version: 66.14
glider: 404
mission: 5
dive: 15
start: 7 13 118 9 43 7
data:
$ID,404
$MISSION,5
$DIVE,15
$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,16
$R_STBD_OVSHOOT,39
$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
$GPS1,130718,092957,4742.9404,-12224.7949,8,0.8,12,16.3,0.0,0.0,9,9.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-55.8
$GPS2,130718,094156,4742.8574,-12224.8545,7,0.9,15,16.3,0.0,0.0,8,9.9
$SPEED_LIMITS,0.226,0.318
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.131874,0.289386
$KALMAN_X,-4309.356445,4.275185,617.761902,2472.656494,-456.545746
$KALMAN_Y,-8162.309082,644.505310,88.576698,5423.270996,-346.208923
$MHEAD_RNG_PITCHd_Wd,8.2,3074,-9.2,-8.222,-14.50,5215
$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,-1.09,-293.3,531,2012,1916,2047,0.0,0.0,0,16,0.00,0.00,-4.50,0.000,16390,0.000,0.000,530,2010,2629,2629,2042,0,0,0,0,0,0,26.60,25.28,26.60,8.78,50.51
$GC,18,-1.09,-293.3,531,2018,2629,2042,0.0,0.0,0,49,23.73,2.97,0.00,0.000,2820,0.147,0.059,2349,901,2632,2632,2047,0,0,0,0,0,0,26.15,26.20,26.23,8.92,50.70
$GC,66,-1.09,-293.3,2349,901,2637,2047,14.0,-25.6,3,71,0.00,2.78,0.00,0.000,1030,0.000,0.035,2354,1983,2632,2632,2048,0,0,0,0,0,0,26.39,26.30,26.41,8.92,50.27
$GC,264,-1.09,-293.3,2349,1985,2635,2048,32.1,-9.5,16,269,0.00,2.92,0.00,0.000,260,0.000,0.057,2350,3090,2634,2634,2048,0,0,0,0,0,0,26.79,26.44,26.81,8.93,49.60
$GC,297,-1.09,-293.3,2349,3090,2638,2048,35.4,-9.7,18,302,0.00,2.78,0.00,0.000,1030,0.000,0.035,2350,1992,2635,2635,2048,0,0,0,0,0,0,26.60,26.52,26.60,8.91,50.23
$GC,495,-1.09,-293.3,2349,1992,2638,2048,53.6,-10.3,31,500,0.00,2.92,0.00,0.000,516,0.000,0.068,2348,911,2632,2632,2047,0,0,0,0,0,0,26.92,26.54,26.94,8.91,49.68
$GC,611,-1.09,-293.3,2349,911,2634,2047,64.1,-9.1,38,619,0.00,2.78,0.00,0.000,1030,0.000,0.034,2350,2007,2640,2640,2049,0,0,0,0,0,0,26.76,26.68,26.77,8.90,49.44
$GC,798,-1.09,-293.3,2349,2007,2638,2049,84.7,-11.6,51,803,0.00,2.83,0.00,0.000,260,0.000,0.058,2350,3086,2644,2644,2048,0,0,0,0,0,0,27.03,26.67,27.05,8.89,50.07
$GC,846,-1.09,-293.3,2351,3089,2644,2048,89.5,-10.1,54,851,0.00,2.72,0.00,0.000,1030,0.000,0.036,2350,2001,2644,2644,2047,0,0,0,0,0,0,26.83,26.76,26.84,8.89,50.39
$GC,1044,-1.09,-293.3,2349,2002,2647,2047,105.4,-7.8,67,1049,0.00,2.92,0.00,0.000,516,0.000,0.068,2357,914,2648,2648,2048,0,0,0,0,0,0,27.09,26.70,27.10,8.89,50.35
$GC,1100,-1.09,-293.3,2357,913,2646,2048,109.8,-8.9,70,1107,0.00,2.75,0.00,0.000,1030,0.000,0.035,2350,2003,2647,2647,2048,0,0,0,0,0,0,26.89,26.82,26.91,8.89,50.27
$GC,1287,-1.09,-293.3,2349,2003,2650,2048,125.7,-7.2,83,1293,0.00,2.83,0.00,0.000,260,0.000,0.060,2349,3080,2655,2655,2046,0,0,0,0,0,0,27.13,26.77,27.15,8.89,50.70
$GC,1366,-1.09,-293.3,2343,3084,2653,2046,131.3,-6.9,88,1371,0.00,2.70,0.00,0.000,1030,0.000,0.035,2344,2004,2659,2659,2048,0,0,0,0,0,0,26.94,26.87,26.96,8.89,50.51
$GC,1564,-1.09,-293.3,2349,2003,2654,2048,147.8,-9.4,101,1569,0.00,2.92,0.00,0.000,516,0.000,0.069,2357,909,2652,2652,2040,0,0,0,0,0,0,27.18,26.79,27.20,8.89,50.66
$GC,1612,-1.09,-293.3,2346,909,2655,2040,151.3,-7.6,104,1617,0.00,2.75,0.00,0.000,1030,0.000,0.036,2347,2004,2654,2654,2048,0,0,0,0,0,0,26.99,26.92,26.99,8.94,50.59
$GC,1810,-1.09,-293.3,2349,2005,2657,2048,170.0,-10.2,117,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2005,2648,2648,2047,0,0,0,0,0,0,27.25,27.22,27.22,8.89,51.10
$STATE,1944,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1944,begin apogee
$GC,1948,-0.35,0.0,2350,1855,2659,2046,181.6,-9.1,126,1976,2.60,0.00,18.58,2.118,10246,0.063,0.000,2588,1855,2309,2309,2047,0,0,0,0,0,0,26.89,25.77,24.41,8.91,52.04
$STATE,1978,end apogee,CONTROL_FINISHED_OK
$STATE,1978,begin climb
$GC,1979,1.09,293.3,2587,1855,2309,2047,184.9,0.0,128,2006,4.78,0.00,17.35,2.092,10502,0.047,0.000,3034,1855,1992,1992,2047,0,0,0,0,0,0,26.11,24.87,23.88,8.83,51.77
$GC,2194,1.24,398.2,3034,1853,1990,2047,167.8,6.2,142,2210,0.47,0.00,7.15,1.607,10246,0.041,0.000,3084,1855,1874,1874,2047,0,0,0,0,0,0,26.28,25.46,24.49,8.76,50.82
$GC,2389,1.24,398.2,3083,1854,1878,2047,149.5,8.9,155,2395,0.00,2.97,0.35,0.007,8708,0.000,0.072,3084,770,1877,1877,2041,0,0,0,0,0,0,26.63,26.32,26.63,8.74,50.66
$GC,2425,1.24,398.2,3084,770,1878,2041,146.1,9.6,157,2431,0.00,2.83,0.73,0.007,9222,0.000,0.034,3084,1874,1878,1878,2050,0,0,0,0,0,0,26.47,26.46,26.49,8.73,51.37
$GC,2619,1.24,398.2,3086,1874,1884,2050,126.1,12.4,170,2625,0.00,2.78,0.05,0.011,8452,0.000,0.047,3084,2945,1871,1871,2047,0,0,0,0,0,0,26.84,26.50,26.84,8.72,51.14
$GC,2652,1.24,398.2,3084,2945,1873,2047,122.8,11.1,172,2658,0.00,2.78,0.00,0.000,1030,0.000,0.040,3084,1861,1883,1883,2054,0,0,0,0,0,0,26.63,26.53,26.66,8.76,52.00
$GC,2851,1.29,429.9,3084,1861,1870,2054,106.5,7.6,185,2856,0.10,0.00,3.17,0.622,10246,0.079,0.000,3096,1857,1842,1842,2047,0,0,0,0,0,0,26.74,26.41,25.32,8.73,52.08
$GC,3030,1.29,429.9,3099,1862,1838,2047,88.8,11.3,197,3035,0.00,2.83,0.00,0.000,260,0.000,0.049,3100,2946,1849,1849,2041,0,0,0,0,0,0,26.98,26.67,26.98,8.71,51.37
$GC,3096,1.29,429.9,3099,2945,1828,2041,82.0,11.0,201,3102,0.00,2.75,0.00,0.000,1030,0.000,0.040,3099,1861,1837,1837,2049,0,0,0,0,0,0,26.79,26.67,26.82,8.72,51.26
$GC,3289,1.29,429.9,3099,1860,1833,2049,60.9,8.8,214,3294,0.00,2.97,0.00,0.000,516,0.000,0.073,3099,765,1833,1833,2046,0,0,0,0,0,0,27.06,26.67,27.08,8.72,51.49
$GC,3345,1.29,429.9,3108,781,1832,2046,56.5,9.0,217,3353,0.00,2.75,0.00,0.000,1030,0.000,0.036,3107,1862,1835,1835,2056,0,0,0,0,0,0,26.86,26.79,26.86,8.73,51.65
$GC,3532,1.29,429.9,3098,1863,1820,2056,37.7,10.6,230,3537,0.00,3.00,0.00,0.000,516,0.000,0.073,3100,767,1828,1828,2049,0,0,0,0,0,0,27.11,26.72,27.13,8.71,51.57
$GC,3595,1.29,429.9,3099,764,1826,2049,30.7,11.1,234,3600,0.00,2.75,0.00,0.000,1030,0.000,0.037,3100,1864,1827,1827,2047,0,0,0,0,0,0,26.91,26.85,26.91,8.79,51.96
$GC,3793,1.29,429.9,3099,1865,1822,2047,12.2,8.8,247,3798,0.00,2.78,0.00,0.000,260,0.000,0.051,3101,2945,1828,1828,2047,0,0,0,0,0,0,27.16,26.82,27.17,8.80,52.44
$GC,3864,1.29,429.9,3099,2944,1821,2047,5.7,10.4,251,3871,0.00,2.75,0.00,0.000,1030,0.000,0.041,3100,1859,1820,1820,2047,0,0,0,0,0,0,26.91,26.84,26.94,8.74,52.00
$STATE,3899,end climb,SURFACE_DEPTH_REACHED
$STATE,3899,begin surface coast
$FINISH,0.3,1.005413
$STATE,3915,end surface coast,CONTROL_FINISHED_OK
$STATE,3915,begin surface
$SM_CCo,4010,0.00,0.000,0,0,1819,448.77
$SM_GC,1.41,26.33,0.35,0.00,0.028,0.045,0.000,551,2008,1819,-6.73,-1.46,448.77,0,0,0,0,0,0,26.87,26.93,26.93
$IRIDIUM_FIX,4808.40,-12337.82,130718,082116
$TT8_MAMPS,0.025466,0.849366
$HUMID,51.45
$INTERNAL_PRESSURE,8.69102
$TCM_TEMP,10.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.7,100.7
$SC_FREEKB,3901376
$24V_AH,23.88,3.096
$10V_AH,10.15,5.989
$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,58.000,74.250,47.375,0.000,0.000,23.289,16.935,540.761,0.500,0.000,16.637,866.767,2270.294,170.367,1388.231,66.507,33.442,513.631,0.000,547.192,0.000,7.862,0.000
$DEVICE_MAMPS,146.880,73.440,2118.285,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3941.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.434,0.000,0.000,0.000
$MEM,312648
$DATA_FILE_SIZE,7047,255
$CAP_FILE_SIZE,61138,0
$CFSIZE,1023623168,1018052608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130718,105127,4743.070,-12224.931,8,0.9,49,16.3,0.3,170.6,8,10.8