version: 66.14
glider: 46
mission: 5
dive: 144
start: 9 17 119 1 33 35
data:
$ID,46
$MISSION,5
$DIVE,144
$N_DIVES,0
$STOP_T,9171919
$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,240
$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,400
$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,58
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2305
$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
$GPS1,170919,011035,3528.7798,-6245.6777,41,0.8,76,-15.7,0.4,195.5,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-42.4
$GPS2,170919,013257,3528.6055,-6245.7339,13,0.9,53,-15.7,0.9,135.5,10,5.0
$SPEED_LIMITS,0.130,0.255
$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,91.2,72758,-12.6,-7.500,-16.40,4680
$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,-0.91,-233.6,187,2234,847,1022,1.1,0.3,6,200,0.00,0.00,-122.95,0.151,16390,0.000,0.000,188,2234,3111,3020,3202,0,0,0,0,0,0,27.21,26.40,26.29,8.55,19.24
$GC,202,-0.91,-233.6,188,2234,3020,3204,2.6,-1.9,19,222,9.60,3.50,0.00,0.000,2820,0.236,0.070,2729,3597,3117,3021,3214,0,0,0,0,0,0,26.10,26.36,26.25,8.76,18.57
$GC,765,-0.83,-233.6,2728,3597,3021,3215,36.2,-7.3,75,776,0.12,3.30,0.00,0.000,3078,0.146,0.052,2773,2193,3118,3020,3216,0,0,0,0,0,0,26.75,27.10,26.82,8.76,19.36
$GC,1075,-0.83,-233.6,2773,2193,3020,3216,53.7,-5.1,106,1085,0.00,3.55,0.00,0.000,260,0.000,0.070,2764,3597,3119,3021,3217,0,0,0,0,0,0,27.33,26.91,27.34,8.77,19.56
$GC,1198,-0.83,-233.6,2763,3596,3020,3217,59.6,-4.3,118,1207,0.00,3.25,0.00,0.000,1030,0.000,0.052,2763,2208,3118,3020,3216,0,0,0,0,0,0,27.14,27.13,27.14,8.77,19.28
$GC,1507,-0.83,-233.6,2762,2208,3020,3217,65.8,-1.2,149,1517,0.00,3.38,0.00,0.000,516,0.000,0.070,2763,856,3118,3020,3217,0,0,0,0,0,0,27.34,26.91,27.35,8.78,19.95
$GC,1893,-0.78,-233.6,2763,857,3020,3219,73.3,-1.8,187,1901,0.12,3.25,0.00,0.000,3078,0.164,0.052,2795,2223,3119,3020,3219,0,0,0,0,0,0,26.79,27.08,26.91,8.78,19.64
$GC,2200,-0.78,-233.6,2794,2223,3021,3219,76.1,-0.7,218,2210,0.00,3.45,0.00,0.000,260,0.000,0.070,2791,3594,3120,3021,3219,0,0,0,0,0,0,27.34,26.94,27.35,8.77,19.71
$GC,2752,-0.78,-233.6,2791,3594,3020,3219,81.9,-0.4,273,2759,0.00,3.25,0.00,0.000,1030,0.000,0.052,2791,2199,3119,3020,3219,0,0,0,0,0,0,27.17,27.15,27.18,8.77,19.75
$GC,3066,-0.78,-233.6,2791,2199,3021,3220,85.8,-1.4,304,3076,0.00,3.53,0.00,0.000,260,0.000,0.070,2791,3595,3120,3021,3220,0,0,0,0,0,0,27.35,26.94,27.36,8.77,20.19
$GC,3619,-0.78,-233.6,2791,3596,3020,3219,88.0,-1.0,359,3629,0.00,3.20,0.00,0.000,1030,0.000,0.052,2791,2211,3120,3020,3220,0,0,0,0,0,0,27.17,27.17,27.18,8.76,20.11
$GC,3929,-0.78,-233.6,2790,2212,3021,3220,88.2,0.7,390,3939,0.00,3.50,0.00,0.000,260,0.000,0.070,2791,3594,3120,3020,3220,0,0,0,0,0,0,27.35,26.96,27.36,8.76,20.42
$STATE,4170,end dive,NO_VERTICAL_VELOCITY
$STATE,4170,begin apogee
$GC,4177,-0.68,0.0,2791,2181,3021,3220,88.5,0.0,414,4352,0.10,0.00,169.80,0.785,10246,0.161,0.000,2826,2180,2304,2197,2411,0,0,0,0,0,0,26.95,25.99,25.20,8.75,19.99
$STATE,4353,end apogee,CONTROL_FINISHED_OK
$STATE,4353,begin climb
$GC,4355,0.91,233.6,2825,2180,2197,2411,81.0,0.0,432,4533,1.35,3.53,163.77,0.742,11012,0.099,0.070,3328,3547,1499,1396,1602,0,0,0,0,0,0,26.32,25.79,25.30,8.70,20.38
$GC,4558,1.06,233.6,3328,3547,1396,1602,63.3,10.5,452,4567,0.12,3.25,0.00,0.000,3078,0.102,0.052,3424,2189,1499,1396,1602,0,0,0,0,0,0,26.63,26.72,26.68,8.63,19.48
$GC,4865,1.06,233.6,3423,2189,1396,1599,32.6,9.9,483,4876,0.10,3.47,0.00,0.000,4612,0.159,0.072,3396,805,1497,1396,1599,0,0,0,0,0,0,26.92,26.89,26.95,8.63,20.78
$GC,4961,1.06,233.6,3395,805,1396,1599,25.9,6.9,492,4969,0.00,3.25,0.00,0.000,1030,0.000,0.052,3396,2166,1497,1396,1598,0,0,0,0,0,0,27.08,27.05,27.10,8.63,20.23
$STATE,5177,end climb,SURFACE_DEPTH_REACHED
$STATE,5177,begin surface coast
$FINISH,0.6,1.023530
$STATE,5200,end surface coast,CONTROL_FINISHED_OK
$STATE,5200,begin surface
$SM_CCo,5215,116.85,0.698,0,0,928,400.02
$SM_GC,0.90,8.15,0.00,116.85,0.067,0.000,0.698,192,2166,928,-8.81,-1.39,400.02,0,0,0,0,0,0,27.01,27.34,25.37
$IRIDIUM_FIX,3526.17,-6245.89,170919,011433
$TT8_MAMPS,0.021721,0.169274
$HUMID,20.58
$INTERNAL_PRESSURE,8.56559
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,25.20,61.795
$10V_AH,10.56,30.750
$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,19.675,54.025,333.575,116.850,122.950,64.097,62.218,836.938,0.500,0.000,53.943,1487.984,2193.895,586.558,2191.356,92.318,0.000,1200.074,0.000,1147.827,0.000,2.300,0.000
$DEVICE_MAMPS,235.885,72.007,784.628,697.723,151.463,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.411,672.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319004
$DATA_FILE_SIZE,31343,516
$CAP_FILE_SIZE,75996,0
$CFSIZE,2046525440,2009923584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.184,162.85,1
$GPS,170919,030355,3527.977,-6245.340,8,0.9,48,-15.7,0.3,165.8,10,5.7