version: 66.14
glider: 46
mission: 5
dive: 142
start: 9 15 119 4 5 23
data:
$ID,46
$MISSION,5
$DIVE,142
$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,41
$R_STBD_OVSHOOT,57
$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
$GPS1,150919,035423,3536.1187,-6245.7036,36,0.8,71,-15.8,1.1,271.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-45.1
$GPS2,150919,040445,3536.2317,-6246.0962,9,0.8,49,-15.8,1.8,309.7,10,5.0
$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,109.9,69994,-27.5,-7.500,-30.00,1091
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
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$GC,491,-2.30,-207.9,2430,2191,2611,2836,0.2,0.2,48,513,0.30,0.00,-18.33,0.174,20742,0.079,0.000,2285,2191,3002,2890,3115,0,0,0,0,0,0,27.10,26.89,26.71,8.83,22.98
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$GC,1075,-2.06,-207.9,2321,3589,2892,3116,44.6,-10.4,106,1085,0.20,3.28,0.00,0.000,3078,0.194,0.052,2380,2180,3004,2892,3117,0,0,0,0,0,0,26.71,27.15,26.82,8.86,22.59
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$GC,3973,-1.80,-219.0,2461,2220,2896,3118,57.7,0.7,395,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2219,3006,2896,3117,0,0,0,0,0,0,27.37,27.39,27.39,8.87,22.23
$GC,4275,-1.80,-219.0,2461,2220,2895,3118,61.2,-1.1,425,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2220,3007,2896,3118,0,0,0,0,0,0,27.37,27.39,27.39,8.87,22.08
$GC,4583,-1.80,-219.0,2461,2220,2896,3118,60.1,-3.5,456,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2219,3007,2896,3118,0,0,0,0,0,0,27.38,27.39,27.39,8.87,22.00
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$GC,5438,-1.80,-219.0,2461,878,2896,3118,65.1,2.9,541,5449,0.00,3.12,0.00,0.000,1030,0.000,0.052,2447,2212,3007,2896,3118,0,0,0,0,0,0,27.15,27.14,27.16,8.88,22.16
$GC,5750,-1.80,-219.0,2447,2212,2896,3118,65.5,0.1,572,5759,0.00,3.33,0.00,0.000,516,0.000,0.070,2447,873,3007,2896,3118,0,0,0,0,0,0,27.38,27.05,27.39,8.87,22.35
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$GC,9517,-1.80,-219.0,2447,2220,2896,3117,63.5,0.5,946,9526,0.00,3.42,0.00,0.000,260,0.000,0.070,2430,3594,3007,2896,3118,0,0,0,0,0,0,27.38,27.05,27.39,8.86,22.94
$GC,10074,-1.75,-219.0,2430,3594,2896,3118,63.7,-1.8,1001,10084,0.15,3.17,0.00,0.000,3078,0.176,0.052,2477,2192,3007,2896,3118,0,0,0,0,0,0,26.79,27.20,26.89,8.85,22.67
$GC,10383,-1.75,-219.0,2477,2193,2896,3118,68.8,2.0,1032,10393,0.00,3.53,0.00,0.000,260,0.000,0.070,2462,3599,3007,2896,3118,0,0,0,0,0,0,27.38,27.04,27.39,8.86,22.59
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$GC,16460,-1.75,-219.0,2436,3595,2896,3117,70.6,3.0,1635,16470,0.12,3.17,0.00,0.000,3078,0.176,0.052,2476,2193,3006,2896,3117,0,0,0,0,0,0,26.83,27.21,26.91,8.85,23.57
$GC,16770,-1.75,-219.0,2475,2193,2896,3118,68.6,0.3,1666,16779,0.00,3.50,0.00,0.000,260,0.000,0.070,2461,3593,3007,2896,3118,0,0,0,0,0,0,27.38,27.04,27.39,8.85,22.90
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$GC,17632,-1.75,-219.0,2461,2228,2896,3118,68.6,0.9,1752,17642,0.00,3.42,0.00,0.000,260,0.000,0.070,2444,3595,3006,2896,3117,0,0,0,0,0,0,27.38,27.03,27.39,8.84,23.49
$GC,18185,-1.75,-219.0,2444,3595,2896,3118,72.6,-0.0,1807,18195,0.10,3.15,0.00,0.000,3078,0.176,0.052,2476,2218,3006,2896,3117,0,0,0,0,0,0,26.86,27.17,26.94,8.84,22.94
$GC,18495,-1.75,-219.0,2476,2218,2896,3118,73.2,1.3,1838,18504,0.00,3.30,0.00,0.000,516,0.000,0.070,2476,883,3006,2896,3117,0,0,0,0,0,0,27.38,27.05,27.39,8.84,23.61
$GC,19047,-1.75,-219.0,2475,883,2896,3117,72.1,-1.9,1893,19057,0.00,3.12,0.00,0.000,1030,0.000,0.052,2465,2211,3007,2896,3118,0,0,0,0,0,0,27.16,27.15,27.17,8.84,23.06
$GC,19357,-1.75,-219.0,2464,2211,2896,3117,72.2,1.5,1924,19367,0.00,3.30,0.00,0.000,516,0.000,0.067,2465,880,3007,2896,3118,0,0,0,0,0,0,27.39,27.05,27.39,8.84,22.79
$GC,19910,-1.75,-219.0,2464,880,2896,3118,75.5,-1.9,1979,19921,0.10,3.17,0.00,0.000,3078,0.201,0.052,2478,2225,3006,2896,3117,0,0,0,0,0,0,26.84,27.14,26.98,8.84,22.86
$GC,20220,-1.75,-219.0,2478,2225,2896,3118,73.2,2.0,2010,20229,0.00,3.33,0.00,0.000,516,0.000,0.067,2479,884,3006,2896,3117,0,0,0,0,0,0,27.39,27.04,27.39,8.84,23.57
$GC,20773,-1.75,-219.0,2478,884,2897,3117,76.7,-1.1,2065,20782,0.00,3.12,0.00,0.000,1030,0.000,0.052,2464,2214,3006,2896,3117,0,0,0,0,0,0,27.15,27.15,27.17,8.84,22.75
$GC,21083,-1.75,-219.0,2464,2214,2896,3117,78.8,0.2,2096,21093,0.00,3.30,0.00,0.000,516,0.000,0.070,2464,883,3007,2896,3118,0,0,0,0,0,0,27.39,27.04,27.39,8.84,23.26
$STATE,21494,end dive,NO_VERTICAL_VELOCITY
$STATE,21494,begin apogee
$GC,21501,-0.68,0.0,2449,2170,2896,3117,79.0,0.0,2137,21657,1.12,0.00,151.52,0.777,10246,0.161,0.000,2818,2169,2284,2177,2392,0,0,0,0,0,0,26.73,26.11,25.24,8.84,23.73
$STATE,21658,end apogee,CONTROL_FINISHED_OK
$STATE,21658,begin climb
$GC,21660,1.93,219.0,2818,2169,2177,2391,72.7,0.0,2153,21827,2.22,3.50,152.05,0.752,10500,0.097,0.070,3654,3544,1530,1430,1630,0,0,0,0,0,0,26.53,25.99,25.53,8.78,23.10
$GC,21952,1.93,219.0,3653,3544,1430,1628,11.3,26.4,2182,21961,0.00,3.15,0.00,0.000,1030,0.000,0.052,3670,2215,1528,1429,1628,0,0,0,0,0,0,27.10,27.07,27.10,8.73,22.51
$STATE,21978,end climb,SURFACE_DEPTH_REACHED
$STATE,21978,begin surface coast
$FINISH,0.4,0.997952
$STATE,21989,end surface coast,CONTROL_FINISHED_OK
$STATE,21989,begin surface
$SM_CCo,22005,117.62,0.690,0,0,941,390.14
$SM_GC,1.13,8.85,0.00,117.62,0.067,0.000,0.690,199,2214,941,-8.83,-0.03,390.14,0,0,0,0,0,0,26.96,27.30,25.61
$IRIDIUM_FIX,3537.07,-6232.76,140919,215051
$TT8_MAMPS,0.020972,0.167776
$HUMID,22.47
$INTERNAL_PRESSURE,8.64372
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,25.24,60.936
$10V_AH,10.58,30.302
$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,22.250,157.075,303.575,117.625,116.600,23.581,14.371,415.818,0.250,0.000,49.850,6444.542,9832.862,730.533,5528.521,195.007,0.000,3077.339,0.000,4942.148,0.000,1.820,0.000
$DEVICE_MAMPS,225.953,69.524,777.179,690.274,178.776,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1471.244,2859.777,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319012
$DATA_FILE_SIZE,138369,2186
$CAP_FILE_SIZE,242365,0
$CFSIZE,2046525440,2010218496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.478,291.45,1
$GPS,150919,101556,3538.343,-6252.437,38,0.9,70,-15.7,0.2,337.6,11,5.0