$GC,1856,-0.39,0.0,3104,264,3394,3467,180.3,-9.9,216,2036,0.62,0.00,175.82,0.787,10246,0.174,0.000,3315,264,2588,2554,2622,0,0,0,0,0,0,26.46,25.02,24.47,8.53,29.16
$STATE,2037,end apogee,CONTROL_FINISHED_OK
$STATE,2037,begin climb
$GC,2038,1.03,244.4,3314,264,2555,2622,188.2,0.0,234,2225,1.33,0.00,179.10,0.767,10246,0.149,0.000,3757,264,1747,1719,1775,0,0,0,0,0,0,25.08,24.91,24.39,8.45,29.09
$GC,2343,1.03,244.4,3757,264,1719,1776,167.6,8.2,265,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1747,1719,1776,0,0,0,0,0,0,26.03,26.04,26.03,8.37,28.65
$GC,2463,1.03,244.4,3757,264,1719,1776,156.6,9.1,277,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1747,1719,1776,0,0,0,0,0,0,26.28,26.29,26.29,8.37,28.85
$GC,2584,1.03,244.4,3757,264,1719,1776,145.8,8.9,289,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1747,1719,1776,0,0,0,0,0,0,26.44,26.45,26.44,8.37,28.69
$GC,2704,1.03,244.4,3757,264,1719,1775,134.6,9.3,301,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1747,1719,1776,0,0,0,0,0,0,26.53,26.55,26.55,8.37,29.36
$GC,2823,1.03,244.4,3757,264,1719,1776,123.4,9.7,313,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1747,1719,1776,0,0,0,0,0,0,26.62,26.63,26.63,8.36,29.28
$GC,2944,1.03,244.4,3757,264,1719,1776,112.6,9.6,325,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,3757,264,1748,1720,1776,0,0,0,0,0,0,26.67,26.70,26.70,8.37,29.13
$GC,3064,1.07,277.8,3757,264,1719,1776,103.1,6.8,337,3094,0.00,0.00,25.10,0.703,8198,0.000,0.000,3758,264,1631,1608,1655,0,0,0,0,0,0,26.72,25.96,25.41,8.36,29.09
$GC,3214,1.07,277.8,3757,264,1608,1656,92.6,8.3,352,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,3757,264,1632,1608,1656,0,0,0,0,0,0,26.52,26.54,26.53,8.35,28.97
$GC,3334,1.07,277.8,3757,264,1608,1656,83.0,8.0,364,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1632,1608,1656,0,0,0,0,0,0,26.62,26.63,26.63,8.35,29.40
$GC,3453,1.07,277.8,3757,264,1608,1657,73.4,7.9,376,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1632,1608,1656,0,0,0,0,0,0,26.68,26.70,26.70,8.35,29.64
$GC,3573,1.07,277.8,3757,264,1608,1656,63.4,8.3,388,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,3757,264,1632,1608,1656,0,0,0,0,0,0,26.73,26.75,26.74,8.35,29.68
$GC,3694,1.07,277.8,3757,264,1608,1656,52.3,8.9,400,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3757,264,1632,1608,1656,0,0,0,0,0,0,26.78,26.79,26.79,8.34,29.64
$GC,3814,1.07,277.8,3757,264,1608,1656,41.9,8.3,412,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1632,1608,1656,0,0,0,0,0,0,26.82,26.83,26.82,8.35,28.89
$GC,3933,1.07,277.8,3757,264,1607,1656,32.3,8.0,424,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1632,1608,1656,0,0,0,0,0,0,26.84,26.86,26.85,8.35,29.68
$GC,4053,1.07,277.8,3757,264,1608,1657,23.4,7.5,436,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,3757,264,1632,1608,1656,0,0,0,0,0,0,26.86,26.89,26.88,8.35,29.20
$GC,4174,1.07,277.8,3757,264,1607,1656,13.6,8.1,456,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,3758,264,1631,1607,1656,0,0,0,0,0,0,26.89,26.91,26.90,8.35,29.24
$GC,4242,1.07,277.8,3757,264,1607,1656,7.8,7.8,469,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,3757,264,1631,1607,1656,0,0,0,0,0,0,26.90,26.91,26.91,8.34,29.56
$GC,4310,1.30,463.0,3757,264,1607,1656,4.1,3.5,482,4385,0.10,0.00,72.15,0.668,10242,0.142,0.000,3820,264,1278,1260,1297,0,0,0,0,0,0,26.63,28.83,26.67,8.35,30.07
$STATE,4386,end climb,SURFACE_DEPTH_REACHED
$STATE,4386,begin surface coast
$FINISH,0.7,1.002831
$STATE,4447,end surface coast,CONTROL_FINISHED_OK
$STATE,4447,begin surface
$SM_CCo,4463,196.65,0.653,0,0,368,645.20
$SM_GC,1.80,9.48,0.00,196.65,0.082,0.000,0.653,197,264,368,-10.09,0.40,645.20,0,0,0,0,0,0,25.92,26.28,24.55
$IRIDIUM_FIX,4741.31,-12227.78,300419,222816
$TT8_MAMPS,0.020972,0.174517
$HUMID,28.77
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,100.5,104.1
$24V_AH,24.39,3.301
$10V_AH,10.44,1.296
$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,23.150,0.000,452.175,196.650,254.750,0.000,0.000,0.000,0.750,0.000,19.067,1186.773,1932.392,827.385,758.644,33.136,33.414,1294.096,0.000,740.796,0.000,7.325,0.000
$DEVICE_MAMPS,280.579,0.000,787.111,653.029,146.497,0.000,0.000,0.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,60.410,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.077,656.694,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312696
$DATA_FILE_SIZE,34754,506
$CAP_FILE_SIZE,80431,0
$CFSIZE,2046525440,2042003456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300419,235519,4742.129,-12225.740,15,0.8,38,16.3,0.3,192.6,10,6.1