version: 66.14
glider: 404
mission: 1
dive: 13
start: 3 1 118 7 21 15
data:
$ID,404
$MISSION,1
$DIVE,13
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,6
$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,15
$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,2
$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
$GPS1,010318,070806,4746.1929,-12224.7949,4,0.9,10,16.3,0.0,0.0,9,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.3
$GPS2,010318,072016,4746.2568,-12224.7646,6,0.9,12,16.3,0.0,0.0,9,5.5
$SPEED_LIMITS,0.120,0.214
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.010115,-0.213248
$KALMAN_X,-75.105743,50.023708,-46.921577,-104.865211,30.155693
$KALMAN_Y,6525.603516,1453.326172,86.031494,-3564.298096,657.756348
$MHEAD_RNG_PITCHd_Wd,166.4,6958,-26.8,-12.000,-29.34,1115
$D_GRID,178
$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,-1.92,-88.0,360,1718,1737,752,0.0,0.0,0,13,0.00,0.00,-1.83,0.000,16390,0.000,0.000,360,1717,2117,2117,729,0,0,0,0,0,0,26.39,25.11,26.36,8.94,19.64
$GC,14,-1.92,-88.0,362,1718,2116,729,2.2,0.0,1,46,25.58,3.47,0.00,0.000,2564,0.181,0.081,2161,500,2117,2117,721,0,0,0,0,0,0,25.87,25.96,26.06,8.90,19.28
$GC,79,-1.92,-88.0,2161,508,2118,721,17.9,-24.3,14,84,0.00,3.15,0.00,0.000,1030,0.000,0.039,2161,1697,2111,2111,616,0,0,0,0,0,0,26.16,26.13,26.18,8.94,19.71
$GC,114,-1.92,-88.0,2161,1703,2122,616,25.3,-23.5,21,119,0.00,3.28,0.00,0.000,260,0.000,0.054,2161,2912,2120,2120,606,0,0,0,0,0,0,26.45,26.11,26.46,8.95,19.12
$GC,344,-1.92,-88.0,2161,2909,2130,606,73.4,-20.3,67,349,0.00,3.22,0.00,0.000,1030,0.000,0.046,2161,1696,2127,2127,562,0,0,0,0,0,0,26.40,26.34,26.44,8.92,19.79
$GC,379,-1.92,-88.0,2162,1702,2128,562,79.1,-17.4,74,384,0.00,3.35,0.00,0.000,516,0.000,0.083,2161,514,2128,2128,568,0,0,0,0,0,0,26.70,26.30,26.71,8.96,19.12
$GC,534,-1.92,-88.0,2161,507,2136,568,114.6,-24.1,105,540,0.00,3.12,0.00,0.000,1030,0.000,0.038,2162,1716,2134,2134,632,0,0,0,0,0,0,26.53,26.55,26.55,8.96,19.48
$GC,569,-1.92,-88.0,2163,1714,2136,632,121.6,-22.1,112,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1717,2134,2134,706,0,0,0,0,0,0,26.77,26.79,26.79,8.95,19.40
$GC,599,-1.92,-88.0,2161,1717,2137,706,127.3,-19.7,118,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1716,2136,2136,640,0,0,0,0,0,0,26.78,26.80,26.80,8.95,19.40
$GC,629,-1.92,-88.0,2161,1715,2139,640,133.3,-19.4,124,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1716,2135,2135,637,0,0,0,0,0,0,26.86,26.82,26.82,8.98,19.24
$GC,659,-1.92,-88.0,2160,1714,2149,637,139.4,-20.0,130,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1716,2138,2138,632,0,0,0,0,0,0,26.82,26.84,26.80,8.96,19.56
$GC,691,-1.92,-88.0,2161,1718,2140,632,145.8,-20.6,136,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1716,2139,2139,886,0,0,0,0,0,0,26.74,26.77,26.76,8.96,19.12
$GC,724,-1.92,-88.0,2162,1717,2140,886,153.0,-21.0,143,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1717,2140,2140,641,0,0,0,0,0,0,26.84,26.85,26.84,9.02,19.20
$GC,754,-1.92,-88.0,2162,1717,2141,641,158.7,-20.3,149,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1716,2140,2140,623,0,0,0,0,0,0,26.83,26.86,26.85,8.96,19.87
$GC,784,-1.92,-88.0,2161,1717,2143,623,164.1,-18.7,155,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1716,2141,2141,632,0,0,0,0,0,0,26.85,26.89,26.86,8.96,19.24
$GC,814,-1.92,-88.0,2162,1718,2143,632,169.1,-17.5,161,819,0.00,3.15,0.00,0.000,260,0.000,0.054,2156,2899,2143,2143,639,0,0,0,0,0,0,26.86,26.52,26.85,8.97,18.93
$STATE,873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,873,begin apogee
$GC,879,-0.33,0.0,2160,1713,2153,633,178.6,-16.0,173,895,6.15,0.00,8.23,1.770,10246,0.125,0.000,2668,1713,2011,2011,4095,0,0,0,0,0,0,26.45,26.06,24.63,9.07,18.97
$STATE,896,end apogee,CONTROL_FINISHED_OK
$STATE,896,begin climb
$GC,897,1.92,88.0,2668,1714,2011,4095,180.4,0.0,177,915,7.53,3.20,6.15,1.550,10500,0.056,0.048,3381,2904,1917,1917,4095,0,0,0,0,0,0,26.25,25.89,24.53,8.95,19.40
$GC,969,1.92,88.0,3371,2904,1909,4095,169.0,17.3,192,974,0.00,3.20,0.00,0.000,1030,0.000,0.048,3372,1711,1916,1916,607,0,0,0,0,0,0,26.23,26.13,26.29,8.90,19.20
$GC,1004,1.92,88.0,3376,1707,1910,607,163.9,16.2,199,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1710,1915,1915,594,0,0,0,0,0,0,26.53,26.53,26.51,8.92,19.36
$GC,1034,1.92,88.0,3371,1712,1916,594,159.9,14.2,205,1035,0.00,0.00,0.05,0.011,8198,0.000,0.000,3380,1710,1914,1914,596,0,0,0,0,0,0,26.53,26.56,26.54,8.96,19.08
$GC,1064,1.92,88.0,3372,1712,1916,596,156.1,13.1,211,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1711,1914,1914,579,0,0,0,0,0,0,26.56,26.62,26.58,8.97,19.64
$GC,1094,1.92,88.0,3372,1711,1917,579,152.6,12.3,217,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1711,1914,1914,573,0,0,0,0,0,0,26.59,26.61,26.60,8.96,19.56
$GC,1124,1.92,88.4,3372,1711,1913,573,149.0,12.0,223,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1710,1922,1922,568,0,0,0,0,0,0,26.61,26.64,26.63,8.96,19.12
$GC,1154,1.93,95.0,3372,1711,1914,568,145.8,11.4,229,1155,0.00,0.00,0.28,0.006,8198,0.000,0.000,3374,1706,1906,1906,566,0,0,0,0,0,0,26.64,26.60,26.63,8.96,19.12
$GC,1184,1.95,109.8,3371,1715,1910,566,142.7,10.6,235,1189,0.00,0.00,3.03,0.698,8198,0.000,0.000,3372,1707,1884,1884,4095,0,0,0,0,0,0,26.66,25.82,24.87,8.91,19.12
$GC,1219,1.97,124.1,3373,1713,1902,4095,138.7,10.7,242,1224,0.05,0.00,2.67,0.522,10246,0.148,0.000,3379,1712,1873,1873,4095,0,0,0,0,0,0,26.38,25.81,24.87,8.96,19.04
$GC,1254,1.97,124.6,3379,1712,1874,4095,134.3,12.0,249,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1717,1872,1872,633,0,0,0,0,0,0,26.64,26.65,26.65,8.95,19.08
$GC,1284,1.97,124.6,3379,1712,1874,633,130.1,13.1,255,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1709,1863,1863,605,0,0,0,0,0,0,26.65,26.68,26.67,8.95,19.40
$GC,1314,1.97,124.6,3380,1712,1870,605,125.5,14.3,261,1319,0.08,3.40,0.00,0.000,2564,0.119,0.086,3388,514,1871,1871,595,0,0,0,0,0,0,26.44,26.29,26.49,9.00,19.12
$GC,1349,1.97,124.6,3388,511,1871,595,119.5,16.0,268,1354,0.00,3.10,0.00,0.000,1030,0.000,0.039,3388,1703,1870,1870,585,0,0,0,0,0,0,26.46,26.45,26.48,8.95,19.67
$GC,1384,1.97,124.6,3387,1712,1863,585,114.1,16.5,275,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1703,1868,1868,580,0,0,0,0,0,0,26.72,26.72,26.74,8.96,19.28
$GC,1414,1.97,124.6,3388,1703,1870,580,109.7,15.3,281,1419,0.00,3.15,0.00,0.000,260,0.000,0.050,3388,2918,1861,1861,573,0,0,0,0,0,0,26.74,26.46,26.75,8.95,19.44
$GC,1454,1.97,124.6,3387,2911,1861,573,104.0,14.5,289,1459,0.00,3.15,0.00,0.000,1030,0.000,0.047,3388,1705,1867,1867,561,0,0,0,0,0,0,26.53,26.48,26.56,8.95,18.93
$GC,1489,1.97,124.6,3384,1717,1873,561,99.8,13.1,296,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1711,1867,1867,558,0,0,0,0,0,0,26.77,26.79,26.77,9.03,19.16
$GC,1519,1.97,124.6,3383,1712,1858,558,96.0,12.3,302,1524,0.00,3.15,0.00,0.000,260,0.000,0.047,3388,2901,1865,1865,561,0,0,0,0,0,0,26.82,26.46,26.79,8.96,19.24
$GC,1609,1.97,124.6,3389,2902,1864,561,82.6,15.0,320,1614,0.00,3.15,0.00,0.000,1030,0.000,0.049,3387,1710,1864,1864,553,0,0,0,0,0,0,26.61,26.55,26.55,8.90,19.28
$GC,1644,1.97,124.6,3392,1710,1872,553,77.5,15.1,327,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1711,1868,1868,550,0,0,0,0,0,0,26.84,26.86,26.86,8.94,19.28
$GC,1674,1.97,124.6,3388,1711,1863,550,73.1,14.6,333,1679,0.00,3.38,0.00,0.000,516,0.000,0.086,3388,505,1861,1861,552,0,0,0,0,0,0,26.85,26.48,26.87,8.95,18.77
$GC,1784,1.97,124.6,3395,495,1860,552,56.9,13.7,355,1789,0.00,3.10,0.00,0.000,1030,0.000,0.037,3388,1712,1859,1859,542,0,0,0,0,0,0,26.67,26.63,26.69,8.95,19.44
$GC,1819,1.97,124.6,3388,1713,1847,542,52.9,12.2,362,1824,0.00,3.10,0.00,0.000,260,0.000,0.050,3388,2897,1860,1860,544,0,0,0,0,0,0,26.91,26.55,26.91,8.95,19.01
$GC,2019,1.97,124.6,3382,2898,1854,544,28.7,12.0,402,2024,0.00,3.15,0.00,0.000,1030,0.000,0.050,3388,1704,1855,1855,528,0,0,0,0,0,0,26.69,26.62,26.72,8.95,18.45
$GC,2054,1.98,128.1,3384,1706,1854,528,24.9,11.7,409,2059,0.00,3.33,0.00,0.000,516,0.000,0.086,3388,507,1854,1854,528,0,0,0,0,0,0,26.96,26.61,26.98,8.95,19.08
$GC,2144,1.98,128.1,3387,508,1858,528,12.8,14.0,427,2149,0.00,3.08,0.00,0.000,1030,0.000,0.038,3400,1711,1850,1850,630,0,0,0,0,0,0,26.74,26.73,26.78,8.95,19.08
$GC,2179,1.98,128.1,3388,1718,1862,630,8.6,13.5,434,2186,0.00,3.10,0.00,0.000,260,0.000,0.050,3388,2906,1850,1850,601,0,0,0,0,0,0,26.99,26.66,27.01,8.96,18.34
$GC,2204,1.98,128.1,3388,2907,1850,601,5.6,12.0,439,2209,0.00,3.15,0.00,0.000,1030,0.000,0.049,3402,1704,1848,1848,593,0,0,0,0,0,0,26.71,26.66,26.74,8.94,19.04
$STATE,2233,end climb,SURFACE_DEPTH_REACHED
$STATE,2233,begin surface coast
$STATE,2248,end surface coast,CONTROL_FINISHED_OK
$STATE,2248,begin surface
$SM_CCo,2285,6.38,0.545,0,0,1737,250.24
$SM_GC,3.64,31.90,0.00,6.38,0.044,0.000,0.545,361,1710,1737,-7.55,0.00,250.24,0,0,0,0,0,0,26.70,27.02,25.88
$IRIDIUM_FIX,4808.40,-12337.82,010318,061910
$TT8_MAMPS,0.050932,0.41944
$HUMID,19.12
$INTERNAL_PRESSURE,8.81798
$TCM_TEMP,6.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,14.9,999.0
$SC_FREEKB,4010688
$24V_AH,24.53,0.959
$10V_AH,10.32,2.935
$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,71.275,76.800,20.400,6.375,0.000,26.375,16.027,557.968,6.250,0.000,20.494,0.000,1298.283,160.767,1520.841,51.269,33.436,530.726,0.000,645.112,0.000,47.012,0.000
$DEVICE_MAMPS,180.540,85.680,1770.210,545.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2285.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,156.809,0.000,0.000,0.000
$MEM,312948
$DATA_FILE_SIZE,13909,448
$CAP_FILE_SIZE,78444,7
$CFSIZE,1023623168,1019314176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,793.65,0x26edaa,0,24
$INTR,1,2181.45,0x236804,1,24
$WARN,PPS timeout
$GPS,010318,080010,4745.848,-12224.683,12,0.8,20,16.3,0.0,0.0,10,5.4