version: 66.14
glider: 404
mission: 5
dive: 17
start: 7 13 118 12 27 14
data:
$ID,404
$MISSION,5
$DIVE,17
$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,10
$R_STBD_OVSHOOT,35
$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
$GPS1,130718,121239,4743.4385,-12224.4648,9,1.0,13,16.3,0.0,0.0,8,9.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-49.4
$GPS2,130718,122605,4743.3467,-12224.4297,6,1.0,14,16.3,0.0,0.0,8,9.6
$SPEED_LIMITS,0.226,0.318
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.114901,0.296534
$KALMAN_X,-4770.667480,136.497910,-60.503365,3995.471191,-543.543335
$KALMAN_Y,-9653.666992,1095.281982,-367.322601,7818.358887,-627.969604
$MHEAD_RNG_PITCHd_Wd,4.9,2137,-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,-293.3,550,2013,1563,2047,0.0,0.0,0,19,0.00,0.00,-6.80,0.000,16390,0.000,0.000,544,2012,2627,2627,2048,0,0,0,0,0,0,26.57,25.30,26.58,8.71,50.55
$GC,21,-1.09,-293.3,550,2012,2627,2048,0.0,0.0,0,51,23.35,3.03,0.00,0.000,2820,0.144,0.061,2350,902,2623,2623,2047,0,0,0,0,0,0,26.14,26.17,26.21,8.93,50.47
$GC,69,-1.09,-293.3,2351,906,2630,2047,14.2,-26.2,3,74,0.00,2.78,0.00,0.000,1030,0.000,0.034,2351,1986,2629,2629,2047,0,0,0,0,0,0,26.36,26.29,26.39,8.92,49.92
$GC,267,-1.09,-293.3,2351,1988,2634,2047,38.2,-12.6,16,272,0.00,2.90,0.00,0.000,260,0.000,0.057,2351,3087,2633,2633,2048,0,0,0,0,0,0,26.78,26.42,26.79,8.91,49.09
$GC,323,-1.09,-293.3,2351,3088,2629,2048,43.7,-11.8,19,331,0.00,2.78,0.00,0.000,1030,0.000,0.035,2351,1991,2634,2634,2046,0,0,0,0,0,0,26.63,26.52,26.62,8.90,49.33
$GC,510,-1.09,-293.3,2351,1992,2637,2046,58.9,-7.3,32,516,0.00,2.92,0.00,0.000,516,0.000,0.068,2351,910,2637,2637,2051,0,0,0,0,0,0,26.91,26.59,26.93,8.90,49.64
$GC,612,-1.09,-293.3,2350,910,2639,2051,67.2,-8.9,38,619,0.00,2.78,0.00,0.000,1030,0.000,0.034,2351,2006,2638,2638,2047,0,0,0,0,0,0,26.74,26.67,26.77,8.90,49.09
$GC,798,-1.09,-293.3,2350,2006,2641,2047,84.2,-8.6,51,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2013,2640,2640,2048,0,0,0,0,0,0,27.02,27.04,27.03,8.87,49.44
$GC,979,-1.09,-293.3,2351,2006,2643,2048,99.1,-7.4,63,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2011,2643,2643,2047,0,0,0,0,0,0,27.08,27.09,27.08,8.84,50.63
$GC,1158,-1.09,-293.3,2351,2013,2647,2047,114.2,-8.7,75,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2006,2646,2646,2047,0,0,0,0,0,0,27.11,27.13,27.13,8.89,50.70
$GC,1338,-1.09,-293.3,2351,2003,2648,2047,131.0,-10.2,87,1344,0.00,2.97,0.00,0.000,516,0.000,0.067,2352,905,2649,2649,2048,0,0,0,0,0,0,27.15,26.77,27.16,8.89,50.27
$GC,1380,-1.09,-293.3,2351,905,2649,2048,135.1,-11.4,89,1387,0.00,2.78,0.00,0.000,1030,0.000,0.034,2351,2007,2649,2649,2046,0,0,0,0,0,0,26.94,26.86,26.95,8.89,50.47
$GC,1566,-1.09,-293.3,2351,2007,2651,2046,154.5,-8.8,102,1572,0.00,2.97,0.00,0.000,516,0.000,0.067,2351,905,2652,2652,2048,0,0,0,0,0,0,27.18,26.79,27.19,8.89,50.59
$GC,1632,-1.09,-293.3,2356,905,2653,2048,160.4,-9.5,106,1638,0.00,2.72,0.00,0.000,1030,0.000,0.035,2351,2000,2654,2654,2048,0,0,0,0,0,0,26.97,26.87,26.98,8.87,51.10
$STATE,1824,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1824,begin apogee
$GC,1829,-0.35,0.0,2351,1847,2656,2043,176.6,-8.4,119,1856,2.53,0.00,18.48,2.115,10246,0.065,0.000,2583,1846,2310,2310,2047,0,0,0,0,0,0,26.87,25.45,24.44,8.88,51.45
$STATE,1858,end apogee,CONTROL_FINISHED_OK
$STATE,1858,begin climb
$GC,1859,1.09,293.3,2583,1846,2310,2047,178.4,0.0,121,1893,4.80,3.05,17.67,2.094,10756,0.044,0.071,3031,785,1986,1986,2047,0,0,0,0,0,0,26.12,24.94,23.87,8.83,50.47
$GC,1914,1.09,293.3,3033,785,1986,2047,176.1,6.7,124,1920,0.00,2.80,0.00,0.000,1030,0.000,0.032,3034,1857,1986,1986,2047,0,0,0,0,0,0,25.84,25.78,25.89,8.77,50.07
$GC,2107,1.21,376.7,3033,1865,1983,2047,163.1,6.6,137,2124,0.35,2.90,6.00,1.489,10500,0.049,0.052,3073,2955,1899,1899,2055,0,0,0,0,0,0,26.31,25.91,24.58,8.76,50.66
$GC,2142,1.29,428.2,3071,2956,1897,2055,160.4,7.2,139,2158,0.25,2.83,4.65,1.259,11270,0.046,0.039,3107,1871,1840,1840,2047,0,0,0,0,0,0,26.19,26.12,24.54,8.74,50.70
$GC,2336,1.29,428.2,3100,1871,1837,2047,142.9,9.4,152,2342,0.00,3.05,0.00,0.000,516,0.000,0.074,3101,769,1836,1836,2047,0,0,0,0,0,0,26.64,26.28,26.66,8.73,50.94
$GC,2384,1.29,428.2,3100,768,1836,2047,138.0,9.3,155,2390,0.00,2.83,0.00,0.000,1030,0.000,0.035,3101,1877,1835,1835,2048,0,0,0,0,0,0,26.46,26.43,26.51,8.65,50.74
$GC,2582,1.29,428.2,3098,1879,1831,2048,116.6,11.8,168,2587,0.00,2.75,0.00,0.000,260,0.000,0.050,3100,2942,1832,1832,2047,0,0,0,0,0,0,26.84,26.51,26.85,8.73,51.33
$GC,2623,1.29,428.2,3101,2941,1830,2047,112.7,11.9,170,2631,0.00,2.78,0.00,0.000,1030,0.000,0.040,3101,1858,1830,1830,2047,0,0,0,0,0,0,26.65,26.56,26.67,8.77,51.61
$GC,2810,1.29,428.2,3101,1858,1825,2047,91.5,10.8,183,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1858,1826,1826,2047,0,0,0,0,0,0,26.95,26.97,26.96,8.72,51.29
$GC,2990,1.29,428.2,3101,1858,1822,2047,72.7,9.8,195,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1858,1822,1822,2048,0,0,0,0,0,0,27.01,27.03,27.03,8.72,51.85
$GC,3170,1.38,489.1,3100,1858,1819,2048,58.2,7.0,207,3177,0.12,0.00,3.75,0.574,10246,0.066,0.000,3119,1858,1777,1777,2047,0,0,0,0,0,0,26.90,26.57,25.70,8.72,51.89
$GC,3350,1.38,489.1,3118,1858,1774,2047,39.3,10.8,219,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1858,1773,1773,2047,0,0,0,0,0,0,27.08,27.10,27.09,8.71,51.61
$GC,3530,1.38,489.1,3118,1858,1769,2047,22.9,9.3,231,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1860,1769,1769,2047,0,0,0,0,0,0,27.12,27.10,27.13,8.71,52.12
$GC,3710,1.38,489.1,3118,1858,1758,2047,5.5,9.6,243,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1857,1765,1765,2048,0,0,0,0,0,0,27.15,27.17,27.17,8.72,51.92
$STATE,3754,end climb,SURFACE_DEPTH_REACHED
$STATE,3754,begin surface coast
$FINISH,0.8,1.022055
$STATE,3770,end surface coast,CONTROL_FINISHED_OK
$STATE,3770,begin surface
$SM_CCo,3864,0.00,0.000,0,0,1764,499.56
$SM_GC,2.04,26.48,0.35,0.00,0.026,0.042,0.000,550,2010,1764,-6.73,-1.41,499.56,0,0,0,0,0,0,26.88,26.94,26.93
$IRIDIUM_FIX,4807.77,-12056.72,130718,105346
$TT8_MAMPS,0.025466,0.760235
$HUMID,51.26
$INTERNAL_PRESSURE,8.68126
$TCM_TEMP,10.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,95.2
$SC_FREEKB,3899936
$24V_AH,23.87,3.235
$10V_AH,10.21,6.199
$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,57.875,52.350,50.550,0.000,0.000,25.369,21.407,607.115,0.500,0.000,15.548,778.454,2311.099,160.106,1380.798,69.257,33.450,462.556,0.000,470.748,0.000,7.843,0.000
$DEVICE_MAMPS,143.820,74.205,2115.225,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3803.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.701,0.000,0.000,0.000
$MEM,312664
$DATA_FILE_SIZE,7073,247
$CAP_FILE_SIZE,55962,0
$CFSIZE,1023623168,1017724928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130718,133230,4744.127,-12224.207,9,0.9,13,16.3,0.0,2.8,9,10.0