version: 66.14
glider: 46
mission: 5
dive: 141
start: 9 14 119 22 0 8
data:
$ID,46
$MISSION,5
$DIVE,141
$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,56
$R_STBD_OVSHOOT,46
$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
$GPS1,140919,214842,3537.1409,-6234.6909,41,1.2,81,-15.8,0.9,225.4,7,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-42.6
$GPS2,140919,215932,3536.9771,-6235.1074,9,1.2,50,-15.8,1.3,237.6,7,6.1
$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,52.0,53439,-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,736,-2.32,-203.2,2414,3605,2595,2813,0.4,0.3,72,767,0.25,3.28,-18.58,0.174,21510,0.077,0.052,2286,2188,2986,2872,3100,0,0,0,0,0,0,27.07,27.17,26.70,8.81,21.45
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$GC,1340,-2.15,-219.0,2268,3607,2933,3149,24.4,-10.2,132,1350,0.28,3.22,0.00,0.000,3078,0.194,0.052,2349,2208,3041,2933,3150,0,0,0,0,0,0,26.67,27.17,26.79,8.85,21.60
$GC,1650,-2.09,-219.0,2348,2208,2933,3151,48.4,-5.1,163,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2208,3042,2933,3152,0,0,0,0,0,0,27.37,27.38,27.38,8.85,21.05
$GC,1951,-2.03,-219.0,2348,2208,2933,3152,55.7,-0.8,193,1962,0.10,3.50,0.00,0.000,2308,0.219,0.067,2367,3607,3042,2933,3152,0,0,0,0,0,0,26.85,26.98,26.92,8.85,21.37
$GC,2506,-1.94,-219.0,2366,3607,2935,3152,55.4,-0.5,248,2516,0.17,3.20,0.00,0.000,3078,0.184,0.052,2421,2199,3044,2935,3153,0,0,0,0,0,0,26.74,27.20,26.85,8.85,20.90
$GC,2815,-1.94,-219.0,2420,2199,2935,3153,57.3,3.0,279,2825,0.00,3.22,0.00,0.000,516,0.000,0.067,2421,887,3044,2935,3153,0,0,0,0,0,0,27.37,27.03,27.38,8.85,21.25
$GC,3368,-1.88,-219.0,2420,887,2935,3154,60.1,-0.4,334,3374,0.12,3.17,0.00,0.000,3078,0.201,0.055,2443,2229,3044,2935,3154,0,0,0,0,0,0,26.78,27.13,26.95,8.85,21.01
$GC,3682,-1.88,-219.0,2442,2229,2935,3153,60.1,-1.5,365,3692,0.00,3.33,0.00,0.000,516,0.000,0.067,2443,887,3044,2935,3154,0,0,0,0,0,0,27.37,27.03,27.39,8.85,21.68
$GC,4145,-1.88,-219.0,2442,887,2935,3154,61.5,-0.9,411,4150,0.00,3.15,0.00,0.000,1030,0.000,0.052,2429,2219,3044,2935,3154,0,0,0,0,0,0,27.17,27.13,27.17,8.85,21.29
$GC,4457,-1.88,-219.0,2428,2219,2935,3154,64.4,-0.4,442,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2219,3044,2935,3154,0,0,0,0,0,0,27.37,27.39,27.39,8.84,21.88
$GC,4758,-1.88,-219.0,2428,2219,2936,3154,64.8,-0.5,472,4767,0.00,3.45,0.00,0.000,260,0.000,0.070,2411,3600,3044,2935,3154,0,0,0,0,0,0,27.37,27.05,27.39,8.84,21.88
$GC,5310,-1.82,-219.0,2410,3600,2935,3154,66.4,1.4,527,5320,0.15,3.15,0.00,0.000,3078,0.181,0.052,2457,2218,3044,2935,3154,0,0,0,0,0,0,26.77,27.19,26.87,8.83,21.56
$GC,5620,-1.82,-219.0,2457,2219,2935,3154,71.3,-2.8,558,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2218,3044,2935,3154,0,0,0,0,0,0,27.37,27.39,27.38,8.84,21.41
$GC,5922,-1.82,-219.0,2457,2218,2935,3154,68.3,0.6,588,5931,0.00,3.30,0.00,0.000,516,0.000,0.070,2458,884,3044,2935,3154,0,0,0,0,0,0,27.37,27.04,27.39,8.83,22.35
$GC,6013,-1.82,-219.0,2457,884,2935,3154,69.0,-1.8,597,6018,0.00,3.15,0.00,0.000,1030,0.000,0.052,2443,2217,3044,2935,3154,0,0,0,0,0,0,27.17,27.13,27.18,8.83,21.80
$GC,6326,-1.82,-219.0,2442,2218,2935,3154,69.4,1.4,628,6335,0.00,3.45,0.00,0.000,260,0.000,0.070,2426,3599,3044,2935,3154,0,0,0,0,0,0,27.38,27.03,27.39,8.83,22.16
$GC,6879,-1.76,-219.0,2425,3599,2935,3154,69.9,2.7,683,6889,0.15,3.15,0.00,0.000,3078,0.179,0.052,2472,2217,3044,2935,3154,0,0,0,0,0,0,26.78,27.20,26.88,8.83,21.92
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$GC,9241,-1.76,-219.0,2455,3595,2935,3154,76.7,-0.3,918,9249,0.00,3.20,0.00,0.000,1030,0.000,0.052,2456,2215,3044,2935,3154,0,0,0,0,0,0,27.22,27.20,27.22,8.81,22.47
$GC,9549,-1.76,-219.0,2455,2215,2935,3154,77.8,1.1,949,9558,0.00,3.35,0.00,0.000,516,0.000,0.070,2455,861,3044,2935,3154,0,0,0,0,0,0,27.37,27.03,27.39,8.82,21.84
$GC,9733,-1.76,-219.0,2455,860,2935,3153,74.9,1.0,967,9742,0.12,3.20,0.00,0.000,3078,0.194,0.052,2477,2217,3044,2935,3154,0,0,0,0,0,0,26.82,27.13,26.97,8.81,22.67
$GC,10041,-1.76,-219.0,2476,2217,2935,3154,78.9,-1.4,998,10051,0.00,3.45,0.00,0.000,260,0.000,0.070,2462,3597,3044,2935,3154,0,0,0,0,0,0,27.38,27.03,27.39,8.81,22.08
$GC,10594,-1.76,-219.0,2462,3597,2935,3154,79.1,-1.0,1053,10604,0.00,3.20,0.00,0.000,1030,0.000,0.052,2462,2212,3044,2935,3154,0,0,0,0,0,0,27.21,27.20,27.22,8.81,22.86
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$GC,11768,-1.76,-219.0,2476,2198,2935,3154,84.3,-3.5,1170,11777,0.00,3.50,0.00,0.000,260,0.000,0.070,2462,3596,3044,2935,3154,0,0,0,0,0,0,27.38,27.03,27.39,8.80,22.43
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$GC,12633,-1.76,-219.0,2462,2220,2935,3154,83.4,-0.7,1256,12638,0.00,3.45,0.00,0.000,260,0.000,0.070,2445,3595,3044,2935,3154,0,0,0,0,0,0,27.38,27.04,27.39,8.79,22.12
$GC,13181,-1.76,-219.0,2444,3596,2935,3153,84.6,3.3,1310,13189,0.10,3.28,0.00,0.000,3078,0.194,0.052,2475,2187,3044,2935,3153,0,0,0,0,0,0,26.86,27.19,27.00,8.79,22.63
$GC,13486,-1.76,-219.0,2474,2187,2935,3153,86.4,-4.2,1341,13496,0.00,3.53,0.00,0.000,260,0.000,0.067,2459,3594,3044,2935,3153,0,0,0,0,0,0,27.38,27.04,27.39,8.78,22.55
$GC,14039,-1.76,-219.0,2459,3594,2935,3153,91.0,1.1,1396,14049,0.00,3.20,0.00,0.000,1030,0.000,0.052,2459,2215,3044,2935,3153,0,0,0,0,0,0,27.24,27.20,27.21,8.79,22.79
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$GC,14721,-1.76,-219.0,2441,3593,2935,3151,97.6,1.8,1464,14732,0.10,3.20,0.00,0.000,3078,0.181,0.052,2473,2200,3043,2935,3151,0,0,0,0,0,0,26.85,27.20,26.92,8.78,22.63
$GC,15031,-1.76,-219.0,2473,2199,2934,3151,96.0,-2.2,1495,15036,0.00,3.30,0.00,0.000,516,0.000,0.070,2474,880,3043,2935,3151,0,0,0,0,0,0,27.38,27.03,27.39,8.78,22.86
$GC,15577,-1.76,-219.0,2473,877,2935,3151,100.0,-2.6,1549,15585,0.00,3.17,0.00,0.000,1030,0.000,0.052,2459,2216,3043,2935,3151,0,0,0,0,0,0,27.17,27.13,27.19,8.78,23.02
$GC,15885,-1.76,-219.0,2459,2215,2935,3151,104.9,-1.8,1580,15890,0.00,3.35,0.00,0.000,516,0.000,0.067,2459,886,3043,2935,3151,0,0,0,0,0,0,27.38,27.04,27.39,8.77,22.94
$GC,16431,-1.76,-219.0,2459,876,2934,3150,102.1,-2.3,1634,16439,0.12,3.17,0.00,0.000,3078,0.194,0.052,2481,2217,3042,2935,3150,0,0,0,0,0,0,26.81,27.13,26.96,8.75,22.90
$GC,16738,-1.76,-219.0,2480,2217,2935,3150,109.5,2.1,1665,16748,0.00,3.45,0.00,0.000,260,0.000,0.070,2465,3595,3042,2935,3149,0,0,0,0,0,0,27.38,27.04,27.39,8.76,22.67
$GC,17290,-1.76,-219.0,2465,3595,2935,3148,108.8,1.0,1720,17300,0.00,3.17,0.00,0.000,1030,0.000,0.052,2465,2214,3041,2935,3148,0,0,0,0,0,0,27.21,27.21,27.22,8.76,22.98
$GC,17602,-1.76,-219.0,2465,2214,2935,3149,104.9,-0.7,1751,17611,0.00,3.45,0.00,0.000,260,0.000,0.070,2448,3589,3041,2935,3148,0,0,0,0,0,0,27.38,27.03,27.39,8.76,22.79
$GC,18154,-1.76,-219.0,2447,3589,2934,3148,107.6,2.4,1806,18164,0.00,3.17,0.00,0.000,1030,0.000,0.052,2448,2224,3041,2934,3148,0,0,0,0,0,0,27.21,27.20,27.21,8.75,23.30
$GC,18464,-1.76,-219.0,2447,2223,2935,3148,102.7,-1.7,1837,18470,0.10,3.45,0.00,0.000,2308,0.201,0.067,2465,3597,3041,2935,3148,0,0,0,0,0,0,26.91,27.03,26.97,8.75,23.65
$GC,19010,-1.76,-219.0,2465,3597,2935,3147,105.9,-0.4,1891,19018,0.00,3.22,0.00,0.000,1030,0.000,0.050,2465,2215,3040,2934,3147,0,0,0,0,0,0,27.22,27.20,27.22,8.74,23.18
$GC,19317,-1.76,-219.0,2465,2215,2935,3147,108.9,-1.3,1922,19328,0.00,3.47,0.00,0.000,260,0.000,0.067,2448,3598,3040,2934,3146,0,0,0,0,0,0,27.38,27.03,27.39,8.74,23.26
$GC,19550,-1.76,-219.0,2447,3598,2933,3146,113.0,-2.0,1945,19560,0.00,3.22,0.00,0.000,1030,0.000,0.050,2448,2218,3040,2935,3146,0,0,0,0,0,0,27.20,27.19,27.21,8.73,23.22
$GC,19860,-1.76,-219.0,2447,2218,2934,3146,116.6,-0.4,1976,19871,0.10,3.40,0.00,0.000,2564,0.201,0.067,2481,855,3040,2934,3146,0,0,0,0,0,0,26.91,27.02,26.97,8.73,23.26
$GC,20097,-1.76,-219.0,2481,855,2934,3146,115.9,0.4,1999,20104,0.00,3.22,0.00,0.000,1030,0.000,0.052,2466,2215,3040,2934,3146,0,0,0,0,0,0,27.17,27.14,27.19,8.73,23.22
$STATE,20312,end dive,NO_VERTICAL_VELOCITY
$STATE,20312,begin apogee
$GC,20316,-0.68,0.0,2466,2215,2935,3146,116.5,0.0,2021,20484,1.10,0.00,158.82,0.817,10246,0.164,0.000,2823,2215,2284,2177,2391,0,0,0,0,0,0,26.72,25.79,25.25,8.73,23.38
$STATE,20485,end apogee,CONTROL_FINISHED_OK
$STATE,20485,begin climb
$GC,20486,1.93,219.0,2823,2215,2178,2392,109.8,0.0,2038,20655,2.22,3.42,153.38,0.785,11012,0.092,0.070,3662,3549,1530,1430,1631,0,0,0,0,0,0,26.55,25.93,25.41,8.67,22.94
$GC,20697,1.93,219.0,3662,3549,1430,1630,70.0,24.6,2059,20702,0.00,3.25,0.00,0.000,1030,0.000,0.052,3680,2205,1530,1430,1630,0,0,0,0,0,0,26.94,26.91,26.95,8.61,22.79
$STATE,20998,end climb,SURFACE_DEPTH_REACHED
$STATE,20998,begin surface coast
$FINISH,0.2,0.997673
$STATE,21009,end surface coast,CONTROL_FINISHED_OK
$STATE,21009,begin surface
$SM_CCo,21025,119.05,0.708,0,0,941,390.14
$SM_GC,1.12,8.88,0.00,119.05,0.067,0.000,0.708,196,2192,941,-8.83,-0.65,390.14,0,0,0,0,0,0,27.00,27.36,25.53
$IRIDIUM_FIX,3540.43,-6222.02,140919,144024
$TT8_MAMPS,0.021721,0.170023
$HUMID,24.20
$INTERNAL_PRESSURE,8.56559
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,25.25,60.814
$10V_AH,10.59,30.151
$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,22.375,172.475,312.200,119.050,119.025,24.045,28.428,412.091,0.000,0.000,51.366,6192.149,9340.737,718.342,5329.556,190.429,0.000,2967.485,0.000,4727.620,0.000,1.814,0.000
$DEVICE_MAMPS,223.470,69.524,816.907,707.655,280.579,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1410.878,2731.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,134851,2090
$CAP_FILE_SIZE,237724,0
$CFSIZE,2046525440,2010415104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.766,264.15,1
$GPS,150919,035423,3536.119,-6245.704,36,0.8,71,-15.8,1.1,271.9,10,5.0