version: 66.14
glider: 404
mission: 5
dive: 18
start: 7 13 118 13 45 54
data:
$ID,404
$MISSION,5
$DIVE,18
$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,37
$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
$GPS1,130718,133230,4744.1270,-12224.2070,9,0.9,13,16.3,0.0,2.8,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-53.8
$GPS2,130718,134444,4744.2173,-12224.1729,7,0.9,14,16.3,0.0,5.7,9,7.2
$SPEED_LIMITS,0.226,0.318
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.029622,-0.316635
$KALMAN_X,-4635.132324,178.391190,-448.314026,4528.370117,-138.503021
$KALMAN_Y,-9257.484375,1108.733398,-547.481689,9193.541992,-87.763000
$MHEAD_RNG_PITCHd_Wd,169.0,2291,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-1.09,-293.3,549,2011,1763,2047,0.0,0.0,0,18,0.00,0.00,-5.50,0.000,16390,0.000,0.000,550,2011,2629,2629,2052,0,0,0,0,0,0,26.58,25.32,26.58,8.75,50.03
$GC,20,-1.09,-293.3,549,2011,2630,2052,0.0,0.0,0,50,23.38,2.95,0.00,0.000,2564,0.145,0.060,2351,909,2625,2625,2047,0,0,0,0,0,0,26.15,26.18,26.22,8.89,50.94
$GC,204,-1.09,-293.3,2355,909,2634,2047,29.3,-9.7,12,210,0.00,2.75,0.00,0.000,1030,0.000,0.034,2351,1984,2629,2629,2047,0,0,0,0,0,0,26.52,26.42,26.55,8.91,49.21
$GC,403,-1.09,-293.3,2345,1985,2637,2047,44.0,-6.9,25,408,0.00,2.90,0.00,0.000,260,0.000,0.055,2351,3091,2637,2637,2047,0,0,0,0,0,0,26.86,26.52,26.89,8.90,49.96
$GC,436,-1.09,-293.3,2350,3091,2637,2047,49.0,-12.7,27,441,0.00,2.78,0.00,0.000,1030,0.000,0.036,2351,1991,2642,2642,2047,0,0,0,0,0,0,26.67,26.59,26.70,8.90,49.40
$GC,634,-1.09,-293.3,2350,1991,2642,2047,72.2,-11.6,40,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1991,2641,2641,2047,0,0,0,0,0,0,26.97,26.99,26.98,8.90,50.27
$GC,814,-1.09,-293.3,2360,1992,2644,2047,86.9,-6.4,52,819,0.00,2.90,0.00,0.000,516,0.000,0.067,2354,909,2657,2657,2043,0,0,0,0,0,0,27.03,26.66,27.05,8.89,49.92
$GC,886,-1.09,-293.3,2350,912,2644,2043,91.3,-7.0,56,893,0.00,2.75,0.00,0.000,1030,0.000,0.034,2349,2004,2644,2644,2047,0,0,0,0,0,0,26.84,26.77,26.89,8.97,49.88
$GC,1073,-1.09,-293.3,2350,2000,2651,2047,102.4,-5.9,69,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2003,2647,2647,2047,0,0,0,0,0,0,27.09,27.17,27.10,8.89,50.23
$GC,1252,-1.09,-293.3,2351,2005,2648,2047,113.9,-6.4,81,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2005,2648,2648,2047,0,0,0,0,0,0,27.13,27.15,27.15,8.89,50.15
$GC,1432,-1.09,-293.3,2350,2005,2650,2047,129.1,-9.2,93,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2005,2651,2651,2048,0,0,0,0,0,0,27.16,27.20,27.17,8.89,50.55
$GC,1612,-1.09,-293.3,2351,2005,2660,2048,146.0,-9.1,105,1617,0.00,2.95,0.00,0.000,516,0.000,0.066,2353,910,2651,2651,2050,0,0,0,0,0,0,27.19,26.82,27.20,8.89,50.82
$GC,1638,-1.09,-293.3,2351,910,2654,2050,147.8,-8.9,106,1646,0.00,2.72,0.00,0.000,1030,0.000,0.035,2351,2003,2654,2654,2048,0,0,0,0,0,0,26.95,26.89,26.99,8.90,50.94
$GC,1825,-1.09,-293.3,2351,2002,2656,2048,164.8,-7.6,119,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2005,2657,2657,2045,0,0,0,0,0,0,27.20,27.27,27.22,8.89,50.39
$STATE,2004,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2004,begin apogee
$GC,2008,-0.35,0.0,2351,1854,2655,2050,174.8,-5.9,131,2036,2.53,0.00,18.45,2.100,10246,0.065,0.000,2582,1855,2310,2310,2048,0,0,0,0,0,0,26.90,25.82,24.49,8.89,51.18
$STATE,2037,end apogee,CONTROL_FINISHED_OK
$STATE,2038,begin climb
$GC,2039,1.09,293.3,2581,1855,2310,2048,175.8,0.0,133,2066,4.85,0.00,17.48,2.064,10246,0.047,0.000,3032,1855,1986,1986,2041,0,0,0,0,0,0,26.15,24.92,23.96,8.82,50.94
$GC,2245,1.09,293.3,3032,1854,1989,2041,158.9,8.5,147,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1855,1988,1988,2047,0,0,0,0,0,0,26.47,26.52,26.55,8.76,50.59
$GC,2425,1.24,393.0,3031,1855,1986,2047,146.4,6.3,159,2440,0.45,0.00,6.75,1.452,10246,0.043,0.000,3080,1855,1883,1883,2048,0,0,0,0,0,0,26.49,26.00,24.79,8.76,50.86
$GC,2620,1.28,422.4,3074,1854,1875,2048,130.5,7.6,172,2630,0.00,2.90,3.35,0.788,8452,0.000,0.049,3080,2951,1849,1849,2047,0,0,0,0,0,0,26.74,26.27,25.01,8.74,50.70
$GC,2684,1.28,422.4,3080,2951,1850,2047,124.9,9.2,176,2690,0.10,2.78,0.00,0.000,3078,0.074,0.039,3096,1870,1842,1842,2048,0,0,0,0,0,0,26.48,26.43,26.53,8.73,51.33
$GC,2882,1.28,422.4,3095,1873,1845,2048,105.1,10.0,189,2888,0.00,3.00,0.00,0.000,516,0.000,0.073,3096,775,1845,1845,2047,0,0,0,0,0,0,26.88,26.50,26.91,8.72,51.02
$GC,2955,1.28,422.4,3090,782,1844,2047,99.1,9.7,193,2963,0.00,2.75,0.00,0.000,1030,0.000,0.034,3096,1862,1844,1844,2050,0,0,0,0,0,0,26.71,26.66,26.73,8.66,51.49
$GC,3141,1.28,422.4,3096,1864,1840,2050,82.6,8.5,206,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1864,1837,1837,2048,0,0,0,0,0,0,26.98,27.00,27.00,8.72,51.65
$GC,3320,1.28,422.4,3096,1863,1837,2048,67.0,9.3,218,3326,0.00,2.80,0.00,0.000,260,0.000,0.049,3096,2949,1837,1837,2044,0,0,0,0,0,0,27.04,26.71,27.07,8.73,51.14
$GC,3378,1.28,422.4,3096,2949,1836,2044,61.9,10.3,221,3386,0.00,2.75,0.00,0.000,1030,0.000,0.039,3096,1864,1836,1836,2047,0,0,0,0,0,0,26.84,26.75,26.94,8.72,51.10
$GC,3564,1.28,422.4,3096,1863,1831,2047,42.4,10.8,234,3569,0.00,2.97,0.00,0.000,516,0.000,0.073,3091,763,1838,1838,2045,0,0,0,0,0,0,27.10,26.72,27.13,8.72,51.57
$GC,3612,1.28,422.4,3090,762,1831,2045,37.2,10.8,237,3618,0.00,2.75,0.00,0.000,1030,0.000,0.035,3096,1862,1837,1837,2048,0,0,0,0,0,0,26.90,26.82,26.93,8.72,51.89
$GC,3810,1.28,422.4,3095,1864,1829,2048,19.7,9.4,250,3815,0.00,2.80,0.00,0.000,260,0.000,0.051,3096,2944,1825,1825,2047,0,0,0,0,0,0,27.14,26.80,27.16,8.82,51.65
$GC,3867,1.28,422.4,3096,2949,1826,2047,14.8,10.1,253,3875,0.00,2.78,0.00,0.000,1030,0.000,0.040,3098,1857,1825,1825,2047,0,0,0,0,0,0,26.95,26.84,26.96,8.72,51.61
$STATE,4006,end climb,SURFACE_DEPTH_REACHED
$STATE,4007,begin surface coast
$FINISH,0.8,1.000486
$STATE,4023,end surface coast,CONTROL_FINISHED_OK
$STATE,4023,begin surface
$SM_CCo,4117,0.00,0.000,0,0,1822,446.00
$SM_GC,1.99,26.27,0.38,0.00,0.027,0.043,0.000,551,2014,1822,-6.73,-1.18,446.00,0,0,0,0,0,0,26.88,26.93,26.94
$IRIDIUM_FIX,4808.40,-12337.82,130718,121449
$TT8_MAMPS,0.025466,0.780458
$HUMID,51.37
$INTERNAL_PRESSURE,8.69102
$TCM_TEMP,10.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.5,94.2
$SC_FREEKB,3899168
$24V_AH,23.96,3.296
$10V_AH,10.18,6.308
$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,57.575,51.725,46.025,0.000,0.000,24.566,17.179,544.437,0.500,0.000,15.561,851.973,2431.025,157.421,1369.047,70.203,33.454,476.250,0.000,517.480,0.000,7.846,0.000
$DEVICE_MAMPS,144.585,73.440,2099.925,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4059.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.521,0.000,0.000,0.000
$MEM,312672
$DATA_FILE_SIZE,7063,264
$CAP_FILE_SIZE,57489,0
$CFSIZE,1023623168,1017561088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130718,145550,4744.211,-12224.273,37,0.9,38,16.3,0.0,0.0,10,8.0