version: 66.14
glider: 404
mission: 1
dive: 12
start: 3 1 118 6 30 37
data:
$ID,404
$MISSION,1
$DIVE,12
$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,4
$R_STBD_OVSHOOT,29
$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
$GPS1,010318,061719,4746.2876,-12224.8623,5,0.9,40,16.3,0.4,337.6,8,3.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-61.3
$GPS2,010318,062938,4746.3999,-12224.8945,6,0.9,12,16.3,0.0,0.0,8,5.1
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.031086,-0.255799
$KALMAN_X,-189.875107,65.824707,-6.756897,-208.058807,-93.829506
$KALMAN_Y,5808.368652,1447.094849,283.261261,-2778.980713,801.538757
$MHEAD_RNG_PITCHd_Wd,156.8,7224,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.39,-146.6,361,1715,1716,413,0.0,0.0,0,13,0.00,0.00,-2.22,0.000,16390,0.000,0.000,362,1715,2179,2179,438,0,0,0,0,0,0,26.39,25.10,26.36,8.93,19.36
$GC,14,-1.39,-146.6,362,1716,2181,438,2.2,0.0,1,48,27.67,3.47,0.00,0.000,2564,0.179,0.082,2321,502,2184,2184,611,0,0,1,0,0,0,25.88,25.96,26.05,8.94,19.67
$GC,63,-1.39,-146.6,2314,512,2185,611,16.7,-30.7,11,68,0.00,3.15,0.00,0.000,1030,0.000,0.040,2319,1706,2192,2192,603,0,0,0,0,0,0,26.13,26.10,26.15,8.95,19.24
$GC,98,-1.39,-146.6,2320,1707,2183,603,23.2,-25.3,18,99,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1706,2183,2183,600,0,0,0,0,0,0,26.41,26.43,26.43,8.95,19.20
$GC,128,-1.39,-146.6,2320,1711,2188,600,27.8,-17.6,24,133,0.00,3.22,0.00,0.000,260,0.000,0.054,2319,2904,2184,2184,589,0,0,0,0,0,0,26.51,26.12,26.48,8.95,19.28
$GC,158,-1.39,-146.6,2319,2906,2186,589,31.9,-14.8,30,163,0.00,3.22,0.00,0.000,1030,0.000,0.048,2320,1701,2185,2185,593,0,0,0,0,0,0,26.22,26.15,26.25,8.95,19.52
$GC,193,-1.39,-146.6,2319,1707,2185,593,37.5,-14.8,37,194,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1706,2185,2185,581,0,0,0,0,0,0,26.55,26.56,26.53,8.93,19.64
$GC,223,-1.39,-146.6,2319,1707,2188,581,42.5,-16.3,43,229,0.00,3.42,0.00,0.000,516,0.000,0.085,2320,510,2186,2186,585,0,0,0,0,0,0,26.55,26.16,26.57,8.91,19.67
$GC,278,-1.39,-146.6,2320,511,2188,585,53.3,-18.9,54,283,0.00,3.12,0.00,0.000,1030,0.000,0.040,2319,1710,2188,2188,582,0,0,0,0,0,0,26.38,26.34,26.40,8.95,19.75
$GC,313,-1.39,-146.6,2319,1712,2191,582,59.5,-19.4,61,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1711,2189,2189,574,0,0,0,0,0,0,26.63,26.65,26.65,8.95,19.16
$GC,343,-1.39,-146.6,2319,1711,2191,574,64.2,-17.1,67,348,0.00,3.20,0.00,0.000,260,0.000,0.054,2320,2904,2190,2190,578,0,0,0,0,0,0,26.65,26.31,26.67,8.95,19.12
$GC,378,-1.39,-146.6,2319,2905,2192,578,69.5,-15.4,74,383,0.00,3.17,0.00,0.000,1030,0.000,0.047,2320,1711,2190,2190,580,0,0,0,0,0,0,26.40,26.34,26.42,8.95,20.07
$GC,414,-1.39,-146.6,2316,1718,2184,580,75.2,-15.7,81,418,0.00,3.20,0.00,0.000,260,0.000,0.053,2322,2909,2186,2186,582,0,0,0,0,0,0,26.70,26.35,26.72,8.99,19.75
$GC,434,-1.39,-146.6,2318,2910,2194,582,78.5,-16.1,85,438,0.00,3.20,0.00,0.000,1030,0.000,0.047,2320,1709,2192,2192,587,0,0,0,0,0,0,26.43,26.37,26.50,8.95,19.32
$GC,469,-1.39,-146.6,2324,1704,2193,587,84.1,-16.2,92,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1708,2193,2193,578,0,0,0,0,0,0,26.72,26.74,26.74,8.96,18.97
$GC,498,-1.39,-146.6,2320,1709,2193,578,88.9,-16.2,98,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1703,2193,2193,571,0,0,0,0,0,0,26.74,26.77,26.76,8.96,19.79
$GC,528,-1.39,-146.6,2314,1723,2196,571,93.8,-16.2,104,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1708,2194,2194,566,0,0,0,0,0,0,26.73,26.82,26.77,8.95,19.67
$GC,558,-1.39,-146.6,2320,1709,2195,566,98.6,-16.0,110,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1710,2195,2195,562,0,0,0,0,0,0,26.77,26.79,26.82,8.96,19.95
$GC,588,-1.39,-146.6,2319,1709,2200,562,103.5,-16.1,116,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1703,2196,2196,632,0,0,0,0,0,0,26.79,26.81,26.80,8.96,19.24
$GC,618,-1.39,-146.6,2319,1709,2197,632,108.7,-16.8,122,623,0.00,3.38,0.00,0.000,516,0.000,0.085,2320,503,2199,2199,644,0,0,0,0,0,0,26.80,26.40,26.82,8.95,18.69
$GC,633,-1.39,-146.6,2320,504,2197,644,111.5,-17.1,125,638,0.00,3.12,0.00,0.000,1030,0.000,0.040,2319,1714,2197,2197,718,0,0,0,0,0,0,26.57,26.53,26.58,8.96,19.20
$GC,668,-1.39,-146.6,2319,1717,2200,718,117.5,-17.9,132,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1716,2198,2198,645,0,0,0,0,0,0,26.80,26.82,26.82,8.96,19.40
$GC,698,-1.39,-146.6,2319,1717,2201,645,122.4,-17.0,138,704,0.00,3.15,0.00,0.000,260,0.000,0.054,2320,2903,2199,2199,623,0,0,0,0,0,0,26.82,26.48,26.84,8.96,19.36
$STATE,878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,878,begin apogee
$GC,883,-0.33,0.0,2320,1717,2206,570,150.3,-14.8,174,899,4.05,0.00,10.50,1.678,10246,0.107,0.000,2665,1712,2014,2014,4095,0,0,0,0,0,0,26.49,26.00,24.72,8.91,20.19
$STATE,900,end apogee,CONTROL_FINISHED_OK
$STATE,900,begin climb
$GC,901,1.39,146.6,2668,1713,2016,4095,152.4,0.0,178,923,5.80,3.22,9.30,1.625,10500,0.060,0.048,3213,2903,1852,1852,4095,0,0,0,0,0,0,26.20,25.41,24.50,8.96,19.56
$GC,1123,1.40,150.4,3202,2901,1855,4095,130.8,9.8,223,1129,0.00,3.20,0.73,0.006,9222,0.000,0.048,3204,1708,1852,1852,567,0,0,0,0,0,0,26.28,26.22,26.31,8.99,19.48
$GC,1159,1.42,167.5,3204,1708,1849,567,127.7,9.2,230,1168,0.00,3.42,2.67,0.496,8708,0.000,0.085,3204,504,1833,1833,4095,0,0,0,0,0,0,26.58,25.77,24.82,8.96,19.52
$GC,1218,1.42,167.5,3203,504,1833,4095,121.1,10.8,242,1224,0.00,3.10,0.15,0.005,9222,0.000,0.040,3216,1700,1832,1832,610,0,0,0,0,0,0,26.37,26.35,26.41,8.95,19.24
$GC,1253,1.42,167.5,3202,1707,1838,610,117.6,10.8,249,1255,0.03,0.00,0.05,0.011,10246,0.233,0.000,3208,1708,1831,1831,606,0,0,0,0,0,0,26.46,26.48,26.44,8.95,19.28
$GC,1284,1.43,172.0,3202,1698,1831,606,114.8,9.8,255,1285,0.00,0.00,0.28,0.006,8198,0.000,0.000,3209,1701,1831,1831,589,0,0,0,0,0,0,26.63,26.64,26.65,8.99,19.83
$GC,1314,1.45,182.0,3208,1702,1835,589,111.8,9.5,261,1319,0.08,0.00,2.75,0.503,10246,0.123,0.000,3217,1702,1812,1812,4095,0,0,0,0,0,0,26.44,25.85,24.97,8.95,19.01
$GC,1348,1.45,182.0,3225,1701,1813,4095,107.8,10.5,268,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1701,1812,1812,626,0,0,0,0,0,0,26.66,26.69,26.67,8.95,19.87
$GC,1378,1.45,182.0,3213,1703,1813,626,104.3,11.5,274,1383,0.00,3.15,0.00,0.000,260,0.000,0.049,3217,2887,1812,1812,603,0,0,0,0,0,0,26.68,26.34,26.70,8.95,19.87
$GC,1433,1.45,182.0,3216,2896,1821,603,97.3,12.6,285,1439,0.00,3.15,0.00,0.000,1030,0.000,0.048,3219,1712,1810,1810,584,0,0,0,0,0,0,26.44,26.41,26.47,8.92,18.97
$GC,1468,1.45,182.0,3219,1712,1809,584,92.6,13.2,292,1473,0.00,3.40,0.00,0.000,516,0.000,0.088,3210,505,1809,1809,579,0,0,0,0,0,0,26.74,26.34,26.74,8.95,18.97
$GC,1583,1.45,182.0,3216,506,1800,579,73.8,17.0,315,1589,0.00,3.10,0.00,0.000,1030,0.000,0.039,3218,1708,1806,1806,559,0,0,0,0,0,0,26.57,26.54,26.59,8.98,18.89
$GC,1618,1.45,182.0,3218,1710,1805,559,68.7,16.2,322,1623,0.00,3.15,0.00,0.000,260,0.000,0.050,3210,2904,1821,1821,556,0,0,0,0,0,0,26.81,26.48,26.82,8.94,18.89
$GC,1739,1.45,182.0,3218,2905,1802,556,52.5,13.7,346,1743,0.00,3.17,0.00,0.000,1030,0.000,0.048,3218,1706,1793,1793,544,0,0,0,0,0,0,26.65,26.54,26.67,8.95,19.32
$GC,1774,1.45,182.0,3217,1707,1795,544,47.6,13.9,353,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1706,1801,1801,540,0,0,0,0,0,0,26.86,26.86,26.89,8.94,19.67
$GC,1803,1.45,182.0,3218,1701,1810,540,43.6,13.7,359,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1705,1794,1794,546,0,0,0,0,0,0,26.88,26.90,26.87,8.95,18.81
$GC,1834,1.45,182.0,3221,1714,1807,546,39.9,13.1,365,1838,0.00,3.15,0.00,0.000,260,0.000,0.049,3218,2906,1799,1799,539,0,0,0,0,0,0,26.87,26.55,26.90,9.03,19.44
$GC,1878,1.45,182.0,3217,2906,1799,539,34.1,12.7,374,1883,0.00,3.17,0.00,0.000,1030,0.000,0.049,3220,1707,1799,1799,537,0,0,0,0,0,0,26.63,26.53,26.65,9.02,19.56
$GC,1914,1.45,182.0,3220,1707,1798,537,29.8,12.7,381,1918,0.00,3.38,0.00,0.000,516,0.000,0.087,3218,501,1798,1798,539,0,0,0,0,0,0,26.91,26.51,26.93,8.95,19.48
$GC,2008,1.45,182.0,3217,502,1797,539,17.5,13.2,400,2013,0.00,3.10,0.00,0.000,1030,0.000,0.041,3218,1711,1795,1795,594,0,0,0,0,0,0,26.70,26.68,26.74,8.94,18.69
$GC,2043,1.45,182.0,3223,1713,1796,594,14.0,11.4,407,2048,0.00,3.12,0.00,0.000,260,0.000,0.050,3218,2903,1795,1795,583,0,0,0,0,0,0,26.92,26.60,26.96,8.94,18.93
$GC,2103,1.45,182.0,3223,2900,1788,583,7.8,10.1,419,2109,0.00,3.17,0.00,0.000,1030,0.000,0.049,3218,1702,1794,1794,571,0,0,0,0,0,0,26.67,26.62,26.70,8.98,19.01
$GC,2138,1.45,182.0,3218,1702,1793,571,4.1,10.6,426,2143,0.00,3.35,0.00,0.000,516,0.000,0.087,3219,497,1793,1793,565,0,0,0,0,0,0,26.96,26.56,26.98,8.94,18.97
$STATE,2158,end climb,SURFACE_DEPTH_REACHED
$STATE,2158,begin surface coast
$STATE,2173,end surface coast,CONTROL_FINISHED_OK
$STATE,2173,begin surface
$SM_CCo,2210,4.12,0.421,0,0,1736,250.24
$SM_GC,3.29,30.15,3.15,4.12,0.044,0.041,0.421,361,1715,1736,-7.55,-1.23,250.24,0,0,0,0,0,0,26.67,26.70,25.87
$IRIDIUM_FIX,4808.40,-12337.82,010318,052430
$TT8_MAMPS,0.050932,0.413448
$HUMID,18.69
$INTERNAL_PRESSURE,8.80822
$TCM_TEMP,6.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,24.6,20.0
$ALTIM_BOTTOM_PING,115.2,6.0
$SC_FREEKB,4011520
$24V_AH,24.50,0.910
$10V_AH,10.33,2.810
$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,67.775,102.900,26.425,4.125,0.000,22.285,19.078,572.709,1.500,0.000,20.692,0.000,1243.254,177.683,1492.691,49.340,33.426,546.776,0.000,624.428,0.000,13.951,0.000
$DEVICE_MAMPS,233.325,87.975,1678.410,420.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2211.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,155.125,0.000,0.000,0.000
$MEM,312936
$DATA_FILE_SIZE,13934,433
$CAP_FILE_SIZE,77488,8
$CFSIZE,1023623168,1019461632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$WARN,PPS timeout
$GPS,010318,070806,4746.193,-12224.795,4,0.9,10,16.3,0.0,0.0,9,6.0