version: 66.14
glider: 46
mission: 5
dive: 87
start: 7 23 119 22 45 56
data:
$ID,46
$MISSION,5
$DIVE,87
$N_DIVES,0
$STOP_T,7281919
$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,3000
$T_MISSION,3300
$T_ABORT,3360
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,175
$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,355
$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,5
$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,42
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2165
$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,3500
$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
$GPS1,230719,223011,3614.9514,-6129.7549,36,1.1,77,-16.1,1.4,111.0,7,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-44.0
$GPS2,230719,224519,3614.6013,-6129.0884,8,1.1,49,-16.1,1.3,124.0,7,4.3
$SPEED_LIMITS,0.104,0.205
$TGT_NAME,E
$TGT_LATLONG,3630.000,-6129.770
$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,339.1,28536,-12.0,-6.000,-16.34,4248
$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
$GC,70,-0.86,-170.3,158,2216,261,439,1.6,0.5,6,211,0.00,0.00,-138.23,0.149,16386,0.000,0.000,158,2216,2725,2627,2823,0,0,0,0,0,0,26.99,28.83,27.01,8.43,18.77
$GC,213,-0.86,-170.3,158,2216,2628,2823,3.2,-2.5,20,234,9.98,3.58,-1.10,0.521,18948,0.241,0.074,2762,825,2754,2642,2866,0,0,0,0,0,0,25.92,26.27,26.08,8.68,18.57
$GC,328,-0.78,-170.3,2761,825,2643,2866,12.0,-6.5,31,338,0.12,3.38,0.00,0.000,3078,0.156,0.057,2793,2207,2754,2642,2866,0,0,0,0,0,0,26.36,26.65,26.44,8.68,17.75
$GC,638,-0.78,-170.3,2793,2207,2643,2867,25.6,-2.8,62,647,0.00,3.53,0.00,0.000,516,0.000,0.072,2793,827,2755,2643,2867,0,0,0,0,0,0,27.17,26.73,27.17,8.69,18.38
$GC,700,-0.78,-170.3,2793,827,2644,2867,27.9,-3.9,68,710,0.00,3.35,0.00,0.000,1030,0.000,0.055,2791,2209,2755,2643,2867,0,0,0,0,0,0,26.90,26.89,26.93,8.69,18.57
$GC,1010,-0.78,-170.3,2791,2209,2643,2868,40.5,-5.2,99,1020,0.00,3.58,0.00,0.000,260,0.000,0.072,2785,3611,2755,2643,2868,0,0,0,0,0,0,27.26,26.83,27.27,8.69,17.86
$GC,1387,-0.78,-170.3,2785,3611,2643,2869,54.3,-2.9,136,1396,0.00,3.40,0.00,0.000,1030,0.000,0.052,2785,2189,2756,2643,2870,0,0,0,0,0,0,27.10,27.08,27.12,8.68,17.90
$GC,1696,-0.78,-170.3,2785,2189,2642,2871,58.9,-0.3,167,1706,0.00,3.40,0.00,0.000,516,0.000,0.074,2785,843,2757,2643,2872,0,0,0,0,0,0,27.34,26.89,27.35,8.67,17.86
$STATE,1737,end dive,NO_VERTICAL_VELOCITY
$STATE,1737,begin apogee
$GC,1744,-0.68,0.0,2778,2182,2643,2872,59.2,0.0,171,1869,0.15,0.00,120.35,0.872,10246,0.156,0.000,2827,2181,2164,2043,2286,0,0,0,0,0,0,26.82,25.70,24.98,8.67,18.18
$STATE,1870,end apogee,CONTROL_FINISHED_OK
$STATE,1870,begin climb
$GC,1872,0.86,170.3,2827,2182,2043,2286,57.7,0.0,184,2001,1.38,3.70,118.97,0.804,10500,0.119,0.072,3303,3552,1577,1450,1705,0,0,0,0,0,0,25.84,25.54,24.84,8.63,17.59
$GC,2115,0.86,170.3,3302,3552,1450,1705,42.4,9.4,208,2125,0.00,3.35,0.00,0.000,1030,0.000,0.055,3303,2185,1578,1451,1705,0,0,0,0,0,0,26.45,26.41,26.46,8.58,17.31
$GC,2425,0.86,170.3,3302,2185,1450,1705,19.2,6.5,239,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2185,1577,1450,1705,0,0,0,0,0,0,27.10,27.11,27.11,8.58,18.22
$STATE,2704,end climb,SURFACE_DEPTH_REACHED
$STATE,2704,begin surface coast
$FINISH,0.6,1.009995
$STATE,2754,end surface coast,CONTROL_FINISHED_OK
$STATE,2754,begin surface
$SM_CCo,2769,127.75,0.795,0,0,941,355.28
$SM_GC,1.69,8.02,0.00,127.75,0.065,0.000,0.795,180,2185,941,-8.86,-0.85,355.28,0,0,0,0,0,0,26.89,27.24,25.10
$IRIDIUM_FIX,3609.17,-6123.16,220719,100236
$TT8_MAMPS,0.021721,0.168525
$HUMID,18.45
$INTERNAL_PRESSURE,8.51676
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,24.84,36.246
$10V_AH,10.53,17.659
$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,19.650,34.700,239.325,127.750,139.325,25.249,21.136,602.141,0.000,0.000,50.631,756.053,1171.427,498.470,1227.656,55.547,0.000,821.814,0.000,530.446,0.000,1.810,0.000
$DEVICE_MAMPS,240.851,94.354,871.533,794.560,521.430,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.292,353.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318848
$DATA_FILE_SIZE,17519,272
$CAP_FILE_SIZE,47402,0
$CFSIZE,2046525440,2024701952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.157,118.30,1
$GPS,230719,233531,3613.852,-6127.205,4,0.9,38,-16.1,1.3,131.2,8,4.6