version: 66.14
glider: 404
mission: 5
dive: 14
start: 7 13 118 8 34 30
data:
$ID,404
$MISSION,5
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,185
$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,75
$T_MISSION,80
$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,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,180
$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,2705
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.02
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.2
$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,50
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3680
$C_VBD,2305
$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,20
$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,3
$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
$GPS1,130718,081603,4743.6484,-12224.6367,5,0.8,31,16.3,0.0,195.7,10,9.5
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-53.4
$GPS2,130718,083319,4743.5547,-12224.7061,7,1.2,17,16.3,0.0,0.0,8,9.4
$SPEED_LIMITS,0.226,0.318
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.044367,-0.221504
$KALMAN_X,-3709.187500,-116.881393,497.084106,2296.458252,70.084152
$KALMAN_Y,-7652.248047,227.531952,279.532074,6429.295898,-114.959183
$MHEAD_RNG_PITCHd_Wd,152.4,1059,-15.8,-8.222,-20.00,2322
$D_GRID,185
$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,8,begin dive
$GC,10,-1.30,-127.4,550,2011,1810,2047,0.0,0.0,0,16,0.00,0.00,-4.07,0.000,16390,0.000,0.000,550,2011,2451,2451,2047,0,0,0,0,0,0,26.58,25.29,26.58,8.77,50.19
$GC,18,-1.30,-127.4,551,2005,2451,2047,0.0,0.0,0,48,22.58,2.85,0.00,0.000,2308,0.147,0.056,2282,3081,2458,2458,2048,0,0,0,0,0,0,26.14,26.17,26.22,8.91,50.19
$GC,100,-1.30,-127.4,2282,3080,2454,2048,14.1,-15.4,5,106,0.00,2.78,0.00,0.000,1030,0.000,0.035,2277,1995,2452,2452,2047,0,0,0,0,0,0,26.42,26.32,26.39,8.90,49.60
$GC,293,-1.30,-127.4,2289,1993,2456,2047,37.0,-11.7,18,298,0.00,2.88,0.00,0.000,260,0.000,0.055,2282,3078,2457,2457,2047,0,0,0,0,0,0,26.81,26.45,26.82,8.83,49.25
$GC,476,-1.30,-127.4,2277,3077,2453,2047,60.0,-12.5,30,482,0.00,2.72,0.00,0.000,1030,0.000,0.036,2282,1997,2461,2461,2057,0,0,0,0,0,0,26.70,26.63,26.71,8.87,49.17
$GC,674,-1.30,-127.4,2290,1997,2462,2057,81.2,-11.2,43,680,0.00,2.92,0.00,0.000,516,0.000,0.067,2282,907,2464,2464,2047,0,0,0,0,0,0,27.00,26.61,27.01,8.83,49.29
$GC,700,-1.30,-127.4,2281,908,2465,2047,84.2,-12.9,44,708,0.00,2.72,0.00,0.000,1030,0.000,0.034,2283,1990,2465,2465,2047,0,0,0,0,0,0,26.82,26.72,26.80,8.96,49.76
$GC,887,-1.30,-127.4,2282,1990,2467,2047,102.8,-10.3,57,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1991,2467,2467,2047,0,0,0,0,0,0,27.05,27.07,27.07,8.86,50.11
$GC,1067,-1.30,-127.4,2282,1989,2471,2047,121.7,-11.1,69,1073,0.00,2.90,0.00,0.000,516,0.000,0.066,2282,911,2472,2472,2048,0,0,0,0,0,0,27.10,26.70,27.11,8.85,50.47
$GC,1125,-1.30,-127.4,2282,911,2476,2048,127.8,-12.3,72,1132,0.00,2.75,0.00,0.000,1030,0.000,0.035,2282,2004,2473,2473,2047,0,0,0,0,0,0,26.89,26.82,26.91,8.87,50.31
$GC,1310,-1.30,-127.4,2284,2004,2469,2047,152.1,-13.2,85,1316,0.00,2.83,0.00,0.000,260,0.000,0.057,2282,3092,2478,2478,2048,0,0,0,0,0,0,27.13,26.78,27.13,8.87,50.55
$GC,1346,-1.30,-127.4,2282,3094,2480,2048,156.7,-13.3,87,1352,0.00,2.72,0.00,0.000,1030,0.000,0.035,2282,2000,2473,2473,2047,0,0,0,0,0,0,26.96,26.84,26.94,8.87,50.63
$GC,1539,-1.30,-127.4,2282,1999,2481,2047,178.0,-10.6,100,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2000,2482,2482,2049,0,0,0,0,0,0,27.18,27.18,27.19,8.87,50.59
$STATE,1598,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1598,begin apogee
$GC,1602,-0.35,0.0,2282,1854,2483,2047,185.0,-11.5,104,1619,3.45,0.00,10.18,1.939,10246,0.079,0.000,2589,1853,2309,2309,2047,0,0,0,0,0,0,26.81,26.16,24.75,8.82,50.78
$STATE,1620,end apogee,CONTROL_FINISHED_OK
$STATE,1621,begin climb
$GC,1622,1.30,127.4,2588,1853,2309,2047,186.4,0.0,105,1638,5.38,0.00,8.27,1.833,10246,0.043,0.000,3098,1853,2175,2175,2047,0,0,0,0,0,0,26.44,25.82,24.46,8.83,51.22
$GC,1811,1.48,242.6,3103,1861,2174,2047,180.8,3.1,118,1828,0.47,2.97,8.32,1.790,10756,0.052,0.070,3152,778,2042,2042,2048,0,0,0,0,0,0,26.46,25.57,24.50,8.81,50.78
$GC,1848,1.61,327.7,3146,779,2041,2048,179.1,4.5,120,1863,0.50,2.80,6.12,1.564,11270,0.045,0.034,3202,1877,1954,1954,2047,0,0,0,0,0,0,26.25,26.20,24.43,8.87,51.14
$GC,2040,1.61,327.7,3202,1873,1949,2047,154.1,17.1,133,2046,0.00,2.80,0.00,0.000,260,0.000,0.051,3202,2937,1952,1952,2047,0,0,0,0,0,0,26.64,26.32,26.65,8.78,51.06
$GC,2106,1.61,327.7,3201,2937,1948,2047,145.1,14.1,137,2112,0.00,2.75,0.00,0.000,1030,0.000,0.040,3202,1869,1951,1951,2047,0,0,0,0,0,0,26.47,26.40,26.51,8.76,51.18
$GC,2299,1.61,327.7,3202,1869,1943,2047,117.6,13.1,150,2305,0.00,3.00,0.00,0.000,516,0.000,0.075,3199,770,1942,1942,2047,0,0,0,0,0,0,26.86,26.48,26.87,8.75,51.53
$GC,2401,1.61,327.7,3195,770,1940,2047,105.0,13.5,156,2408,0.00,2.75,0.00,0.000,1030,0.000,0.034,3202,1861,1940,1940,2044,0,0,0,0,0,0,26.68,26.63,26.74,8.75,51.02
$GC,2587,1.61,327.7,3202,1862,1935,2044,79.8,12.9,169,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1862,1935,1935,2047,0,0,0,0,0,0,26.99,27.01,27.01,8.74,51.33
$GC,2767,1.61,327.7,3202,1864,1933,2047,56.0,12.8,181,2773,0.00,2.80,0.00,0.000,260,0.000,0.050,3202,2943,1929,1929,2047,0,0,0,0,0,0,27.05,26.72,27.06,8.70,51.65
$GC,2818,1.61,327.7,3196,2947,1928,2047,49.0,14.0,184,2823,0.00,2.78,0.00,0.000,1030,0.000,0.040,3202,1857,1928,1928,2047,0,0,0,0,0,0,26.84,26.74,26.86,8.68,51.77
$GC,3011,1.61,327.7,3202,1857,1923,2047,21.6,13.2,197,3016,0.00,2.83,0.00,0.000,260,0.000,0.050,3202,2946,1922,1922,2047,0,0,0,0,0,0,27.10,26.76,27.12,8.74,51.92
$GC,3052,1.61,327.7,3195,2940,1921,2047,17.0,14.8,199,3060,0.00,2.75,0.00,0.000,1030,0.000,0.039,3209,1859,1916,1916,2047,0,0,0,0,0,0,26.89,26.79,26.91,8.74,52.20
$STATE,3163,end climb,SURFACE_DEPTH_REACHED
$STATE,3163,begin surface coast
$FINISH,0.7,1.012008
$STATE,3179,end surface coast,CONTROL_FINISHED_OK
$STATE,3179,begin surface
$SM_CCo,3274,0.00,0.000,0,0,1918,357.36
$SM_GC,2.30,27.50,0.35,0.00,0.025,0.044,0.000,531,2012,1918,-6.79,-1.37,357.36,0,0,0,0,0,0,26.83,26.89,26.89
$IRIDIUM_FIX,4808.40,-12337.82,130718,081816
$TT8_MAMPS,0.025466,0.84637
$HUMID,51.81
$INTERNAL_PRESSURE,8.71056
$TCM_TEMP,10.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.8,98.5
$SC_FREEKB,3902048
$24V_AH,24.43,3.035
$10V_AH,10.13,5.882
$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,59.875,57.375,32.900,0.000,0.000,47.918,46.449,712.625,1.000,0.000,18.531,727.904,1895.904,139.777,1505.173,71.526,33.440,425.615,0.000,452.441,0.000,14.389,0.000
$DEVICE_MAMPS,146.880,74.970,1938.510,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3221.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.055,0.000,0.000,0.000
$MEM,312688
$DATA_FILE_SIZE,7034,208
$CAP_FILE_SIZE,55348,0
$CFSIZE,1023623168,1018183680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130718,092957,4742.940,-12224.795,8,0.8,12,16.3,0.0,0.0,9,9.0