version: 66.14
glider: 45
mission: 2
dive: 9
start: 5 1 119 5 27 1
data:
$ID,45
$MISSION,2
$DIVE,9
$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,60
$T_MISSION,75
$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,30
$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,450
$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,2399
$C_ROLL_CLIMB,2399
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,16
$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,97
$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
$GPS1,010519,052131,4742.0308,-12225.9814,4,0.9,18,16.3,0.0,189.5,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-58.8
$GPS2,010519,052551,4741.9966,-12226.0098,10,0.9,21,16.3,0.0,221.5,9,9.5
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.143783,0.286611
$KALMAN_X,-3306.725586,-425.635376,-69.955391,1536.113525,17.820457
$KALMAN_Y,-6003.914062,-816.569397,-562.096069,4832.066895,290.067474
$MHEAD_RNG_PITCHd_Wd,5.8,5003,-13.1,-10.000,-17.32,3645
$D_GRID,181
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6,-1.34,-244.4,209,2393,371,358,0.0,0.0,0,177,0.00,0.00,-167.98,0.144,16386,0.000,0.000,208,2394,2209,2199,2220,0,0,0,0,0,0,26.54,28.83,26.55,8.23,28.02
$GC,180,-1.34,-244.4,209,2394,2199,2220,3.1,-1.5,28,262,11.00,3.78,-62.58,0.149,19204,0.273,0.092,3008,993,3431,3397,3465,0,0,0,0,0,0,25.76,25.88,25.84,8.40,26.57
$GC,309,-1.34,-244.4,3007,993,3398,3465,15.3,-12.0,50,316,0.00,3.62,0.00,0.000,1030,0.000,0.074,2993,2402,3431,3397,3465,0,0,0,0,0,0,26.12,26.04,26.13,8.52,26.29
$GC,383,-1.34,-244.4,2992,2402,3397,3465,23.7,-12.1,61,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2402,3431,3397,3465,0,0,0,0,0,0,26.41,26.42,26.42,8.52,26.92
$GC,503,-1.34,-244.4,2992,2403,3397,3465,38.8,-13.1,73,513,0.00,3.75,0.00,0.000,516,0.000,0.094,2993,999,3430,3397,3464,0,0,0,0,0,0,26.51,26.15,26.53,8.52,26.53
$GC,635,-1.34,-244.4,2992,999,3397,3464,56.6,-13.8,86,646,0.10,3.55,0.00,0.000,3078,0.179,0.074,3008,2400,3430,3397,3464,0,0,0,0,0,0,26.17,26.31,26.25,8.52,26.61
$GC,765,-1.34,-244.4,3007,2399,3397,3465,72.8,-12.8,99,776,0.00,3.72,0.00,0.000,516,0.000,0.094,3009,999,3430,3397,3464,0,0,0,0,0,0,26.65,26.29,26.66,8.51,27.24
$GC,822,-1.34,-244.4,3008,999,3397,3464,79.7,-13.2,104,829,0.00,3.55,0.00,0.000,1030,0.000,0.074,2994,2398,3430,3397,3464,0,0,0,0,0,0,26.46,26.38,26.48,8.51,26.72
$GC,948,-1.34,-244.4,2994,2398,3397,3464,96.5,-12.2,117,958,0.00,3.70,0.00,0.000,516,0.000,0.094,2994,998,3431,3397,3465,0,0,0,0,0,0,26.72,26.35,26.73,8.51,27.59
$GC,1055,-1.34,-244.4,2993,998,3397,3464,110.5,-13.0,127,1066,0.10,3.53,0.00,0.000,3078,0.181,0.074,3010,2398,3430,3397,3464,0,0,0,0,0,0,26.31,26.45,26.40,8.51,27.51
$GC,1185,-1.34,-244.4,3009,2397,3397,3465,125.9,-11.7,140,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2398,3430,3397,3464,0,0,0,0,0,0,26.77,26.79,26.78,8.51,27.27
$GC,1305,-1.34,-244.4,3009,2398,3397,3465,140.6,-12.5,152,1315,0.00,3.67,0.00,0.000,516,0.000,0.094,3010,1004,3430,3397,3464,0,0,0,0,0,0,26.80,26.44,26.82,8.51,27.39
$GC,1420,-1.34,-244.4,3010,1004,3397,3464,154.8,-12.9,163,1427,0.00,3.53,0.00,0.000,1030,0.000,0.074,2996,2399,3430,3397,3464,0,0,0,0,0,0,26.61,26.53,26.63,8.50,27.27
$GC,1547,-1.34,-244.4,2996,2399,3397,3464,171.4,-12.7,176,1557,0.00,3.70,0.00,0.000,516,0.000,0.094,2996,994,3430,3397,3464,0,0,0,0,0,0,26.84,26.47,26.86,8.51,27.67
$STATE,1618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1618,begin apogee
$GC,1625,-0.39,0.0,2979,2398,3397,3464,180.7,-13.4,183,1810,0.95,0.00,176.68,0.785,10246,0.159,0.000,3309,2399,2590,2558,2622,0,0,0,0,0,0,26.41,24.78,24.39,8.50,27.55
$STATE,1811,end apogee,CONTROL_FINISHED_OK
$STATE,1811,begin climb
$GC,1812,1.34,244.4,3309,2399,2558,2622,188.7,0.0,202,2004,1.40,4.05,179.50,0.765,10500,0.119,0.099,3801,3800,1746,1719,1774,0,0,1,0,0,0,25.08,24.84,24.30,8.42,27.39
$GC,2094,1.34,244.4,3800,3800,1720,1774,168.0,10.9,230,2102,0.00,3.72,0.00,0.000,3078,0.000,0.074,3819,2400,1747,1720,1774,0,0,0,0,0,0,25.67,25.60,25.69,8.34,26.01
$GC,2221,1.34,244.4,3818,2400,1719,1774,154.5,11.1,243,2232,0.00,3.80,0.00,0.000,2564,0.000,0.099,3835,1000,1747,1720,1775,0,0,0,0,0,0,26.15,25.82,26.16,8.35,27.59
$GC,2286,1.34,244.4,3835,1000,1719,1775,147.6,11.2,249,2294,0.00,3.62,0.00,0.000,5126,0.000,0.074,3835,2398,1747,1720,1775,0,0,0,0,0,0,26.06,25.96,26.08,8.34,26.72
$GC,2414,1.34,244.4,3835,2398,1720,1775,133.7,11.2,262,2415,0.00,0.00,0.00,0.000,4102,0.000,0.000,3835,2398,1747,1720,1775,0,0,0,0,0,0,26.39,26.40,26.40,8.34,28.02
$GC,2534,1.34,244.4,3835,2398,1720,1774,121.3,10.6,274,2544,0.00,3.75,0.00,0.000,4612,0.000,0.099,3852,1000,1747,1720,1775,0,0,0,0,0,0,26.49,26.13,26.51,8.35,28.02
$GC,2579,1.34,244.4,3851,1000,1720,1775,116.5,11.7,278,2587,0.00,3.60,0.00,0.000,1030,0.000,0.074,3852,2402,1747,1720,1775,0,0,0,0,0,0,26.31,26.22,26.32,8.35,27.71
$GC,2706,1.34,244.4,3851,2402,1720,1775,102.0,11.2,291,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,3852,2402,1746,1719,1774,0,0,0,0,0,0,26.58,26.60,26.60,8.35,28.42
$GC,2826,1.34,244.4,3851,2402,1719,1774,88.1,12.1,303,2836,0.00,3.72,0.00,0.000,516,0.000,0.099,3869,1002,1747,1720,1775,0,0,0,0,0,0,26.64,26.27,26.65,8.34,28.18
$GC,2870,1.34,244.4,3868,1002,1720,1774,83.2,11.9,307,2879,0.00,3.55,0.00,0.000,1030,0.000,0.074,3869,2398,1747,1720,1775,0,0,0,0,0,0,26.45,26.36,26.46,8.34,28.06
$GC,2998,1.34,244.4,3868,2398,1720,1774,69.0,10.9,320,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,3869,2398,1747,1720,1774,0,0,0,0,0,0,26.70,26.72,26.71,8.34,28.18
$GC,3118,1.34,244.4,3868,2398,1720,1775,55.9,11.1,332,3128,0.00,3.75,0.00,0.000,260,0.000,0.099,3868,3800,1747,1720,1774,0,0,0,0,0,0,26.73,26.39,26.74,8.34,28.22
$GC,3144,1.34,244.4,3868,3800,1720,1774,52.9,11.6,334,3151,0.00,3.60,0.00,0.000,1030,0.000,0.074,3887,2398,1747,1720,1774,0,0,0,0,0,0,26.54,26.47,26.55,8.34,28.73
$GC,3270,1.34,244.4,3886,2398,1720,1774,38.5,10.9,347,3281,0.00,3.72,0.00,0.000,516,0.000,0.099,3904,998,1747,1720,1774,0,0,0,0,0,0,26.77,26.39,26.78,8.34,27.79
$GC,3327,1.34,244.4,3903,998,1720,1774,32.6,11.7,352,3335,0.25,3.55,0.00,0.000,5126,0.174,0.074,3821,2397,1747,1720,1774,0,0,0,0,0,0,26.34,26.49,26.49,8.34,28.34
$GC,3453,1.42,312.1,3821,2396,1720,1774,21.0,8.1,365,3505,0.00,0.00,48.65,0.670,12294,0.000,0.000,3822,2397,1512,1491,1534,0,0,0,0,0,0,26.82,25.79,25.27,8.34,28.38
$GC,3567,1.42,312.1,3821,2397,1492,1534,10.4,10.3,384,3574,0.00,0.00,0.00,0.000,4102,0.000,0.000,3821,2397,1512,1491,1534,0,0,0,0,0,0,26.34,26.35,26.34,8.32,28.02
$GC,3636,1.57,432.9,3820,2397,1492,1535,4.6,6.6,397,3698,0.00,0.00,59.80,0.656,12802,0.000,0.000,3821,2397,1225,1207,1244,0,0,0,0,0,0,26.41,28.83,26.42,8.32,28.18
$STATE,3699,end climb,SURFACE_DEPTH_REACHED
$STATE,3700,begin surface coast
$FINISH,0.6,0.999640
$STATE,3740,end surface coast,CONTROL_FINISHED_OK
$STATE,3741,begin surface
$SM_CCo,3756,39.97,0.643,0,0,1039,450.27
$SM_GC,1.84,9.60,0.00,39.97,0.084,0.000,0.643,202,2397,1039,-10.07,-0.06,450.27,0,0,0,0,0,0,25.70,26.02,24.82
$IRIDIUM_FIX,4741.31,-12227.78,010519,051813
$TT8_MAMPS,0.021721,0.177513
$HUMID,27.87
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,10.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,106.2,108.9
$24V_AH,24.30,3.994
$10V_AH,10.45,1.464
$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,23.400,88.150,464.625,39.975,230.550,0.000,0.000,0.000,1.000,0.000,22.175,970.109,1366.237,732.698,788.877,31.898,33.427,1250.652,0.000,760.037,0.000,9.039,0.000
$DEVICE_MAMPS,273.130,99.320,784.628,643.097,148.980,0.000,0.000,0.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,60.410,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.836,537.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27858,415
$CAP_FILE_SIZE,78269,0
$CFSIZE,2046525440,2041577472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,010519,063149,4742.263,-12226.051,23,0.9,52,16.3,0.3,213.9,9,6.3