version: 66.14
glider: 46
mission: 5
dive: 106
start: 8 13 119 20 50 36
data:
$ID,46
$MISSION,5
$DIVE,106
$N_DIVES,0
$STOP_T,8141919
$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,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,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,52
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2280
$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
$GPS1,130819,203813,3538.7102,-6121.4790,40,0.9,58,-16.0,1.2,83.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-47.4
$GPS2,130819,205000,3538.5874,-6120.9946,8,1.1,47,-16.0,1.6,108.3,8,5.0
$SPEED_LIMITS,0.104,0.205
$TGT_NAME,E
$TGT_LATLONG,3605.700,-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,336.4,51901,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,71,-0.86,-170.3,170,2180,853,1032,1.4,0.1,6,192,0.00,0.00,-112.15,0.151,16390,0.000,0.000,167,2181,2868,2770,2967,0,0,0,0,0,0,27.06,26.39,26.18,8.49,18.97
$GC,195,-0.86,-170.3,166,2181,2770,2968,3.4,-2.8,18,214,10.05,3.47,0.00,0.000,2564,0.246,0.072,2762,835,2873,2770,2977,0,0,0,0,0,0,25.92,26.43,26.08,8.69,18.57
$GC,701,-0.80,-170.3,2762,835,2770,2983,37.2,-4.4,68,711,0.10,3.35,0.00,0.000,3078,0.151,0.055,2786,2223,2876,2769,2983,0,0,0,0,0,0,26.64,26.92,26.71,8.71,18.89
$GC,1013,-0.80,-170.3,2785,2223,2770,2985,48.0,-2.2,99,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2223,2877,2769,2985,0,0,0,0,0,0,27.29,27.30,27.31,8.71,18.69
$GC,1321,-0.80,-170.3,2785,2223,2770,2986,54.4,-2.2,130,1326,0.00,3.53,0.00,0.000,516,0.000,0.072,2786,837,2878,2770,2987,0,0,0,0,0,0,27.32,26.86,27.33,8.70,17.90
$GC,1867,-0.80,-170.3,2786,834,2770,2991,63.1,-1.4,184,1874,0.00,3.33,0.00,0.000,1030,0.000,0.055,2777,2219,2880,2769,2991,0,0,0,0,0,0,27.11,27.06,27.13,8.70,18.26
$GC,2175,-0.80,-170.3,2776,2219,2770,2991,69.2,-2.9,215,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2219,2881,2770,2992,0,0,0,0,0,0,27.36,27.38,27.37,8.69,18.49
$GC,2474,-0.80,-170.3,2776,2219,2770,2993,75.9,-1.7,245,2483,0.00,3.50,0.00,0.000,260,0.000,0.072,2774,3604,2881,2770,2993,0,0,0,0,0,0,27.36,26.95,27.38,8.68,18.45
$GC,2716,-0.80,-170.3,2774,3604,2771,2993,81.1,-2.0,269,2726,0.00,3.30,0.00,0.000,1030,0.000,0.052,2774,2202,2882,2770,2994,0,0,0,0,0,0,27.17,27.16,27.17,8.68,18.93
$GC,3026,-0.80,-170.3,2773,2203,2771,2994,86.7,-1.9,300,3036,0.00,3.42,0.00,0.000,516,0.000,0.072,2774,844,2883,2771,2995,0,0,0,0,0,0,27.38,26.94,27.39,8.67,18.65
$GC,3192,-0.74,-170.3,2773,844,2771,2995,90.9,-2.3,316,3200,0.12,3.30,0.00,0.000,3078,0.169,0.052,2807,2224,2882,2770,2995,0,0,0,0,0,0,26.80,27.10,26.93,8.67,18.65
$GC,3499,-0.74,-170.3,2806,2224,2771,2995,97.3,-1.9,347,3508,0.00,3.47,0.00,0.000,260,0.000,0.072,2807,3599,2883,2771,2995,0,0,0,0,0,0,27.38,26.98,27.39,8.66,19.44
$GC,4021,-0.74,-170.3,2806,3599,2771,2995,111.4,-3.1,399,4031,0.00,3.25,0.00,0.000,1030,0.000,0.052,2807,2213,2883,2771,2995,0,0,0,0,0,0,27.19,27.18,27.20,8.65,19.32
$STATE,4329,end dive,NO_VERTICAL_VELOCITY
$STATE,4330,begin apogee
$GC,4333,-0.68,0.0,2807,2213,2770,2995,115.2,0.0,430,4461,0.00,0.00,125.40,0.886,8198,0.000,0.000,2807,2213,2279,2162,2396,0,0,0,0,0,0,27.39,25.79,24.98,8.64,18.97
$STATE,4462,end apogee,CONTROL_FINISHED_OK
$STATE,4462,begin climb
$GC,4464,0.86,170.3,2807,2213,2162,2397,112.3,0.0,443,4593,1.42,3.60,119.93,0.824,10500,0.114,0.070,3305,3556,1692,1571,1814,0,0,0,0,0,0,25.98,25.75,24.98,8.60,19.01
$GC,4659,0.86,170.3,3304,3556,1571,1813,98.6,7.3,462,4668,0.00,3.38,0.00,0.000,1030,0.000,0.052,3307,2180,1692,1571,1814,0,0,0,0,0,0,26.56,26.53,26.58,8.55,19.04
$GC,4968,0.86,170.3,3306,2180,1570,1813,76.0,8.5,493,4978,0.00,3.55,0.00,0.000,516,0.000,0.074,3315,789,1691,1570,1813,0,0,0,0,0,0,27.20,26.80,27.21,8.54,19.44
$GC,5013,0.86,170.3,3314,788,1570,1813,72.2,9.0,497,5022,0.00,3.33,0.00,0.000,1030,0.000,0.052,3315,2165,1692,1570,1814,0,0,0,0,0,0,27.00,26.96,27.01,8.54,19.44
$GC,5321,0.86,170.3,3315,2165,1570,1813,50.0,5.4,528,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2165,1691,1570,1812,0,0,0,0,0,0,27.30,27.32,27.32,8.54,20.03
$GC,5621,0.86,170.3,3315,2165,1568,1812,33.5,6.1,558,5630,0.00,3.50,0.00,0.000,516,0.000,0.074,3316,792,1690,1568,1812,0,0,0,0,0,0,27.34,26.92,27.35,8.57,20.70
$GC,5675,0.86,170.3,3316,792,1568,1811,30.3,5.9,563,5684,0.00,3.30,0.00,0.000,1030,0.000,0.052,3316,2172,1689,1568,1811,0,0,0,0,0,0,27.13,27.08,27.13,8.57,19.95
$GC,5984,0.88,253.5,3316,2172,1567,1810,12.7,4.0,594,6054,0.00,3.60,58.50,0.772,8708,0.000,0.074,3318,792,1406,1287,1525,0,0,0,0,0,0,27.36,25.86,25.34,8.59,20.15
$GC,6118,0.95,253.5,3317,792,1287,1524,3.5,8.9,607,6127,0.00,3.33,0.00,0.000,1030,0.000,0.052,3318,2168,1405,1287,1524,0,0,0,0,0,0,26.74,26.73,26.76,8.59,19.67
$STATE,6135,end climb,SURFACE_DEPTH_REACHED
$STATE,6135,begin surface coast
$FINISH,0.4,1.023388
$STATE,6167,end surface coast,CONTROL_FINISHED_OK
$STATE,6167,begin surface
$SM_CCo,6182,95.38,0.770,0,0,936,390.14
$SM_GC,1.31,8.10,0.00,95.38,0.067,0.000,0.770,193,2168,936,-8.82,-1.33,390.14,0,0,0,0,0,0,26.76,27.08,25.22
$IRIDIUM_FIX,3540.46,-6136.92,120819,224733
$TT8_MAMPS,0.021721,0.169274
$HUMID,19.71
$INTERNAL_PRESSURE,8.52653
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,24.98,45.092
$10V_AH,10.51,21.911
$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,19.800,61.500,303.825,95.375,112.150,39.719,47.803,424.173,0.000,0.000,48.351,1757.677,2751.740,540.954,1815.427,74.133,0.000,1206.489,0.000,1244.777,0.000,1.808,0.000
$DEVICE_MAMPS,245.817,74.490,886.431,769.730,151.463,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.849,797.594,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319140
$DATA_FILE_SIZE,41674,612
$CAP_FILE_SIZE,78728,0
$CFSIZE,2046525440,2019819520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.860,123.39,1
$GPS,130819,223638,3537.209,-6118.259,5,1.0,45,-16.0,1.2,120.0,7,5.5