version: 66.14
glider: 404
mission: 1
dive: 4
start: 2 28 118 23 37 20
data:
$ID,404
$MISSION,1
$DIVE,4
$N_DIVES,10
$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,30
$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,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,25
$ALTIM_BOTTOM_TURN_MARGIN,0
$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,1
$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
$GPS1,280218,232421,4743.3428,-12224.7266,5,0.9,19,16.3,0.0,16.1,9,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-61.7
$GPS2,280218,233623,4743.4600,-12224.6621,6,0.8,16,16.3,0.3,14.7,10,5.6
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.026136,0.256345
$KALMAN_X,-17.394854,-20.079861,-15.393581,-389.670776,-12.690680
$KALMAN_Y,-338.407532,-373.460999,-266.673065,1188.296875,-239.788483
$MHEAD_RNG_PITCHd_Wd,337.9,1015,-17.6,-10.000,-21.21,2209
$D_GRID,174
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,7,-1.57,-146.6,361,1713,1737,751,0.0,0.0,0,16,0.00,0.00,-2.12,0.000,16390,0.000,0.000,361,1713,2179,2179,726,0,0,0,0,0,0,26.39,25.00,26.36,8.94,19.95
$GC,17,-1.57,-146.6,361,1714,2179,726,2.2,0.0,1,53,27.23,3.50,0.00,0.000,2820,0.183,0.078,2270,505,2183,2183,719,0,0,0,0,0,0,25.85,25.94,26.04,8.95,20.34
$GC,277,-1.57,-146.6,2270,506,2191,719,66.5,-23.1,53,284,0.00,3.12,0.00,0.000,1030,0.000,0.039,2270,1714,2190,2190,582,0,0,0,0,0,0,26.41,26.35,26.44,8.96,19.44
$GC,312,-1.57,-146.6,2270,1717,2192,582,73.0,-17.2,60,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1715,2191,2191,576,0,0,0,0,0,0,26.65,26.67,26.67,8.96,19.36
$GC,342,-1.57,-146.6,2270,1716,2194,576,78.0,-16.6,66,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1714,2192,2192,571,0,0,0,0,0,0,26.67,26.70,26.69,8.96,19.56
$GC,372,-1.57,-146.6,2270,1716,2194,571,82.8,-15.8,72,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1715,2193,2193,567,0,0,0,0,0,0,26.70,26.72,26.71,8.96,19.75
$GC,402,-1.57,-146.6,2270,1717,2194,567,87.4,-15.5,78,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1715,2194,2194,563,0,0,0,0,0,0,26.72,26.74,26.73,8.96,19.44
$GC,432,-1.57,-146.6,2270,1716,2189,563,92.2,-16.0,84,439,0.00,3.17,0.00,0.000,260,0.000,0.054,2270,2905,2188,2188,574,0,0,0,0,0,0,26.73,26.39,26.74,8.96,19.36
$GC,487,-1.57,-146.6,2270,2906,2196,574,101.0,-16.1,95,494,0.00,3.15,0.00,0.000,1030,0.000,0.047,2270,1717,2196,2196,720,0,0,0,0,0,0,26.47,26.41,26.49,8.96,20.11
$GC,523,-1.57,-146.6,2270,1718,2198,720,106.7,-16.4,102,530,0.00,3.40,0.00,0.000,516,0.000,0.084,2270,505,2196,2196,702,0,0,0,0,0,0,26.77,26.36,26.78,8.96,19.67
$GC,563,-1.57,-146.6,2270,506,2199,702,114.6,-20.3,110,575,0.00,3.10,0.00,0.000,1030,0.000,0.039,2271,1707,2198,2198,2522,0,0,0,0,0,0,26.54,26.51,26.57,8.96,19.56
$GC,604,-1.57,-146.6,2270,1708,2200,2522,121.8,-17.4,117,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1708,2198,2198,667,0,0,0,0,0,0,26.79,26.82,26.81,8.96,19.12
$GC,633,-1.57,-146.6,2270,1708,2201,667,127.0,-17.6,123,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1707,2200,2200,667,0,0,0,0,0,0,26.80,26.82,26.82,8.95,19.20
$GC,663,-1.57,-146.6,2270,1708,2202,667,132.3,-17.2,129,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1707,2201,2201,708,0,0,0,0,0,0,26.82,26.84,26.84,8.96,19.16
$GC,693,-1.57,-146.6,2270,1708,2202,708,138.1,-19.7,135,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1708,2202,2202,653,0,0,0,0,0,0,26.84,26.85,26.85,8.96,19.99
$GC,723,-1.57,-146.6,2269,1701,2204,653,144.2,-20.4,141,731,0.00,3.15,0.00,0.000,260,0.000,0.054,2270,2903,2203,2203,645,0,0,0,0,0,0,26.84,26.48,26.86,8.96,19.36
$STATE,756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,756,begin apogee
$GC,762,-0.38,0.0,2270,1711,2205,883,150.4,-19.1,147,780,4.60,0.00,10.70,1.727,10246,0.118,0.000,2658,1711,2009,2009,4095,0,0,0,0,0,0,26.41,25.89,24.60,8.96,19.36
$STATE,781,end apogee,CONTROL_FINISHED_OK
$STATE,781,begin climb
$GC,782,1.57,146.6,2653,1712,2010,4095,153.7,0.0,150,802,6.62,0.00,9.23,1.635,10246,0.063,0.000,3267,1711,1850,1850,4095,0,0,0,0,0,0,26.13,25.58,24.34,8.96,19.32
$GC,831,1.59,158.7,3261,1712,1850,4095,150.4,9.4,159,838,0.00,3.22,2.33,0.311,8452,0.000,0.047,3262,2905,1841,1841,4095,0,0,0,0,0,0,26.19,25.46,24.45,8.96,19.16
$GC,877,1.59,158.7,3262,2907,1842,4095,145.1,11.7,168,884,0.00,3.22,0.35,0.007,9222,0.000,0.048,3262,1711,1841,1841,619,0,0,0,0,0,0,26.03,25.98,26.07,8.96,18.85
$GC,912,1.59,158.7,3262,1716,1841,619,141.3,10.1,175,920,0.00,3.17,0.08,0.008,8452,0.000,0.049,3262,2903,1840,1840,605,0,0,0,0,0,0,26.36,26.04,26.34,8.92,19.99
$GC,928,1.59,158.7,3257,2904,1842,605,139.7,10.0,178,936,0.03,3.20,0.08,0.006,11270,0.212,0.048,3266,1715,1840,1840,598,0,0,0,0,0,0,26.08,26.03,26.16,8.95,19.28
$GC,964,1.62,179.2,3264,1719,1850,598,136.3,9.0,185,972,0.10,0.00,3.03,0.680,10246,0.103,0.000,3277,1716,1815,1815,4095,0,0,0,0,0,0,26.15,25.95,24.67,9.00,19.64
$GC,1000,1.62,179.2,3276,1715,1815,4095,132.6,10.8,192,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1714,1816,1816,632,0,0,0,0,0,0,26.44,26.46,26.45,8.95,19.24
$GC,1030,1.62,179.2,3277,1717,1815,632,129.1,11.7,198,1037,0.00,3.45,0.00,0.000,516,0.000,0.086,3277,501,1813,1813,613,0,0,0,0,0,0,26.47,26.08,26.49,8.95,19.20
$GC,1080,1.62,179.2,3277,501,1814,613,121.4,16.0,208,1087,0.00,3.15,0.00,0.000,1030,0.000,0.039,3277,1713,1813,1813,592,0,0,0,0,0,0,26.31,26.28,26.33,8.95,19.79
$GC,1116,1.62,179.2,3278,1715,1812,592,116.1,14.1,215,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1714,1811,1811,586,0,0,0,0,0,0,26.56,26.58,26.58,8.95,19.04
$GC,1146,1.62,179.2,3277,1714,1812,586,111.9,14.1,221,1153,0.00,3.15,0.00,0.000,260,0.000,0.050,3277,2895,1808,1808,578,0,0,0,0,0,0,26.59,26.26,26.61,8.95,19.52
$GC,1172,1.62,179.2,3276,2900,1811,578,108.1,15.3,226,1178,0.00,3.17,0.00,0.000,1030,0.000,0.049,3273,1703,1810,1810,579,0,0,0,0,0,0,26.38,26.27,26.41,8.95,19.67
$GC,1207,1.62,179.2,3277,1702,1810,579,102.8,14.7,233,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1701,1809,1809,569,0,0,0,0,0,0,26.58,26.60,26.58,8.91,19.16
$GC,1237,1.62,179.2,3279,1703,1802,569,98.4,14.9,239,1244,0.00,3.38,0.00,0.000,516,0.000,0.085,3278,507,1808,1808,566,0,0,0,0,0,0,26.68,26.25,26.70,8.95,19.20
$GC,1252,1.62,179.2,3277,508,1809,566,95.8,16.4,242,1259,0.00,3.10,0.00,0.000,1030,0.000,0.039,3277,1706,1808,1808,564,0,0,0,0,0,0,26.44,26.41,26.44,8.95,19.20
$GC,1288,1.62,179.2,3283,1702,1808,564,90.0,15.9,249,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1706,1807,1807,560,0,0,0,0,0,0,26.62,26.64,26.63,8.95,19.12
$GC,1318,1.62,179.2,3274,1714,1803,560,85.2,16.0,255,1325,0.00,3.15,0.00,0.000,260,0.000,0.050,3276,2894,1804,1804,563,0,0,0,0,0,0,26.63,26.36,26.62,8.95,19.40
$GC,1328,1.62,179.2,3280,2896,1806,563,83.6,16.1,257,1335,0.00,3.15,0.00,0.000,1030,0.000,0.048,3277,1714,1805,1805,562,0,0,0,0,0,0,26.41,26.36,26.44,8.95,19.83
$GC,1364,1.62,179.2,3277,1714,1806,562,77.9,15.9,264,1370,0.00,3.15,0.00,0.000,260,0.000,0.050,3277,2902,1805,1805,569,0,0,0,0,0,0,26.65,26.36,26.67,8.95,19.04
$GC,1409,1.62,179.2,3278,2897,1802,569,70.6,16.2,273,1416,0.00,3.17,0.00,0.000,1030,0.000,0.049,3277,1710,1804,1804,552,0,0,0,0,0,0,26.44,26.38,26.48,9.02,19.24
$GC,1444,1.62,179.2,3276,1710,1804,552,65.0,15.9,280,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1709,1802,1802,558,0,0,0,0,0,0,26.72,26.74,26.79,8.94,19.12
$GC,1474,1.62,179.2,3277,1712,1804,558,60.1,16.0,286,1482,0.00,3.40,0.00,0.000,516,0.000,0.086,3277,513,1801,1801,550,0,0,0,0,0,0,26.74,26.34,26.72,8.95,19.12
$GC,1510,1.62,179.2,3278,514,1801,550,54.0,17.1,293,1517,0.00,3.08,0.00,0.000,1030,0.000,0.039,3277,1708,1801,1801,549,0,0,0,0,0,0,26.57,26.55,26.60,8.95,19.95
$GC,1546,1.62,179.2,3278,1709,1801,549,48.7,14.3,300,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1708,1800,1800,545,0,0,0,0,0,0,26.72,26.74,26.74,8.95,19.36
$GC,1576,1.62,179.2,3270,1703,1793,545,44.3,14.9,306,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1708,1799,1799,542,0,0,0,0,0,0,26.73,26.75,26.74,8.95,18.93
$GC,1606,1.62,179.2,3279,1710,1799,542,39.7,15.0,312,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1708,1809,1809,538,0,0,0,0,0,0,26.74,26.77,26.76,8.95,18.93
$GC,1636,1.62,179.2,3277,1708,1798,538,35.8,12.9,318,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1708,1797,1797,534,0,0,0,0,0,0,26.81,26.84,26.83,8.94,18.97
$GC,1665,1.62,179.2,3287,1713,1797,534,32.0,12.6,324,1672,0.00,3.38,0.00,0.000,516,0.000,0.083,3276,506,1796,1796,538,0,0,1,0,0,0,26.82,26.42,26.88,8.94,19.36
$GC,1691,1.62,179.2,3278,506,1795,538,28.7,13.2,329,1698,0.00,3.10,0.00,0.000,1030,0.000,0.039,3277,1714,1796,1796,539,0,0,0,0,0,0,26.65,26.63,26.62,8.89,19.08
$RESTART_TIME,Thu Mar  1 00:17:17 2018