version: 66.14
glider: 404
mission: 1
dive: 2
start: 2 28 118 21 45 52
data:
$ID,404
$MISSION,1
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,200
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74354
$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,250
$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,50
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,60840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,340
$PITCH_MAX,3860
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.02
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$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,55
$C_ROLL_DIVE,1710
$C_ROLL_CLIMB,1710
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,300
$VBD_MAX,3680
$C_VBD,2010
$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,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,280
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.366035
$PRESSURE_SLOPE,3.287441e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,0
$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,33
$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
$GPS1,280218,214112,4743.1309,-12224.3936,6,1.0,17,16.3,0.0,41.7,8,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-38.6
$GPS2,280218,214458,4743.1289,-12224.3975,6,1.0,15,16.3,0.0,0.0,8,5.6
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.063982,0.249604
$KALMAN_X,-1.910363,-1.910363,-1.910363,-107.001129,-6.393381
$KALMAN_Y,-33.490513,-33.490513,-33.490513,-302.265228,-112.082153
$MHEAD_RNG_PITCHd_Wd,329.3,1689,-17.6,-10.000,-21.21,2209
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8,-1.57,-146.6,363,1706,297,240,0.0,0.0,0,21,0.00,0.00,-9.00,0.000,16390,0.000,0.000,362,1705,2173,2173,310,0,0,0,0,0,0,26.67,25.79,26.70,8.89,20.03
$GC,22,-1.57,-146.6,363,1706,2174,310,1.3,-5.9,2,54,26.92,3.20,0.00,0.000,2308,0.182,0.056,2269,2897,2172,2172,540,0,0,0,0,0,0,26.01,26.21,26.22,8.94,19.99
$GC,278,-1.57,-146.6,2270,2903,2182,540,51.6,-17.4,53,285,0.00,3.17,0.00,0.000,1030,0.000,0.050,2269,1706,2181,2181,535,0,0,0,0,0,0,26.49,26.36,26.53,8.95,20.07
$GC,314,-1.57,-146.6,2269,1705,2184,535,58.4,-19.0,60,320,0.00,3.22,0.00,0.000,260,0.000,0.055,2270,2905,2183,2183,549,0,0,0,0,0,0,26.78,26.37,26.79,8.96,20.23
$GC,374,-1.57,-146.6,2270,2906,2186,549,68.7,-16.6,72,381,0.00,3.20,0.00,0.000,1030,0.000,0.049,2270,1707,2185,2185,558,0,0,0,0,0,0,26.47,26.41,26.52,8.95,20.50
$GC,409,-1.57,-146.6,2269,1708,2186,558,74.7,-16.5,79,416,0.00,3.38,0.00,0.000,516,0.000,0.085,2270,506,2185,2185,571,0,0,0,0,0,0,26.82,26.34,26.84,8.96,19.83
$GC,525,-1.57,-146.6,2269,507,2189,571,97.7,-16.9,102,534,0.00,3.10,0.00,0.000,1030,0.000,0.041,2270,1714,2189,2189,4095,0,0,0,0,0,0,26.63,26.55,26.65,8.96,19.75
$GC,563,-1.57,-146.6,2270,1714,2191,4095,103.5,-14.9,109,573,0.00,3.15,0.00,0.000,260,0.000,0.056,2270,2907,2190,2190,4095,0,0,0,0,0,0,26.76,26.46,26.78,8.96,19.79
$GC,597,-1.57,-146.6,2270,2906,2192,4095,108.5,-14.7,115,606,0.00,3.15,0.00,0.000,1030,0.000,0.048,2270,1711,2191,2191,4095,0,0,0,0,0,0,26.58,26.46,26.61,8.96,20.50
$GC,635,-1.57,-146.6,2270,1712,2193,4095,115.2,-19.3,122,644,0.00,3.35,0.00,0.000,516,0.000,0.083,2270,508,2192,2192,1499,0,0,0,0,0,0,26.74,26.40,26.76,8.96,19.60
$GC,703,-1.57,-146.6,2270,509,2196,1499,132.9,-26.7,135,713,0.00,3.10,0.00,0.000,1030,0.000,0.040,2270,1716,2195,2195,843,0,0,0,0,0,0,26.61,26.54,26.64,8.96,19.95
$GC,742,-1.57,-146.6,2269,1717,2197,843,141.5,-21.5,142,751,0.00,3.15,0.00,0.000,260,0.000,0.056,2270,2905,2196,2196,867,0,0,0,0,0,0,26.74,26.46,26.77,8.96,19.56
$STATE,789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,789,begin apogee
$GC,795,-0.38,0.0,2270,1711,2199,871,150.5,-17.4,151,815,4.65,0.00,10.52,1.714,10246,0.119,0.000,2653,1709,2009,2009,4095,0,0,0,0,0,0,26.36,25.56,24.65,8.96,19.64
$STATE,817,end apogee,CONTROL_FINISHED_OK
$STATE,817,begin climb
$GC,818,1.57,146.6,2654,1710,2009,4095,153.2,0.0,155,838,6.68,0.00,9.20,1.621,10502,0.066,0.000,3261,1709,1845,1845,4095,0,0,0,0,0,0,26.14,25.30,24.41,8.95,20.15
$GC,866,1.59,159.2,3263,1710,1849,4095,150.1,9.4,164,874,0.03,3.22,2.33,0.307,10500,0.237,0.050,3267,2904,1841,1841,4095,0,0,0,0,0,0,26.08,25.48,24.53,8.95,19.44
$GC,943,1.59,159.2,3263,2904,1833,4095,138.8,16.6,179,950,0.00,3.22,0.15,0.007,9222,0.000,0.050,3267,1712,1840,1840,604,0,0,0,0,0,0,26.11,26.06,26.15,8.95,19.71
$GC,978,1.59,159.2,3267,1717,1843,604,133.7,13.5,186,979,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1712,1850,1850,592,0,0,0,0,0,0,26.44,26.43,26.47,8.95,19.71
$GC,1008,1.59,159.2,3267,1713,1839,592,129.8,13.2,192,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1708,1838,1838,595,0,0,0,0,0,0,26.46,26.47,26.47,8.95,19.44
$GC,1038,1.59,159.2,3265,1708,1837,595,126.1,11.6,198,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1711,1839,1839,586,0,0,0,0,0,0,26.49,26.51,26.48,8.95,19.99
$GC,1068,1.59,159.2,3275,1713,1840,586,122.7,11.6,204,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1711,1835,1835,581,0,0,0,0,0,0,26.51,26.58,26.53,8.91,19.95
$GC,1098,1.59,159.2,3262,1712,1837,581,118.9,13.0,210,1106,0.00,3.40,0.03,0.007,8708,0.000,0.086,3267,505,1836,1836,578,0,0,0,0,0,0,26.58,26.17,26.56,8.95,19.60
$GC,1124,1.59,159.2,3268,507,1837,578,114.8,16.2,215,1131,0.00,3.15,0.00,0.000,1030,0.000,0.039,3267,1717,1834,1834,573,0,0,0,0,0,0,26.35,26.32,26.37,8.95,19.95
$GC,1159,1.59,159.2,3268,1718,1836,573,109.1,15.7,222,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1717,1835,1835,569,0,0,0,0,0,0,26.61,26.63,26.61,8.95,19.52
$GC,1190,1.59,159.2,3268,1718,1834,569,104.4,15.5,228,1196,0.00,3.45,0.00,0.000,516,0.000,0.085,3267,505,1834,1834,563,0,0,0,0,0,0,26.63,26.24,26.65,8.95,19.44
$GC,1210,1.59,159.2,3267,506,1835,563,101.0,16.5,232,1217,0.00,3.10,0.00,0.000,1030,0.000,0.040,3267,1702,1834,1834,565,0,0,0,0,0,0,26.42,26.39,26.44,8.95,20.11
$GC,1246,1.59,159.2,3268,1702,1834,565,96.3,11.9,239,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1701,1833,1833,562,0,0,0,0,0,0,26.65,26.67,26.67,8.95,19.75
$GC,1276,1.59,159.2,3267,1702,1834,562,92.9,11.3,245,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1702,1832,1832,558,0,0,0,0,0,0,26.68,26.70,26.70,8.95,19.40
$GC,1306,1.59,159.2,3267,1702,1834,558,89.6,11.2,251,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1702,1832,1832,555,0,0,0,0,0,0,26.69,26.72,26.72,8.95,19.40
$GC,1336,1.59,159.2,3268,1703,1832,555,86.1,11.8,257,1343,0.00,3.40,0.00,0.000,516,0.000,0.083,3267,504,1831,1831,556,0,0,0,0,0,0,26.72,26.32,26.74,8.95,19.36
$GC,1366,1.59,159.2,3267,505,1832,556,81.7,15.5,263,1373,0.00,3.12,0.00,0.000,1030,0.000,0.040,3267,1713,1830,1830,555,0,0,0,0,0,0,26.50,26.46,26.52,8.96,19.83
$GC,1401,1.59,159.2,3267,1714,1831,555,76.0,16.5,270,1408,0.00,3.42,0.00,0.000,516,0.000,0.085,3266,498,1829,1829,557,0,0,0,0,0,0,26.74,26.34,26.77,8.95,19.95
$GC,1427,1.59,159.2,3267,507,1827,557,71.5,17.9,275,1434,0.00,3.12,0.00,0.000,1030,0.000,0.039,3267,1715,1825,1825,556,0,0,0,0,0,0,26.51,26.49,26.54,8.97,19.32
$GC,1462,1.59,159.2,3266,1713,1829,556,66.4,13.9,282,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1712,1833,1833,548,0,0,0,0,0,0,26.67,26.74,26.74,8.95,19.71
$GC,1493,1.59,159.2,3269,1712,1828,548,62.1,14.6,288,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1714,1827,1827,548,0,0,0,0,0,0,26.81,26.79,26.80,8.94,19.64
$GC,1522,1.59,159.2,3272,1714,1827,548,57.7,14.6,294,1529,0.00,3.42,0.00,0.000,516,0.000,0.084,3267,503,1826,1826,551,0,0,0,0,0,0,26.84,26.39,26.80,8.97,19.48
$GC,1538,1.59,159.2,3267,504,1826,551,55.3,15.2,297,1545,0.00,3.10,0.00,0.000,1030,0.000,0.040,3277,1703,1818,1818,552,0,0,0,0,0,0,26.56,26.53,26.58,8.95,19.20
$GC,1573,1.59,159.2,3267,1703,1825,552,50.2,13.0,304,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1703,1825,1825,548,0,0,0,0,0,0,26.74,26.77,26.77,8.95,19.48
$GC,1603,1.59,159.2,3268,1703,1826,548,46.3,13.4,310,1610,0.00,3.38,0.00,0.000,516,0.000,0.084,3267,507,1824,1824,550,0,0,0,0,0,0,26.76,26.40,26.77,8.95,19.24
$GC,1634,1.59,159.2,3267,507,1824,550,41.7,15.1,316,1641,0.00,3.12,0.00,0.000,1030,0.000,0.039,3269,1715,1823,1823,542,0,0,0,0,0,0,26.59,26.54,26.61,8.95,19.28
$GC,1669,1.59,159.2,3267,1719,1819,542,37.1,12.0,323,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1720,1823,1823,547,0,0,0,0,0,0,26.77,26.79,26.79,8.94,19.24
$GC,1699,1.59,159.2,3271,1721,1822,547,33.3,13.1,329,1706,0.00,3.12,0.00,0.000,260,0.000,0.052,3268,2912,1821,1821,547,0,0,0,0,0,0,26.79,26.53,26.78,8.95,19.36
$GC,1724,1.59,159.2,3268,2913,1816,547,29.8,14.1,334,1731,0.00,3.20,0.00,0.000,1030,0.000,0.050,3267,1707,1821,1821,548,0,0,0,0,0,0,26.55,26.49,26.59,8.94,19.56
$GC,1760,1.59,159.2,3268,1707,1821,548,25.6,11.0,341,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1707,1820,1820,545,0,0,0,0,0,0,26.84,26.86,26.86,8.94,19.71
$GC,1790,1.59,159.2,3267,1707,1821,545,22.0,12.3,347,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1701,1827,1827,541,0,0,0,0,0,0,26.86,26.89,26.88,8.94,19.79
$GC,1820,1.59,159.2,3268,1708,1820,541,18.3,12.0,353,1827,0.00,3.17,0.00,0.000,260,0.000,0.050,3267,2902,1815,1815,649,0,0,0,0,0,0,26.86,26.53,26.88,8.94,19.16
$GC,1875,1.59,159.2,3268,2903,1819,649,11.6,12.3,364,1882,0.00,3.15,0.00,0.000,1030,0.000,0.048,3268,1699,1809,1809,592,0,0,0,0,0,0,26.65,26.53,26.67,8.94,19.64
$GC,1911,1.59,159.2,3262,1708,1816,592,7.7,10.3,371,1918,0.00,3.35,0.00,0.000,516,0.000,0.085,3280,499,1817,1817,588,0,0,0,0,0,0,26.89,26.47,26.90,9.02,19.36
$GC,1966,1.65,197.5,3266,512,1817,588,2.7,8.2,382,1974,0.17,3.10,2.80,0.258,11270,0.073,0.039,3284,1715,1792,1792,4095,0,0,0,0,0,0,26.57,26.64,25.79,9.03,19.75
$STATE,1977,end climb,SURFACE_DEPTH_REACHED
$STATE,1977,begin surface coast
$FINISH,0.3,0.999939
$STATE,1997,end surface coast,CONTROL_FINISHED_OK
$STATE,1997,begin surface
$SM_CCo,2034,4.15,0.425,0,0,1736,250.24
$SM_GC,3.52,31.65,0.00,4.15,0.053,0.000,0.425,346,1714,1736,-7.62,0.18,250.24,0,0,0,0,0,0,26.28,26.91,25.77
$IRIDIUM_FIX,4808.40,-12337.82,280218,213626
$TT8_MAMPS,0.049434,0.504826
$HUMID,19.20
$INTERNAL_PRESSURE,8.80822
$TCM_TEMP,6.10
$XPDR_PINGS,48
$ALTIM_TOP_PING,19.5,999.0
$SC_FREEKB,4018624
$24V_AH,24.41,0.365
$10V_AH,10.38,1.841
$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,70.100,103.125,25.025,4.150,0.000,0.000,0.000,0.000,26.750,0.000,22.587,0.000,959.680,259.042,864.181,21.784,30.278,601.361,0.000,559.557,0.000,94.818,0.000
$DEVICE_MAMPS,237.150,85.680,1714.365,425.340,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,105.752,0.000,0.000,0.000
$MEM,313008
$DATA_FILE_SIZE,10439,388
$CAP_FILE_SIZE,96925,4
$CFSIZE,1023623168,1020690432
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,671.73,0x26edf2,0,24
$INTR,1,677.80,0x26edaa,0,24
$INTR,2,711.76,0x2139aa,0,24
$INTR,3,746.47,0x213b4c,0,24
$WARN,PPS timeout
$GPS,280218,222030,4743.188,-12224.580,5,1.0,16,16.3,0.0,0.0,8,5.9