version: 66.14
glider: 404
mission: 5
dive: 13
start: 7 13 118 7 5 40
data:
$ID,404
$MISSION,5
$DIVE,13
$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,300
$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,50
$C_ROLL_DIVE,1860
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,27
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,130718,063155,4744.2974,-12224.4990,48,0.8,51,16.3,0.0,0.0,10,10.0
$_CALLS,6
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-62.5
$GPS2,130718,070429,4744.3389,-12224.4736,7,0.8,31,16.3,0.0,0.0,11,10.0
$SPEED_LIMITS,0.080,0.314
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.060937,-0.308201
$KALMAN_X,-3263.962158,-237.219772,179.485962,2574.901123,250.302689
$KALMAN_Y,-7152.073730,-225.057281,326.401123,7789.257324,2.359314
$MHEAD_RNG_PITCHd_Wd,174.9,2480,-8.8,-8.000,-14.29,5344
$D_GRID,176
$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,-1.06,-293.2,550,1870,2092,2047,0.0,0.0,0,15,0.00,0.00,-3.17,0.000,16390,0.000,0.000,549,1862,2644,2644,2048,0,0,0,0,0,0,26.60,25.24,26.59,8.78,48.97
$GC,17,-1.06,-293.2,549,1870,2634,2048,0.0,0.0,0,48,23.52,2.83,0.00,0.000,2820,0.145,0.050,2354,2941,2636,2636,2047,0,0,0,0,0,0,26.14,26.18,26.22,8.94,49.80
$GC,209,-1.06,-293.2,2359,2941,2639,2047,26.7,-8.4,12,216,0.00,2.75,0.00,0.000,1030,0.000,0.037,2360,1857,2639,2639,2047,0,0,0,0,0,0,26.55,26.44,26.55,8.93,49.09
$GC,395,-1.06,-293.2,2362,1857,2639,2047,44.8,-8.6,25,401,0.00,2.85,0.00,0.000,260,0.000,0.051,2360,2943,2635,2635,2048,0,0,0,0,0,0,26.87,26.53,26.89,8.93,49.01
$GC,413,-1.06,-293.2,2359,2943,2642,2048,46.1,-8.5,26,419,0.00,2.75,0.00,0.000,1030,0.000,0.037,2359,1859,2641,2641,2048,0,0,0,0,0,0,26.66,26.57,26.66,8.92,48.85
$GC,611,-1.06,-293.2,2359,1860,2644,2048,64.2,-11.2,39,616,0.00,2.83,0.00,0.000,260,0.000,0.052,2360,2941,2644,2644,2048,0,0,0,0,0,0,26.98,26.58,26.98,8.90,49.33
$GC,652,-1.06,-293.2,2359,2941,2646,2048,68.9,-12.5,41,660,0.00,2.75,0.00,0.000,1030,0.000,0.038,2360,1860,2645,2645,2055,0,0,0,0,0,0,26.77,26.72,26.78,8.91,49.21
$GC,839,-1.06,-293.3,2359,1858,2648,2055,82.2,-7.5,54,844,0.00,2.95,0.00,0.000,516,0.000,0.072,2359,769,2648,2648,2047,0,0,0,0,0,0,27.05,26.65,27.06,8.90,49.40
$GC,875,-1.06,-293.3,2359,778,2648,2047,85.2,-8.7,56,880,0.00,2.72,0.00,0.000,1030,0.000,0.035,2360,1858,2648,2648,2048,0,0,0,0,0,0,26.84,26.74,26.85,8.91,49.60
$GC,1068,-1.06,-293.3,2358,1859,2650,2048,100.2,-8.6,69,1073,0.00,2.83,0.00,0.000,260,0.000,0.052,2359,2950,2651,2651,2049,0,0,0,0,0,0,27.10,26.74,27.12,8.83,49.52
$GC,1088,-1.06,-293.3,2358,2956,2663,2049,101.8,-8.6,70,1094,0.00,2.75,0.00,0.000,1030,0.000,0.039,2360,1856,2650,2650,2048,0,0,0,0,0,0,26.86,26.78,26.89,8.90,50.07
$GC,1282,-1.06,-293.3,2359,1860,2654,2048,120.3,-8.6,83,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1860,2667,2667,2047,0,0,0,0,0,0,27.14,27.15,27.14,8.90,50.86
$GC,1462,-1.06,-293.3,2359,1860,2656,2047,134.0,-7.6,95,1467,0.00,2.83,0.00,0.000,260,0.000,0.051,2359,2947,2655,2655,2047,0,0,0,0,0,0,27.16,26.81,27.18,8.90,50.63
$GC,1526,-1.06,-293.3,2361,2947,2649,2047,155.8,-38.0,99,1532,0.00,2.72,0.00,0.000,1030,0.000,0.037,2360,1864,2660,2660,2048,0,0,0,0,0,0,26.95,26.86,26.97,8.88,50.94
$GC,1724,-1.06,-293.3,2353,1860,2659,2048,162.2,-8.4,112,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1864,2660,2660,2041,0,0,0,0,0,0,27.21,27.22,27.22,8.97,50.82
$GC,1904,-1.06,-293.3,2359,1863,2650,2041,176.0,-11.7,124,1910,0.00,2.80,0.00,0.000,260,0.000,0.053,2360,2945,2663,2663,2047,0,0,0,0,0,0,27.22,26.84,27.24,8.89,51.18
$GC,1938,-1.06,-293.3,2359,2935,2663,2047,172.1,-1.6,126,1943,0.00,2.72,0.00,0.000,1030,0.000,0.037,2360,1858,2663,2663,2047,0,0,0,0,0,0,26.99,26.91,27.02,8.90,51.45
$STATE,2014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2014,begin apogee
$GC,2018,-0.35,0.0,2358,1858,2664,2047,176.8,-6.9,131,2047,2.50,0.00,18.98,2.093,10246,0.064,0.000,2589,1858,2303,2303,2047,0,0,0,0,0,0,26.89,25.46,24.44,8.88,50.90
$STATE,2048,end apogee,CONTROL_FINISHED_OK
$STATE,2048,begin climb
$GC,2050,1.06,293.3,2588,1858,2305,2047,177.8,0.0,133,2078,4.62,3.15,17.08,2.048,10756,0.043,0.074,3029,769,1993,1993,2047,0,0,0,0,0,0,26.14,24.91,23.90,8.83,50.51
$GC,2124,1.06,293.3,3022,769,1995,2047,172.8,9.2,137,2132,0.00,2.85,1.02,0.007,9222,0.000,0.035,3022,1867,1992,1992,2047,0,0,0,0,0,0,25.98,25.92,26.01,8.78,50.51
$GC,2311,1.24,415.2,3027,1868,1990,2047,160.2,5.7,150,2328,0.52,2.83,8.12,1.633,10500,0.040,0.049,3084,2934,1851,1851,2047,0,0,0,0,0,0,26.37,25.52,24.55,8.76,51.65
$GC,2390,1.24,415.2,3083,2934,1858,2047,153.5,8.9,155,2397,0.00,2.80,0.45,0.007,9222,0.000,0.039,3084,1861,1858,1858,2047,0,0,0,0,0,0,26.27,26.19,26.30,8.74,51.37
$GC,2589,1.24,415.2,3083,1858,1855,2047,135.5,8.9,168,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1862,1855,1855,2046,0,0,0,0,0,0,26.71,26.75,26.74,8.74,51.49
$GC,2769,1.24,415.2,3084,1856,1852,2046,117.6,10.2,180,2775,0.00,2.85,0.00,0.000,260,0.000,0.051,3083,2940,1852,1852,2043,0,0,0,0,0,0,26.86,26.56,26.89,8.73,51.14
$GC,2832,1.24,415.2,3077,2941,1848,2043,110.9,10.6,184,2838,0.00,2.78,0.00,0.000,1030,0.000,0.039,3091,1855,1850,1850,2047,0,0,0,0,0,0,26.67,26.58,26.70,8.73,51.77
$GC,3030,1.24,415.2,3084,1863,1846,2047,92.2,9.8,197,3036,0.00,2.97,0.00,0.000,516,0.000,0.076,3087,765,1846,1846,2047,0,0,0,0,0,0,27.00,26.60,27.00,8.73,51.41
$GC,3071,1.24,415.2,3086,764,1846,2047,89.3,9.2,199,3079,0.00,2.75,0.00,0.000,1030,0.000,0.035,3084,1859,1853,1853,2047,0,0,0,0,0,0,26.79,26.72,26.81,8.73,51.49
$GC,3258,1.24,415.2,3084,1861,1841,2047,68.6,10.5,212,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1865,1841,1841,2047,0,0,0,0,0,0,27.05,27.04,27.06,8.73,51.10
$GC,3438,1.24,415.2,3091,1860,1838,2047,52.3,9.1,224,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1860,1840,1840,2047,0,0,0,0,0,0,27.10,27.12,27.11,8.74,51.61
$GC,3618,1.24,415.2,3084,1860,1834,2047,36.1,8.0,236,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1860,1837,1837,2052,0,0,0,0,0,0,27.14,27.15,27.15,8.72,52.32
$GC,3798,1.26,429.0,3084,1856,1831,2052,21.7,7.7,248,3804,0.00,3.00,0.00,0.000,516,0.000,0.075,3084,762,1832,1832,2047,0,0,0,0,0,0,27.17,26.79,27.21,8.73,51.85
$GC,3840,1.28,436.2,3084,762,1830,2047,19.0,7.9,250,3849,0.05,2.72,0.03,0.007,11270,0.131,0.036,3094,1851,1830,1830,2047,0,0,0,0,0,0,26.86,26.89,26.94,8.72,52.00
$GC,4027,1.31,457.7,3094,1851,1827,2047,3.0,7.6,263,4032,0.00,0.00,2.40,0.132,8710,0.000,0.000,3094,1852,1813,1813,2045,0,0,0,0,0,0,27.20,26.77,26.23,8.74,52.67
$STATE,4043,end climb,SURFACE_DEPTH_REACHED
$STATE,4043,begin surface coast
$FINISH,0.7,1.002232
$STATE,4059,end surface coast,CONTROL_FINISHED_OK
$STATE,4059,begin surface
$SM_CCo,4152,0.00,0.000,0,0,1812,455.24
$SM_GC,1.61,26.20,0.00,0.00,0.028,0.000,0.000,551,1851,1812,-6.73,-0.41,455.24,0,0,0,0,0,0,26.88,27.21,26.94
$IRIDIUM_FIX,4807.77,-12056.72,130718,064651
$TT8_MAMPS,0.025466,0.505575
$HUMID,51.65
$INTERNAL_PRESSURE,8.70079
$TCM_TEMP,11.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.9,88.3
$SC_FREEKB,3902688
$24V_AH,23.90,2.969
$10V_AH,10.46,5.789
$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,57.425,67.775,48.075,0.000,0.000,179.918,136.400,1105.831,0.500,0.000,32.511,877.140,2706.649,160.237,2324.242,70.329,33.448,504.228,0.000,544.280,0.000,14.780,0.000
$DEVICE_MAMPS,144.585,76.500,2093.040,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4079.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.737,0.000,0.000,0.000
$MEM,312648
$DATA_FILE_SIZE,7045,265
$CAP_FILE_SIZE,69377,0
$CFSIZE,1023623168,1018331136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130718,081603,4743.648,-12224.637,5,0.8,31,16.3,0.0,195.7,10,9.5