version: 66.14
glider: 404
mission: 5
dive: 9
start: 7 13 118 1 10 28
data:
$ID,404
$MISSION,5
$DIVE,9
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$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,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,55
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3680
$C_VBD,2275
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$GPS1,130718,005520,4742.3228,-12226.1904,5,0.9,10,16.3,0.0,0.0,9,9.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-43.0
$GPS2,130718,010913,4742.2852,-12226.2861,7,0.9,15,16.3,0.0,0.0,9,9.7
$SPEED_LIMITS,0.080,0.267
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.227200,0.141014
$KALMAN_X,-2550.834229,-248.594330,-175.445801,-18.057617,-1153.613159
$KALMAN_Y,-5118.859375,-1510.993652,-202.176056,3776.530762,-860.136841
$MHEAD_RNG_PITCHd_Wd,41.9,3676,-11.8,-8.000,-16.66,3618
$D_GRID,186
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-1.12,-195.5,527,1891,1371,2047,0.0,0.0,0,20,0.00,0.00,-7.20,0.000,16390,0.000,0.000,527,1894,2491,2491,2045,0,0,0,0,0,0,26.60,25.18,26.63,8.70,51.73
$GC,21,-1.12,-195.5,527,1891,2495,2045,0.0,0.0,0,48,23.92,0.00,0.00,0.000,2566,0.153,0.000,2342,1890,2497,2497,2047,0,0,0,0,0,0,26.12,26.31,26.28,8.93,51.85
$GC,224,-1.12,-195.5,2350,1898,2500,2047,29.8,-12.4,14,230,0.00,3.22,0.00,0.000,260,0.000,0.056,2336,3107,2500,2500,2050,0,0,0,0,0,0,26.77,26.40,26.84,8.95,50.00
$GC,302,-1.12,-195.5,2341,3109,2502,2050,38.7,-11.3,19,308,0.00,3.08,0.00,0.000,1030,0.000,0.038,2342,1901,2504,2504,2047,0,0,0,0,0,0,26.60,26.51,26.62,8.88,51.14
$GC,500,-1.12,-195.5,2351,1899,2511,2047,58.1,-9.1,32,506,0.00,3.28,0.00,0.000,516,0.000,0.071,2341,697,2505,2505,2050,0,0,0,0,0,0,26.96,26.52,26.94,8.89,50.70
$GC,566,-1.12,-195.5,2341,696,2506,2050,65.0,-10.7,36,572,0.00,3.08,0.00,0.000,1030,0.000,0.035,2342,1906,2507,2507,2047,0,0,0,0,0,0,26.76,26.67,26.81,8.89,50.66
$GC,760,-1.12,-195.5,2337,1910,2509,2047,81.2,-5.9,49,765,0.00,3.10,0.00,0.000,260,0.000,0.057,2350,3092,2503,2503,2053,0,0,0,0,0,0,27.04,26.65,27.05,8.88,51.06
$GC,847,-1.12,-195.5,2341,3099,2508,2053,86.5,-6.6,54,854,0.00,3.03,0.00,0.000,1030,0.000,0.037,2342,1901,2510,2510,2045,0,0,0,0,0,0,26.82,26.78,26.84,8.96,51.18
$GC,1042,-1.12,-195.5,2341,1900,2512,2045,104.8,-11.6,67,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1901,2513,2513,2048,0,0,0,0,0,0,27.06,27.08,27.08,8.88,50.98
$GC,1250,-1.12,-195.5,2342,1901,2517,2048,122.7,-14.4,80,1255,0.00,3.17,0.00,0.000,260,0.000,0.056,2341,3106,2516,2516,2048,0,0,0,0,0,0,26.98,26.66,27.03,8.87,51.45
$GC,1296,-1.12,-195.5,2341,3106,2509,2048,125.7,-9.8,81,1313,0.00,3.05,0.00,0.000,1030,0.000,0.039,2342,1900,2517,2517,2048,0,0,0,0,0,0,26.81,26.71,26.83,8.88,51.10
$GC,1544,-1.12,-195.5,2341,1900,2522,2048,153.7,-9.6,94,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1900,2522,2522,2047,0,0,0,0,0,0,26.98,26.95,26.96,8.96,51.73
$GC,1751,-1.12,-195.5,2341,1900,2525,2047,173.2,-9.3,107,1756,0.00,3.17,0.00,0.000,260,0.000,0.057,2342,3100,2514,2514,2058,0,0,0,0,0,0,26.95,26.60,26.96,8.87,51.37
$STATE,1823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1823,begin apogee
$GC,1830,-0.35,0.0,2342,1898,2518,2048,181.0,-10.7,110,1849,2.72,0.00,13.57,2.037,10246,0.077,0.000,2588,1899,2282,2282,2047,0,0,0,0,0,0,26.62,25.75,24.32,8.84,51.22
$STATE,1851,end apogee,CONTROL_FINISHED_OK
$STATE,1851,begin climb
$GC,1852,1.12,195.5,2587,1899,2282,2047,184.0,0.0,112,1877,4.93,3.30,12.50,2.003,10500,0.049,0.053,3040,3102,2062,2062,2047,0,0,0,0,0,0,26.09,24.99,23.89,8.83,51.45
$GC,1912,1.12,195.5,3045,3103,2064,2047,182.2,6.4,115,1920,0.00,3.17,0.00,0.000,1030,0.000,0.038,3046,1891,2063,2063,2047,0,0,0,0,0,0,25.98,25.89,26.03,8.79,50.98
$GC,2100,1.25,276.2,3045,1894,2061,2047,169.9,5.7,128,2109,0.35,0.00,6.10,1.520,10246,0.046,0.000,3082,1889,1969,1969,2040,0,0,0,0,0,0,26.43,25.89,24.54,8.76,51.29
$GC,2281,1.28,296.4,3082,1894,1973,2040,156.6,7.4,140,2286,0.00,0.00,2.88,0.660,8198,0.000,0.000,3083,1894,1954,1954,2048,0,0,0,0,0,0,26.70,26.15,24.85,8.78,51.41
$GC,2461,1.28,296.4,3082,1894,1958,2048,140.2,9.6,152,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1890,1950,1950,2050,0,0,0,0,0,0,26.83,26.85,26.84,8.76,52.00
$GC,2641,1.28,296.4,3091,1900,1945,2050,124.5,8.1,164,2647,0.00,3.28,0.00,0.000,516,0.000,0.076,3084,707,1947,1947,2048,0,0,0,0,0,0,26.94,26.53,26.95,8.76,52.20
$GC,2677,1.28,296.4,3083,699,1946,2048,121.6,8.6,166,2683,0.00,3.05,0.00,0.000,1030,0.000,0.037,3084,1904,1946,1946,2047,0,0,0,0,0,0,26.74,26.66,26.75,8.75,51.92
$GC,2870,1.28,296.4,3077,1900,1937,2047,105.2,8.4,179,2875,0.00,3.12,0.00,0.000,260,0.000,0.055,3084,3097,1943,1943,2048,0,0,0,0,0,0,27.05,26.65,27.08,8.75,52.83
$GC,2935,1.28,296.4,3084,3093,1945,2048,99.1,9.5,183,2940,0.00,3.05,0.00,0.000,1030,0.000,0.040,3084,1905,1942,1942,2047,0,0,0,0,0,0,26.81,26.71,26.84,8.79,52.36
$GC,3133,1.28,296.4,3083,1907,1938,2047,80.8,8.7,196,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1907,1939,1939,2047,0,0,0,0,0,0,27.11,27.14,27.11,8.75,52.24
$GC,3314,1.28,296.4,3083,1898,1945,2047,65.4,8.8,208,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1896,1943,1943,2048,0,0,0,0,0,0,27.16,27.15,27.15,8.64,52.55
$GC,3493,1.28,296.4,3085,1899,1934,2048,50.8,8.2,220,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1899,1933,1933,2048,0,0,0,0,0,0,27.17,27.20,27.17,8.74,52.67
$GC,3673,1.28,296.4,3083,1901,1929,2048,35.0,10.3,232,3678,0.00,3.30,0.00,0.000,516,0.000,0.076,3084,688,1929,1929,2048,0,0,0,0,0,0,27.20,26.78,27.23,8.75,52.67
$GC,3751,1.28,296.4,3083,684,1927,2048,26.7,10.8,237,3757,0.00,3.05,0.00,0.000,1030,0.000,0.037,3084,1905,1920,1920,2047,0,0,0,0,0,0,26.98,26.89,27.01,8.75,52.44
$GC,3950,1.31,320.9,3083,1903,1925,2047,11.5,7.3,250,3956,0.15,3.33,0.00,0.000,2564,0.068,0.073,3105,687,1924,1924,2047,0,0,0,0,0,0,27.03,26.80,27.01,8.80,52.59
$GC,4028,1.31,320.9,3104,680,1917,2047,4.5,9.3,255,4034,0.00,3.05,0.00,0.000,1030,0.000,0.037,3105,1899,1922,1922,2048,0,0,0,0,0,0,27.01,26.94,27.03,8.71,52.99
$STATE,4060,end climb,SURFACE_DEPTH_REACHED
$STATE,4060,begin surface coast
$FINISH,1.0,1.010886
$STATE,4076,end surface coast,CONTROL_FINISHED_OK
$STATE,4076,begin surface
$SM_CCo,4170,0.00,0.000,0,0,1922,325.96
$SM_GC,2.31,26.27,0.00,0.00,0.027,0.000,0.000,549,1901,1922,-6.73,0.00,325.96,0,0,0,0,0,0,26.94,27.24,26.98
$IRIDIUM_FIX,4808.40,-12337.82,130718,005712
$TT8_MAMPS,0.025466,0.838131
$HUMID,52.16
$INTERNAL_PRESSURE,8.72032
$TCM_TEMP,10.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,156.5,58.4
$SC_FREEKB,3905632
$24V_AH,23.89,2.633
$10V_AH,10.12,5.349
$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,58.350,67.150,35.050,0.000,0.000,32.912,45.103,619.958,81.000,0.000,16.321,852.517,1997.447,154.868,1950.166,81.813,33.451,499.785,0.000,514.303,0.000,812.490,0.000
$DEVICE_MAMPS,153.000,75.735,2037.195,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4101.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,75.519,0.000,0.000,0.000
$MEM,312728
$DATA_FILE_SIZE,7060,258
$CAP_FILE_SIZE,88676,0
$CFSIZE,1023623168,1018937344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130718,022105,4742.457,-12225.896,5,0.9,27,16.3,0.0,0.0,9,9.5