version: 66.14
glider: 404
mission: 1
dive: 6
start: 3 1 118 0 27 35
data:
$ID,404
$MISSION,1
$DIVE,6
$N_DIVES,20
$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,2779
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.02
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$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,3.1006999e-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
$GPS1,010318,002123,4743.7925,-12224.6689,5,0.9,17,16.3,0.0,0.0,9,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.69
$_SM_ANGLEo,-30.4
$GPS2,010318,002637,4743.8296,-12224.6250,7,0.9,15,16.3,0.0,0.0,10,4.7
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.098346,0.142577
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,309.1,384,-27.2,-10.000,-30.00,969
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8,-1.91,-63.7,346,1716,297,295,0.0,0.0,0,19,0.00,0.00,-8.52,0.000,16390,0.000,0.000,346,1715,2076,2076,333,0,0,0,0,0,0,26.43,25.65,26.45,8.89,19.56
$GC,20,-1.91,-63.7,345,1717,2077,333,-1.2,-7.0,2,53,25.92,3.42,0.00,0.000,2564,0.183,0.076,2163,504,2081,2081,540,0,0,0,0,0,0,25.88,25.99,26.08,8.94,20.23
$GC,280,-1.91,-63.7,2164,505,2085,540,53.2,-20.2,54,284,0.00,3.10,0.00,0.000,1030,0.000,0.038,2163,1702,2086,2086,523,0,0,0,0,0,0,26.41,26.38,26.44,8.95,20.15
$GC,314,-1.91,-63.7,2164,1704,2086,523,59.0,-18.6,61,320,0.00,3.40,0.00,0.000,516,0.000,0.080,2164,510,2086,2086,534,0,0,0,0,0,0,26.67,26.28,26.69,8.95,19.28
$GC,470,-1.91,-63.7,2164,511,2092,534,89.3,-20.2,92,474,0.00,3.10,0.00,0.000,1030,0.000,0.038,2164,1708,2092,2092,528,0,0,0,0,0,0,26.53,26.49,26.58,8.95,19.56
$GC,505,-1.91,-63.7,2162,1710,2094,528,95.4,-19.2,99,509,0.00,3.15,0.00,0.000,260,0.000,0.054,2164,2898,2092,2092,536,0,0,0,0,0,0,26.78,26.44,26.79,8.95,19.60
$GC,544,-1.91,-63.7,2164,2904,2094,536,102.4,-17.1,107,549,0.00,3.17,0.00,0.000,1030,0.000,0.047,2164,1706,2094,2094,657,0,0,0,0,0,0,26.52,26.45,26.55,8.95,19.40
$GC,579,-1.91,-63.7,2173,1707,2096,657,108.6,-17.7,114,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,1706,2095,2095,625,0,0,0,0,0,0,26.81,26.83,26.82,8.96,19.99
$GC,609,-1.91,-63.7,2163,1707,2096,625,114.0,-17.9,120,614,0.00,3.20,0.00,0.000,260,0.000,0.054,2164,2901,2095,2095,635,0,0,0,0,0,0,26.82,26.48,26.84,8.96,19.52
$GC,700,-1.91,-63.7,2164,2902,2099,635,130.3,-18.4,138,705,0.00,3.10,0.00,0.000,1030,0.000,0.047,2164,1712,2098,2098,877,0,0,0,0,0,0,26.63,26.52,26.65,8.95,19.79
$GC,734,-1.91,-63.7,2163,1712,2102,877,136.3,-17.5,145,740,0.00,3.38,0.00,0.000,516,0.000,0.083,2164,510,2100,2100,700,0,0,0,0,0,0,26.84,26.46,26.86,8.95,19.67
$STATE,806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,806,begin apogee
$GC,812,-0.33,0.0,2163,1712,2104,907,151.0,-20.9,159,825,6.05,0.00,6.03,1.487,10246,0.134,0.000,2658,1712,2013,2013,4095,0,0,0,0,0,0,26.44,26.15,24.79,8.96,19.64
$STATE,826,end apogee,CONTROL_FINISHED_OK
$STATE,826,begin climb
$GC,827,1.91,63.7,2659,1713,2013,4095,154.3,0.0,163,844,7.62,0.00,5.28,1.371,10246,0.057,0.000,3369,1713,1940,1940,4095,0,0,0,0,0,0,26.36,25.96,24.67,8.96,19.64
$GC,874,1.91,63.7,3373,1710,1940,4095,149.9,11.6,173,879,0.00,3.15,0.00,0.000,260,0.000,0.048,3369,2901,1939,1939,628,0,0,0,0,0,0,26.47,26.22,26.48,8.96,19.48
$GC,904,1.91,63.7,3368,2896,1935,628,146.9,11.1,179,909,0.00,3.17,0.00,0.000,1030,0.000,0.047,3370,1712,1938,1938,611,0,0,0,0,0,0,26.29,26.25,26.33,8.96,19.40
$GC,939,1.92,69.8,3370,1712,1938,611,143.9,9.4,186,945,0.00,3.15,0.05,0.007,8452,0.000,0.047,3369,2903,1938,1938,601,0,0,0,0,0,0,26.58,26.27,26.60,8.95,19.44
$GC,965,1.94,82.9,3370,2907,1938,601,141.7,8.6,191,974,0.00,3.17,2.70,0.564,9222,0.000,0.047,3370,1706,1921,1921,4095,0,0,0,0,0,0,26.39,26.29,24.82,8.95,19.75
$GC,1005,1.96,94.8,3371,1706,1921,4095,138.2,8.7,199,1014,0.12,3.20,2.67,0.539,10500,0.095,0.047,3387,2910,1921,1921,4095,0,0,0,0,0,0,26.33,25.81,24.84,8.95,19.40
$GC,1034,1.97,103.5,3381,2911,1918,4095,135.3,9.1,205,1040,0.00,3.20,0.25,0.005,9222,0.000,0.047,3382,1712,1905,1905,641,0,0,0,0,0,0,26.33,26.27,26.38,8.96,19.79
$GC,1069,1.97,104.9,3382,1713,1905,641,131.8,9.9,212,1071,0.00,0.00,0.60,0.005,8198,0.000,0.000,3382,1712,1905,1905,619,0,0,0,0,0,0,26.63,26.59,26.60,8.95,19.64
$GC,1099,1.97,104.9,3376,1712,1904,619,128.6,10.3,218,1107,0.00,3.38,2.25,0.243,8708,0.000,0.083,3382,506,1898,1898,4095,0,0,0,0,0,0,26.63,25.91,24.89,8.95,19.67
$GC,1125,1.97,104.9,3382,507,1898,4095,125.7,10.7,223,1130,0.00,3.12,0.00,0.000,1030,0.000,0.038,3382,1713,1898,1898,634,0,0,0,0,0,0,26.41,26.44,26.45,8.95,19.48
$GC,1160,1.97,104.9,3382,1721,1897,634,121.9,11.1,230,1165,0.00,3.40,0.00,0.000,516,0.000,0.080,3389,507,1897,1897,617,0,0,0,0,0,0,26.59,26.27,26.66,9.00,19.48
$GC,1180,1.97,104.9,3388,508,1897,617,119.5,11.3,234,1185,0.00,3.12,0.00,0.000,1030,0.000,0.038,3382,1716,1897,1897,605,0,0,0,0,0,0,26.44,26.41,26.46,8.95,19.08
$GC,1215,1.97,104.9,3383,1717,1896,605,115.4,11.6,241,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1716,1897,1897,593,0,0,0,0,0,0,26.69,26.71,26.71,8.96,19.99
$GC,1245,1.97,104.9,3381,1717,1896,593,112.5,11.0,247,1250,0.00,3.10,0.00,0.000,260,0.000,0.049,3382,2889,1896,1896,585,0,0,0,0,0,0,26.71,26.39,26.73,8.95,19.32
$GC,1255,1.97,104.9,3382,2890,1897,585,111.4,10.6,249,1260,0.00,3.12,0.00,0.000,1030,0.000,0.047,3382,1714,1896,1896,586,0,0,0,0,0,0,26.44,26.41,26.44,8.95,19.56
$GC,1290,1.97,104.9,3379,1719,1900,586,107.6,10.4,256,1295,0.00,3.15,0.00,0.000,260,0.000,0.048,3390,2901,1895,1895,586,0,0,0,0,0,0,26.73,26.41,26.72,8.94,19.44
$GC,1360,1.97,104.9,3381,2904,1895,586,99.1,12.1,270,1365,0.00,3.17,0.00,0.000,1030,0.000,0.049,3382,1708,1898,1898,581,0,0,0,0,0,0,26.49,26.44,26.52,9.03,19.56
$GC,1395,1.97,104.9,3381,1708,1894,581,94.9,12.5,277,1400,0.00,3.38,0.00,0.000,516,0.000,0.085,3382,504,1893,1893,571,0,0,0,0,0,0,26.78,26.38,26.79,8.95,19.56
$GC,1475,1.97,104.9,3383,504,1891,571,84.0,13.7,293,1480,0.00,3.08,0.00,0.000,1030,0.000,0.037,3382,1703,1889,1889,561,0,0,0,0,0,0,26.59,26.55,26.58,8.95,19.44
$GC,1510,1.97,104.9,3386,1704,1901,561,79.8,12.9,300,1511,0.05,0.00,0.00,0.000,2054,0.171,0.000,3387,1713,1890,1890,557,0,0,0,0,0,0,26.55,26.63,26.58,8.98,19.12
$GC,1540,1.97,104.9,3383,1705,1891,557,76.4,11.8,306,1545,0.00,3.15,0.00,0.000,260,0.000,0.049,3384,2901,1880,1880,556,0,0,0,0,0,0,26.83,26.51,26.84,8.94,19.83
$GC,1595,1.97,104.9,3386,2902,1889,556,70.2,11.3,317,1600,0.00,3.17,0.00,0.000,1030,0.000,0.049,3388,1704,1888,1888,555,0,0,0,0,0,0,26.58,26.52,26.60,8.95,19.64
$GC,1630,1.97,104.9,3390,1706,1893,555,66.4,11.2,324,1635,0.00,3.15,0.00,0.000,260,0.000,0.048,3387,2892,1880,1880,555,0,0,0,0,0,0,26.86,26.54,26.84,8.95,19.67
$GC,1680,1.97,104.9,3388,2898,1888,555,61.3,10.4,334,1685,0.00,3.12,0.00,0.000,1030,0.000,0.047,3396,1712,1889,1889,558,0,0,0,0,0,0,26.61,26.54,26.63,9.00,19.83
$GC,1715,1.97,106.3,3388,1715,1887,558,57.9,9.9,341,1720,0.00,3.35,0.00,0.000,516,0.000,0.084,3387,507,1886,1886,556,0,0,0,0,0,0,26.86,26.48,26.88,8.94,19.36
$GC,1770,1.97,106.3,3387,513,1887,556,52.0,10.5,352,1775,0.00,3.08,0.00,0.000,1030,0.000,0.038,3388,1711,1886,1886,553,0,0,0,0,0,0,26.67,26.65,26.69,8.95,19.24
$GC,1805,1.97,107.0,3389,1711,1884,553,48.9,9.9,359,1810,0.00,3.38,0.00,0.000,516,0.000,0.082,3388,505,1885,1885,555,0,0,0,0,0,0,26.88,26.49,26.90,8.99,19.08
$GC,2035,2.00,125.7,3388,506,1882,555,30.1,8.0,405,2041,0.00,3.05,1.35,0.006,9222,0.000,0.034,3388,1716,1881,1881,536,0,0,0,0,0,0,26.72,26.72,26.77,8.94,19.20
$GC,2070,2.04,148.2,3385,1717,1881,536,27.8,7.6,412,2075,0.20,0.00,3.10,0.406,10246,0.085,0.000,3407,1716,1852,1852,4095,0,0,0,0,0,0,26.64,26.46,25.64,8.96,19.44
$GC,2105,2.09,181.4,3408,1718,1852,4095,25.5,6.5,419,2118,0.15,3.08,3.58,0.486,10500,0.090,0.048,3423,2897,1811,1811,4095,0,0,0,0,0,0,26.63,26.50,25.65,8.94,19.44
$GC,2142,2.12,205.9,3423,2897,1810,4095,22.3,7.4,426,2151,0.10,3.12,3.00,0.368,11270,0.090,0.047,3434,1713,1784,1784,4095,0,0,0,0,0,0,26.56,26.56,25.65,8.94,19.83
$GC,2182,2.12,205.9,3434,1713,1784,4095,17.3,10.6,434,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1715,1782,1782,628,0,0,0,0,0,0,26.79,26.82,26.82,8.94,19.36
$GC,2212,2.12,205.9,3434,1713,1784,628,12.9,13.2,440,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1712,1780,1780,600,0,0,0,0,0,0,26.89,26.89,26.91,9.00,19.04
$GC,2242,2.12,205.9,3434,1713,1783,600,8.6,14.5,446,2247,0.00,3.35,0.03,0.007,8708,0.000,0.084,3435,503,1786,1786,593,0,0,0,0,0,0,26.90,26.51,26.89,8.94,19.01
$GC,2272,2.12,205.9,3435,504,1780,593,4.2,14.5,452,2276,0.00,3.08,0.00,0.000,1030,0.000,0.037,3435,1710,1779,1779,587,0,0,0,0,0,0,26.69,26.65,26.70,8.94,20.23
$STATE,2286,end climb,SURFACE_DEPTH_REACHED
$STATE,2286,begin surface coast
$STATE,2296,end surface coast,CONTROL_FINISHED_OK
$STATE,2296,begin surface
$SM_CCo,2335,3.62,0.382,0,0,1736,250.24
$SM_GC,2.83,34.72,0.00,3.62,0.080,0.000,0.382,361,1709,1736,-7.55,-0.05,250.24,0,0,0,0,0,0,26.58,26.93,25.75
$IRIDIUM_FIX,4808.40,-12337.82,280218,232620
$TT8_MAMPS,0.049434,0.529543
$HUMID,19.56
$INTERNAL_PRESSURE,8.81798
$TCM_TEMP,6.40
$XPDR_PINGS,95
$ALTIM_TOP_PING,24.8,999.0
$ALTIM_BOTTOM_PING,151.0,6.2
$SC_FREEKB,4016576
$24V_AH,24.67,0.520
$10V_AH,10.28,2.074
$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,74.950,121.300,30.875,3.625,0.000,24.146,18.836,191.539,27.750,0.000,22.127,0.000,1284.577,207.266,1147.375,30.884,29.301,602.767,0.000,658.526,0.000,33.591,0.000
$DEVICE_MAMPS,182.835,84.915,1487.160,381.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2294.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,104.255,0.000,0.000,0.000
$MEM,313224
$DATA_FILE_SIZE,13901,457
$CAP_FILE_SIZE,78254,1
$CFSIZE,1023623168,1020346368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010318,010709,4744.077,-12224.750,4,0.8,10,16.3,0.6,8.3,10,5.9