version: 66.14
glider: 46
mission: 5
dive: 140
start: 9 14 119 14 55 36
data:
$ID,46
$MISSION,5
$DIVE,140
$N_DIVES,0
$STOP_T,9161919
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$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,2400
$T_MISSION,2700
$T_ABORT,3360
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,480
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79912.602
$MASS_COMP,10878
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,12
$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,3045
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.73
$PITCH_TIMEOUT,20
$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,2215
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2285
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.768235
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,20
$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,48
$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
$GPS1,140919,142811,3542.3928,-6224.8525,31,1.0,71,-15.8,1.2,217.4,8,6.6
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-41.6
$GPS2,140919,145500,3542.0342,-6225.5225,9,1.2,49,-15.8,0.5,226.7,7,6.5
$SPEED_LIMITS,0.130,0.248
$TGT_NAME,S
$TGT_LATLONG,3541.400,-6200.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,64.7,38408,-13.0,-7.500,-16.82,4393
$D_GRID,5400
$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
$STATE,4,begin dive
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$GC,1892,-0.86,-219.0,2753,2221,2949,3150,56.1,-0.2,186,1901,0.00,3.42,0.00,0.000,516,0.000,0.070,2754,855,3050,2949,3151,0,0,0,0,0,0,27.34,26.92,27.35,8.76,18.93
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$GC,3984,-0.80,-219.0,2778,869,2949,3152,61.6,-0.9,393,3992,0.00,3.20,0.00,0.000,1030,0.000,0.052,2768,2221,3050,2949,3152,0,0,0,0,0,0,27.13,27.09,27.15,8.76,19.83
$GC,4292,-0.80,-219.0,2767,2220,2949,3152,62.7,-0.5,424,4302,0.00,3.45,0.00,0.000,260,0.000,0.070,2765,3592,3050,2949,3152,0,0,0,0,0,0,27.35,26.95,27.36,8.76,19.67
$GC,4688,-0.80,-219.0,2764,3592,2949,3152,64.1,2.2,463,4699,0.00,3.20,0.00,0.000,1030,0.000,0.052,2765,2214,3050,2949,3152,0,0,0,0,0,0,27.18,27.17,27.19,8.76,19.64
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$GC,5299,-0.80,-219.0,2764,2214,2949,3152,70.2,0.6,524,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2214,3050,2949,3152,0,0,0,0,0,0,27.35,27.36,27.36,8.76,19.67
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$GC,9479,-0.80,-219.0,2787,881,2947,3151,77.4,3.8,938,9489,0.00,3.12,0.00,0.000,1030,0.000,0.052,2779,2209,3049,2947,3152,0,0,0,0,0,0,27.13,27.12,27.15,8.75,20.74
$GC,9789,-0.80,-219.0,2778,2209,2947,3152,84.7,-4.5,969,9800,0.00,3.30,0.00,0.000,516,0.000,0.070,2778,884,3049,2947,3152,0,0,0,0,0,0,27.36,27.00,27.37,8.75,21.13
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$GC,15408,-0.80,-219.0,2758,3592,2941,3151,117.3,1.2,1526,15418,0.00,3.15,0.00,0.000,1030,0.000,0.052,2758,2212,3045,2941,3150,0,0,0,0,0,0,27.20,27.19,27.20,8.73,21.56
$GC,15719,-0.80,-219.0,2758,2212,2941,3150,123.9,-3.6,1557,15728,0.00,3.47,0.00,0.000,260,0.000,0.070,2752,3592,3045,2941,3150,0,0,0,0,0,0,27.37,27.01,27.38,8.73,21.37
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$GC,16583,-0.80,-219.0,2789,2214,2942,3149,126.1,0.7,1643,16594,0.00,3.47,0.00,0.000,260,0.000,0.070,2789,3590,3045,2941,3149,0,0,0,0,0,0,27.37,27.01,27.38,8.72,21.80
$GC,17139,-0.80,-219.0,2788,3590,2941,3149,123.5,-1.3,1698,17148,0.00,3.15,0.00,0.000,1030,0.000,0.052,2789,2215,3045,2941,3149,0,0,0,0,0,0,27.22,27.19,27.20,8.71,21.96
$GC,17449,-0.80,-219.0,2789,2216,2941,3149,127.5,-3.0,1729,17459,0.00,3.47,0.00,0.000,260,0.000,0.070,2789,3592,3045,2941,3149,0,0,0,0,0,0,27.37,27.01,27.39,8.70,21.80
$GC,17924,-0.80,-219.0,2788,3592,2941,3148,125.9,1.8,1776,17934,0.00,3.15,0.00,0.000,1030,0.000,0.050,2789,2216,3044,2941,3148,0,0,0,0,0,0,27.20,27.20,27.20,8.70,21.56
$GC,18234,-0.80,-219.0,2789,2216,2940,3148,132.1,-4.1,1807,18244,0.00,3.33,0.00,0.000,516,0.000,0.070,2789,882,3044,2940,3148,0,0,0,0,0,0,27.37,27.01,27.39,8.70,22.04
$GC,18793,-0.80,-219.0,2789,882,2939,3148,134.4,-2.8,1862,18802,0.00,3.12,0.00,0.000,1030,0.000,0.052,2781,2211,3043,2939,3148,0,0,0,0,0,0,27.15,27.13,27.15,8.70,22.16
$GC,19102,-0.80,-219.0,2780,2211,2939,3148,139.9,-0.1,1893,19112,0.00,3.33,0.00,0.000,516,0.000,0.067,2781,880,3043,2939,3148,0,0,0,0,0,0,27.38,27.01,27.39,8.69,22.19
$GC,19657,-0.80,-219.0,2781,880,2937,3148,151.3,-5.1,1946,19662,0.00,3.17,0.00,0.000,1030,0.000,0.052,2778,2218,3042,2937,3148,0,0,0,0,0,0,27.17,27.13,27.18,8.69,22.27
$GC,19964,-0.80,-219.0,2778,2218,2937,3148,151.8,3.0,1961,19971,0.00,3.33,0.00,0.000,516,0.000,0.067,2778,886,3042,2937,3148,0,0,0,0,0,0,27.38,27.01,27.39,8.68,22.39
$GC,20084,-0.80,-219.0,2778,886,2937,3147,147.7,2.9,1970,20094,0.00,3.12,0.00,0.000,1030,0.000,0.052,2777,2211,3042,2937,3148,0,0,0,0,0,0,27.15,27.14,27.16,8.68,22.16
$GC,20394,-0.80,-219.0,2776,2211,2937,3148,149.3,-1.9,2001,20405,0.00,3.30,0.00,0.000,516,0.000,0.067,2776,883,3042,2937,3148,0,0,0,0,0,0,27.38,27.01,27.39,8.68,22.23
$GC,20946,-0.80,-219.0,2776,882,2936,3147,160.0,-1.3,2030,20952,0.00,3.15,0.00,0.000,1030,0.000,0.052,2776,2210,3041,2936,3147,0,0,0,0,0,0,27.17,27.14,27.18,8.67,22.27
$GC,21254,-0.80,-219.0,2775,2210,2936,3147,162.9,-0.7,2045,21260,0.00,3.30,0.00,0.000,516,0.000,0.067,2776,885,3041,2936,3147,0,0,0,0,0,0,27.38,27.01,27.39,8.67,22.47
$GC,21516,-0.80,-219.0,2776,885,2936,3146,166.2,-1.0,2058,21522,0.00,3.12,0.00,0.000,1030,0.000,0.052,2766,2215,3041,2936,3147,0,0,0,0,0,0,27.15,27.14,27.16,8.67,22.27
$GC,21835,-0.80,-219.0,2765,2215,2937,3146,168.9,-1.6,2074,21841,0.00,3.47,0.00,0.000,260,0.000,0.070,2765,3595,3040,2935,3146,0,0,0,0,0,0,27.37,27.01,27.39,8.66,22.90
$GC,22022,-0.80,-219.0,2764,3595,2936,3145,172.0,-1.8,2083,22027,0.00,3.20,0.00,0.000,1030,0.000,0.050,2765,2221,3040,2935,3145,0,0,0,0,0,0,27.21,27.20,27.22,8.66,22.47
$GC,22335,-0.80,-219.0,2765,2215,2936,3146,173.1,0.3,2099,22341,0.00,3.47,0.00,0.000,260,0.000,0.070,2765,3594,3040,2936,3145,0,0,0,0,0,0,27.38,27.03,27.39,8.65,22.75
$GC,22422,-0.80,-219.0,2764,3594,2936,3145,172.7,0.6,2103,22428,0.00,3.20,0.00,0.000,1030,0.000,0.050,2765,2221,3041,2936,3146,0,0,0,0,0,0,27.21,27.20,27.22,8.66,23.26
$STATE,22669,end dive,NO_VERTICAL_VELOCITY
$STATE,22669,begin apogee
$GC,22672,-0.68,0.0,2764,2217,2935,3145,172.2,0.0,2115,22836,0.17,0.00,160.00,0.889,10246,0.146,0.000,2825,2216,2284,2177,2392,0,0,0,0,0,0,26.91,26.09,25.21,8.65,22.82
$STATE,22837,end apogee,CONTROL_FINISHED_OK
$STATE,22837,begin climb
$GC,22838,0.94,219.0,2825,2216,2177,2391,164.7,0.0,2123,22998,1.38,0.00,153.98,0.829,10502,0.097,0.000,3338,2216,1531,1428,1634,0,0,0,0,0,0,26.42,26.13,25.36,8.60,22.94
$GC,23290,1.09,219.0,3337,2215,1429,1632,127.0,7.8,2160,23300,0.10,3.53,0.00,0.000,2564,0.117,0.072,3438,818,1530,1428,1632,0,0,0,0,0,0,27.09,26.96,27.11,8.53,22.39
$GC,23443,1.09,219.0,3438,818,1428,1632,112.1,10.5,2175,23454,0.12,3.22,0.00,0.000,5126,0.151,0.052,3393,2159,1530,1429,1632,0,0,0,0,0,0,26.90,27.10,27.01,8.53,22.86
$GC,23753,1.09,219.0,3392,2159,1427,1631,85.1,10.7,2206,23763,0.00,3.53,0.00,0.000,260,0.000,0.070,3392,3562,1529,1428,1631,0,0,0,0,0,0,27.36,27.02,27.37,8.54,22.94
$GC,23897,1.09,219.0,3391,3562,1428,1631,67.6,11.8,2220,23907,0.00,3.22,0.00,0.000,1030,0.000,0.052,3403,2201,1529,1427,1631,0,0,0,0,0,0,27.16,27.15,27.17,8.55,23.49
$GC,24205,1.09,219.0,3403,2200,1423,1630,35.6,10.5,2251,24215,0.00,3.55,0.00,0.000,516,0.000,0.072,3416,792,1527,1424,1630,0,0,0,0,0,0,27.37,26.99,27.38,8.58,23.69
$GC,24270,1.09,219.0,3416,792,1424,1630,28.2,11.9,2257,24278,0.00,3.30,0.00,0.000,1030,0.000,0.052,3416,2174,1527,1424,1630,0,0,0,0,0,0,27.15,27.12,27.17,8.59,23.49
$STATE,24507,end climb,SURFACE_DEPTH_REACHED
$STATE,24507,begin surface coast
$FINISH,0.3,1.024473
$STATE,24527,end surface coast,CONTROL_FINISHED_OK
$STATE,24527,begin surface
$SM_CCo,24543,120.85,0.725,0,0,940,390.14
$SM_GC,1.23,8.35,0.00,120.85,0.074,0.000,0.725,191,2174,940,-8.85,-1.16,390.14,0,0,0,0,0,0,26.98,27.39,25.44
$IRIDIUM_FIX,3542.24,-6227.96,140919,143403
$TT8_MAMPS,0.021721,0.169274
$HUMID,23.02
$INTERNAL_PRESSURE,8.5363
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,25.21,60.684
$10V_AH,10.53,30.006
$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,20.225,210.600,313.975,120.850,115.850,83.550,100.465,987.121,0.250,0.000,50.495,6849.886,11681.906,809.812,6561.798,237.036,0.000,3319.394,0.000,5245.484,0.000,2.605,0.000
$DEVICE_MAMPS,235.885,72.007,888.914,725.036,151.463,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1544.751,2982.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319096
$DATA_FILE_SIZE,148438,2283
$CAP_FILE_SIZE,276624,0
$CFSIZE,2046525440,2010578944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.694,235.92,1
$GPS,140919,214842,3537.141,-6234.691,41,1.2,81,-15.8,0.9,225.4,7,5.9