version: 66.14
glider: 404
mission: 5
dive: 19
start: 7 13 118 15 9 48
data:
$ID,404
$MISSION,5
$DIVE,19
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,1950
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,32
$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
$GPS1,130718,145550,4744.2109,-12224.2734,37,0.9,38,16.3,0.0,0.0,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-54.0
$GPS2,130718,150840,4744.3462,-12224.2012,6,0.9,9,16.3,0.0,5.6,10,8.8
$SPEED_LIMITS,0.142,0.240
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.060331,-0.232191
$KALMAN_X,-4458.883301,209.880707,-562.908752,4401.586914,257.516968
$KALMAN_Y,-7493.403320,793.106934,-390.757324,7816.302734,951.392639
$MHEAD_RNG_PITCHd_Wd,178.3,2521,-14.6,-8.222,-18.92,2665
$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,-1.25,-146.6,550,1929,1822,2047,0.0,0.0,0,16,0.00,0.00,-4.12,0.000,16390,0.000,0.000,550,1929,2474,2474,2048,0,0,0,0,0,0,26.56,25.29,26.56,8.76,49.48
$GC,18,-1.25,-146.6,550,1938,2469,2048,0.0,0.0,0,49,22.67,2.90,0.00,0.000,2308,0.142,0.054,2303,3024,2471,2471,2047,0,0,0,0,0,0,26.13,26.18,26.21,8.89,50.59
$GC,54,-1.25,-146.6,2301,3027,2482,2047,7.3,-27.0,2,62,0.00,2.75,0.00,0.000,1030,0.000,0.036,2303,1961,2471,2471,2047,0,0,0,0,0,0,26.34,26.25,26.36,8.89,49.96
$GC,242,-1.25,-146.6,2291,1957,2486,2047,33.8,-12.1,15,247,0.00,2.83,0.00,0.000,260,0.000,0.054,2297,3022,2486,2486,2048,0,0,0,0,0,0,26.74,26.41,26.76,8.86,49.13
$GC,440,-1.25,-146.6,2302,3019,2477,2048,56.0,-10.9,28,445,0.00,2.75,0.00,0.000,1030,0.000,0.035,2303,1936,2479,2479,2047,0,0,0,0,0,0,26.64,26.58,26.69,8.87,49.48
$GC,638,-1.25,-146.6,2302,1932,2484,2047,78.3,-11.9,41,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,1939,2482,2482,2047,0,0,0,0,0,0,26.97,26.98,26.96,8.87,49.40
$GC,818,-1.25,-146.6,2296,1941,2479,2047,95.3,-9.6,53,823,0.00,2.85,0.00,0.000,260,0.000,0.054,2303,3024,2485,2485,2042,0,0,0,0,0,0,27.04,26.69,27.05,8.85,49.72
$GC,835,-1.25,-146.6,2302,3020,2486,2042,97.3,-10.0,54,841,0.00,2.70,0.00,0.000,1030,0.000,0.036,2303,1951,2484,2484,2048,0,0,0,0,0,0,26.82,26.73,26.84,8.86,49.44
$GC,1033,-1.25,-146.6,2302,1951,2502,2048,117.7,-9.8,67,1038,0.00,2.92,0.00,0.000,516,0.000,0.069,2303,862,2489,2489,2047,0,0,0,0,0,0,27.08,26.71,27.10,8.86,50.15
$GC,1089,-1.25,-146.6,2306,862,2494,2047,122.8,-10.6,70,1097,0.00,2.70,0.00,0.000,1030,0.000,0.034,2301,1938,2490,2490,2048,0,0,0,0,0,0,26.88,26.80,26.90,8.86,49.60
$GC,1276,-1.25,-146.6,2302,1937,2495,2048,140.8,-8.9,83,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,1937,2493,2493,2048,0,0,0,0,0,0,27.13,27.15,27.14,8.86,50.11
$GC,1456,-1.25,-146.6,2302,1938,2497,2048,158.6,-10.7,95,1461,0.00,2.85,0.00,0.000,260,0.000,0.055,2305,3031,2494,2494,2047,0,0,0,0,0,0,27.17,26.82,27.17,8.86,50.51
$GC,1497,-1.25,-146.6,2303,3035,2497,2047,162.0,-10.8,97,1505,0.00,2.72,0.00,0.000,1030,0.000,0.037,2303,1948,2495,2495,2048,0,0,0,0,0,0,26.94,26.86,26.96,8.86,50.51
$STATE,1608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1608,begin apogee
$GC,1612,-0.35,0.0,2303,1867,2505,2043,175.1,-11.2,105,1629,3.20,0.00,10.88,1.918,10246,0.076,0.000,2588,1867,2310,2310,2048,0,0,0,0,0,0,26.87,26.16,24.79,8.86,50.51
$STATE,1630,end apogee,CONTROL_FINISHED_OK
$STATE,1631,begin climb
$GC,1632,1.25,146.6,2588,1867,2310,2048,176.5,0.0,106,1655,5.15,0.00,9.75,1.872,10246,0.041,0.000,3082,1867,2146,2146,2047,0,0,0,0,0,0,26.43,25.46,24.45,8.83,50.66
$GC,1834,1.34,210.8,3082,1867,2147,2047,165.2,5.8,120,1844,0.25,0.00,5.25,1.397,10502,0.054,0.000,3111,1867,2075,2075,2047,0,0,0,0,0,0,26.44,26.07,24.72,8.79,51.22
$GC,2031,1.34,210.8,3110,1867,2072,2047,149.2,8.5,133,2037,0.00,2.90,0.00,0.000,260,0.000,0.050,3108,2968,2065,2065,2053,0,0,0,0,0,0,26.76,26.44,26.77,8.77,50.82
$GC,2193,1.34,210.8,3105,2966,2078,2053,135.3,9.0,143,2201,0.00,2.75,0.00,0.000,1030,0.000,0.038,3111,1891,2070,2070,2047,0,0,0,0,0,0,26.66,26.56,26.68,8.78,50.82
$GC,2380,1.41,254.8,3110,1884,2067,2047,121.3,6.5,156,2391,0.20,3.00,3.45,0.778,10756,0.061,0.073,3135,790,2035,2035,2047,0,0,0,0,0,0,26.70,26.51,25.23,8.77,51.45
$GC,2437,1.42,262.1,3133,790,2034,2047,117.2,7.9,159,2446,0.00,2.75,2.20,0.184,9222,0.000,0.034,3135,1882,2020,2020,2050,0,0,0,0,0,0,26.72,26.65,25.23,8.76,51.22
$GC,2623,1.42,262.1,3134,1880,2024,2050,99.6,9.3,172,2629,0.00,3.00,0.10,0.005,8708,0.000,0.071,3135,790,2036,2036,2049,0,0,0,0,0,0,27.00,26.64,27.00,8.81,51.37
$GC,2687,1.42,262.1,3134,790,2023,2049,93.2,10.1,176,2692,0.00,2.72,0.00,0.000,1030,0.000,0.033,3135,1881,2020,2020,2048,0,0,0,0,0,0,26.79,26.74,26.84,8.76,50.78
$GC,2885,1.46,288.2,3134,1881,2018,2048,76.4,7.2,189,2890,0.12,0.00,2.90,0.443,10246,0.077,0.000,3146,1877,1997,1997,2043,0,0,0,0,0,0,26.83,26.57,25.64,8.76,51.45
$GC,3064,1.46,288.2,3149,1882,1994,2043,60.7,9.8,201,3070,0.00,2.80,0.00,0.000,260,0.000,0.050,3150,2962,1994,1994,2048,0,0,0,0,0,0,27.09,26.75,27.10,8.76,51.33
$GC,3222,1.46,288.2,3148,2966,1991,2048,42.6,11.9,211,3227,0.00,2.75,0.00,0.000,1030,0.000,0.038,3150,1878,1990,1990,2047,0,0,0,0,0,0,26.90,26.80,26.92,8.75,51.29
$GC,3415,1.46,288.2,3149,1878,1988,2047,22.4,9.7,224,3420,0.00,2.92,0.00,0.000,516,0.000,0.073,3150,789,1986,1986,2047,0,0,0,0,0,0,27.15,26.79,27.17,8.76,51.49
$GC,3523,1.46,292.4,3150,792,1984,2047,12.9,8.1,231,3528,0.00,2.72,0.00,0.000,1030,0.000,0.034,3150,1883,1984,1984,2044,0,0,0,0,0,0,26.97,26.91,27.00,8.75,51.69
$STATE,3675,end climb,SURFACE_DEPTH_REACHED
$STATE,3675,begin surface coast
$FINISH,0.7,1.000521
$STATE,3691,end surface coast,CONTROL_FINISHED_OK
$STATE,3691,begin surface
$SM_CCo,3785,0.00,0.000,0,0,1981,299.18
$SM_GC,1.74,26.75,0.15,0.00,0.025,0.070,0.000,549,1965,1981,-6.73,-1.18,299.18,0,0,0,0,0,0,26.90,26.96,26.96
$IRIDIUM_FIX,4808.40,-12337.82,130718,133437
$TT8_MAMPS,0.025466,0.710052
$HUMID,51.02
$INTERNAL_PRESSURE,8.73009
$TCM_TEMP,10.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.8,94.1
$SC_FREEKB,3898432
$24V_AH,24.45,3.350
$10V_AH,10.20,6.411
$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,58.350,56.825,34.525,0.000,0.000,21.965,30.514,577.572,0.500,0.000,10.756,846.965,2105.977,145.411,1412.827,72.110,33.440,472.363,0.000,543.038,0.000,7.840,0.000
$DEVICE_MAMPS,142.290,81.090,1917.855,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3733.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.366,0.000,0.000,0.000
$MEM,312696
$DATA_FILE_SIZE,7055,242
$CAP_FILE_SIZE,58080,0
$CFSIZE,1023623168,1017397248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130718,161343,4744.727,-12224.459,8,0.8,10,16.3,0.0,0.0,10,7.7