version: 66.14
glider: 404
mission: 5
dive: 3
start: 7 12 118 19 41 37
data:
$ID,404
$MISSION,5
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$D_ABORT,200
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74482
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,530
$PITCH_MAX,3860
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.02
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,45
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,55
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3680
$C_VBD,2220
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,280
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,1.2
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-49.880402
$PRESSURE_SLOPE,2.575e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.7
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043947315
$SEABIRD_T_H,0.00063707196
$SEABIRD_T_I,2.5246234e-05
$SEABIRD_T_J,3.049423e-06
$SEABIRD_C_G,-9.6769676
$SEABIRD_C_H,1.1278293
$SEABIRD_C_I,-0.0014273003
$SEABIRD_C_J,0.00018861827
$SEABIRD_C_Z,2932.53
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,120718,193626,4743.5801,-12224.1943,5,1.7,45,16.3,0.3,188.1,7,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-24.1
$GPS2,120718,194031,4743.5640,-12224.2168,7,1.1,45,16.3,0.0,0.0,8,5.2
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.120921,0.227517
$KALMAN_X,139.780701,126.809769,114.185471,-813.565186,157.882324
$KALMAN_Y,-354.934326,-325.245117,-296.174286,289.633728,-400.077301
$MHEAD_RNG_PITCHd_Wd,315.7,1086,-17.6,-10.000,-21.21,2208
$D_GRID,173
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,10,-1.82,-146.6,546,1899,335,2047,0.0,0.0,0,29,0.00,0.00,-13.18,0.000,16390,0.000,0.000,546,1895,2383,2383,2048,0,0,0,0,0,0,27.15,26.24,27.17,8.58,53.85
$GC,31,-1.82,-146.6,545,1899,2383,2048,1.0,0.0,1,62,20.95,3.08,0.00,0.000,2308,0.145,0.054,2190,3086,2384,2384,2047,0,0,0,0,0,0,26.57,26.66,26.76,8.97,56.14
$GC,127,-1.82,-146.6,2190,3086,2387,2047,12.1,-11.3,7,133,0.00,2.97,0.00,0.000,1030,0.000,0.037,2190,1900,2387,2387,2042,0,0,0,0,0,0,26.89,26.77,26.90,8.96,54.52
$GC,320,-1.82,-146.6,2190,1909,2391,2042,42.0,-16.9,20,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1894,2394,2394,2048,0,0,0,0,0,0,27.20,27.19,27.22,8.94,52.55
$GC,500,-1.82,-146.6,2189,1899,2397,2048,68.0,-13.0,32,506,0.00,3.08,0.00,0.000,260,0.000,0.054,2190,3083,2397,2397,2048,0,0,0,0,0,0,27.24,26.78,27.26,8.94,53.03
$GC,596,-1.82,-146.6,2180,3083,2399,2048,79.1,-12.1,38,602,0.00,2.97,0.00,0.000,1030,0.000,0.037,2190,1895,2399,2399,2047,0,0,0,0,0,0,26.98,26.88,27.01,8.94,53.66
$GC,792,-1.82,-146.6,2190,1895,2403,2047,105.2,-16.8,51,797,0.00,3.10,0.00,0.000,260,0.000,0.055,2191,3090,2403,2403,2048,0,0,0,0,0,0,27.24,26.83,27.25,8.92,53.74
$STATE,914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,914,begin apogee
$GC,921,-0.45,0.0,2190,1901,2407,2047,120.3,-13.7,59,939,4.97,0.00,10.20,1.457,10246,0.093,0.000,2628,1894,2231,2231,2048,0,0,0,0,0,0,26.82,26.33,25.15,8.90,53.46
$STATE,941,end apogee,CONTROL_FINISHED_OK
$STATE,941,begin climb
$GC,942,1.82,146.6,2628,1894,2223,2048,122.1,0.0,60,966,7.38,3.15,9.05,1.409,10500,0.037,0.050,3337,3087,2061,2061,2054,0,0,0,0,0,0,26.65,26.10,24.91,8.88,53.22
$GC,987,1.82,146.6,3343,3089,2061,2054,119.7,12.7,62,994,0.00,3.05,0.00,0.000,1030,0.000,0.040,3341,1900,2060,2060,2047,0,0,0,0,0,0,26.51,26.43,26.54,8.86,52.87
$GC,1174,1.82,146.6,3344,1900,2062,2047,88.9,17.0,75,1179,0.00,3.10,0.00,0.000,260,0.000,0.051,3344,3090,2057,2057,2048,0,0,0,0,0,0,27.01,26.60,27.08,8.85,53.15
$GC,1230,1.82,146.6,3344,3089,2055,2048,80.0,18.5,78,1238,0.00,3.03,0.00,0.000,1030,0.000,0.039,3343,1899,2053,2053,2048,0,0,0,0,0,0,26.77,26.67,26.79,8.85,53.30
$GC,1417,1.82,146.6,3344,1899,2049,2048,50.1,14.7,91,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1898,2050,2050,2047,0,0,0,0,0,0,27.12,27.19,27.13,8.84,53.58
$GC,1597,1.82,146.6,3344,1899,2044,2047,23.3,13.3,103,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1899,2036,2036,2047,0,0,0,0,0,0,27.17,27.20,27.19,8.83,55.04
$STATE,1746,end climb,SURFACE_DEPTH_REACHED
$STATE,1746,begin surface coast
$FINISH,0.2,0.999107
$STATE,1763,end surface coast,CONTROL_FINISHED_OK
$STATE,1763,begin surface
$SM_CCo,1798,5.65,0.381,0,0,1945,250.24
$SM_GC,2.72,28.90,0.00,5.65,0.031,0.000,0.381,549,1899,1945,-6.96,-0.05,250.24,0,0,0,0,0,0,26.89,27.24,26.15
$IRIDIUM_FIX,4808.40,-12337.82,120718,193659
$TT8_MAMPS,0.025466,0.353528
$HUMID,54.56
$INTERNAL_PRESSURE,8.77892
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.2,9.9
$SC_FREEKB,3909248
$24V_AH,24.91,2.330
$10V_AH,10.54,4.851
$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,62.200,30.575,19.250,5.650,0.000,0.000,0.000,0.000,0.750,0.000,46.246,423.575,962.717,122.693,397.720,14.931,31.522,290.413,0.000,258.261,0.000,7.109,0.000
$DEVICE_MAMPS,145.350,55.080,1457.325,380.970,0.000,0.000,0.000,0.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1746.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.938,0.000,0.000,0.000
$MEM,312748
$DATA_FILE_SIZE,3605,114
$CAP_FILE_SIZE,43821,0
$CFSIZE,1023623168,1019740160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120718,201236,4743.614,-12224.415,6,0.9,13,16.3,0.0,0.0,8,9.6