version: 66.14
glider: 404
mission: 1
dive: 21
start: 3 1 118 15 4 29
data:
$ID,404
$MISSION,1
$DIVE,21
$N_DIVES,27
$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,75
$T_MISSION,70
$T_ABORT,1440
$T_TURN,360
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,14
$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,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
$GPS1,010318,144859,4742.6157,-12224.7637,20,1.3,60,16.3,0.3,22.2,8,22.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-62.8
$GPS2,010318,150331,4742.7139,-12224.6816,7,0.8,24,16.3,0.0,0.0,10,5.0
$SPEED_LIMITS,0.114,0.199
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.030190,-0.196881
$KALMAN_X,-410.547852,-30.134361,-25.342041,389.977020,-243.522812
$KALMAN_Y,159.267303,-457.615021,64.268356,-4548.412109,560.993469
$MHEAD_RNG_PITCHd_Wd,155.0,423,-17.9,-8.000,-21.88,1838
$D_GRID,175
$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,-1.34,-97.8,361,1704,1735,746,0.0,0.0,0,13,0.00,0.00,-1.85,0.000,16390,0.000,0.000,360,1703,2124,2124,727,0,0,0,0,0,0,26.41,25.20,26.38,8.94,19.32
$GC,14,-1.34,-97.8,360,1704,2125,727,2.4,0.0,1,48,27.92,3.25,0.00,0.000,2308,0.177,0.051,2345,2898,2123,2123,715,0,0,0,0,0,0,25.89,26.03,26.09,8.91,20.15
$GC,298,-1.34,-97.8,2344,2896,2131,715,47.6,-13.8,58,303,0.00,3.15,0.00,0.000,1030,0.000,0.046,2345,1710,2130,2130,566,0,0,0,0,0,0,26.38,26.29,26.41,8.95,19.28
$GC,333,-1.34,-97.8,2344,1711,2133,566,52.1,-13.1,65,339,0.00,3.20,0.00,0.000,260,0.000,0.052,2345,2902,2131,2131,570,0,0,0,0,0,0,26.67,26.34,26.68,8.95,19.79
$GC,343,-1.34,-97.8,2345,2902,2133,570,53.4,-13.0,67,349,0.00,3.17,0.00,0.000,1030,0.000,0.046,2345,1709,2132,2132,580,0,0,0,0,0,0,26.40,26.35,26.44,8.95,19.36
$GC,378,-1.34,-97.8,2345,1710,2135,580,58.4,-13.0,74,383,0.00,3.20,0.00,0.000,260,0.000,0.053,2345,2897,2138,2138,580,0,0,0,0,0,0,26.70,26.36,26.70,8.95,19.08
$GC,389,-1.34,-97.8,2345,2897,2147,580,59.8,-13.1,76,394,0.00,3.15,0.00,0.000,1030,0.000,0.045,2345,1712,2133,2133,586,0,0,0,0,0,0,26.44,26.36,26.46,8.95,19.83
$GC,424,-1.34,-97.8,2346,1712,2134,586,64.7,-13.7,83,429,0.00,3.17,0.00,0.000,260,0.000,0.050,2346,2903,2134,2134,585,0,0,0,0,0,0,26.71,26.39,26.73,8.96,19.12
$GC,603,-1.34,-97.8,2344,2903,2139,585,88.0,-12.4,119,609,0.00,3.17,0.00,0.000,1030,0.000,0.046,2346,1702,2137,2137,568,0,0,0,0,0,0,26.55,26.49,26.58,8.95,19.16
$GC,639,-1.34,-97.8,2340,1701,2138,568,92.3,-12.4,126,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1702,2138,2138,557,0,0,0,0,0,0,26.85,26.85,26.86,8.96,19.28
$GC,668,-1.34,-97.8,2345,1703,2140,557,96.3,-12.6,132,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1702,2138,2138,554,0,0,0,0,0,0,26.84,26.86,26.85,8.96,19.71
$GC,698,-1.34,-97.8,2346,1703,2139,554,99.7,-12.6,138,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1702,2139,2139,550,0,0,0,0,0,0,26.85,26.91,26.86,8.96,20.15
$GC,728,-1.34,-97.8,2342,1703,2152,550,103.4,-12.4,144,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1702,2143,2143,622,0,0,0,0,0,0,26.86,26.89,26.88,8.94,19.67
$GC,758,-1.34,-97.8,2345,1703,2142,622,106.7,-12.1,150,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1702,2140,2140,645,0,0,0,0,0,0,26.86,26.88,26.88,8.96,19.32
$GC,788,-1.34,-97.8,2344,1703,2142,645,110.4,-11.8,156,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1700,2140,2140,610,0,0,0,0,0,0,26.88,26.90,26.89,8.96,18.97
$GC,818,-1.34,-97.8,2341,1701,2132,610,113.9,-11.8,162,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1702,2141,2141,597,0,0,0,0,0,0,26.91,26.91,26.91,8.96,19.04
$GC,848,-1.34,-97.8,2345,1702,2142,597,117.3,-11.7,168,854,0.00,3.20,0.00,0.000,260,0.000,0.051,2346,2900,2142,2142,594,0,0,0,0,0,0,26.89,26.60,26.91,8.96,19.24
$GC,858,-1.34,-97.8,2346,2902,2142,594,118.5,-11.7,170,864,0.00,3.12,0.00,0.000,1030,0.000,0.046,2346,1712,2142,2142,599,0,0,0,0,0,0,26.64,26.58,26.66,8.98,19.36
$GC,894,-1.34,-97.8,2346,1714,2143,599,122.5,-11.7,177,899,0.00,3.15,0.00,0.000,260,0.000,0.051,2346,2892,2143,2143,595,0,0,0,0,0,0,26.91,26.56,26.92,8.96,19.40
$GC,1208,-1.34,-97.8,2345,2894,2151,595,160.0,-11.8,240,1214,0.00,3.12,0.00,0.000,1030,0.000,0.047,2346,1701,2149,2149,549,0,0,0,0,0,0,26.77,26.67,26.75,8.96,19.91
$GC,1243,-1.34,-97.8,2345,1703,2151,549,164.8,-12.3,247,1249,0.00,3.17,0.00,0.000,260,0.000,0.051,2346,2898,2151,2151,557,0,0,0,0,0,0,27.01,26.68,27.02,8.99,19.44
$STATE,1318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1318,begin apogee
$GC,1323,-0.33,0.0,2347,1710,2152,556,175.3,-13.6,262,1339,3.78,0.00,8.43,1.776,10246,0.112,0.000,2666,1710,2011,2011,4095,0,0,0,0,0,0,26.62,25.89,24.87,8.97,19.87
$STATE,1340,end apogee,CONTROL_FINISHED_OK
$STATE,1340,begin climb
$GC,1341,1.34,97.8,2666,1710,2013,4095,177.3,0.0,266,1359,5.60,3.40,6.88,1.632,10756,0.060,0.087,3190,514,1901,1901,4095,0,0,0,0,0,0,26.39,26.00,24.66,8.96,20.30
$GC,1718,1.34,97.8,3188,515,1899,4095,144.0,9.7,342,1724,0.00,3.08,0.00,0.000,1030,0.000,0.038,3189,1711,1898,1898,549,0,0,0,0,0,0,26.58,26.55,26.60,8.96,19.20
$GC,1754,1.34,97.8,3197,1708,1899,549,141.0,9.7,349,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1709,1897,1897,545,0,0,0,0,0,0,26.81,26.82,26.82,9.00,19.95
$GC,1784,1.34,97.8,3188,1708,1897,545,138.6,9.4,355,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1712,1897,1897,544,0,0,0,0,0,0,26.82,26.84,26.83,8.96,19.60
$GC,1813,1.34,97.8,3196,1707,1897,544,136.2,8.8,361,1819,0.00,3.40,0.00,0.000,516,0.000,0.085,3189,506,1887,1887,538,0,0,0,0,0,0,26.83,26.43,26.85,8.95,19.04
$GC,2064,1.35,105.8,3187,506,1894,538,116.1,7.6,411,2069,0.00,3.08,0.00,0.000,1030,0.000,0.039,3189,1709,1894,1894,528,0,0,0,0,0,0,26.72,26.70,26.73,8.95,19.28
$GC,2099,1.37,115.2,3189,1711,1893,528,113.6,7.5,418,2104,0.00,3.12,0.77,0.006,8452,0.000,0.049,3189,2908,1892,1892,535,0,0,0,0,0,0,26.97,26.61,26.84,9.04,19.28
$GC,2238,1.37,115.2,3188,2909,1893,535,102.0,8.3,446,2244,0.00,3.12,0.10,0.009,9222,0.000,0.047,3191,1715,1891,1891,529,0,0,0,0,0,0,26.71,26.70,26.74,8.96,19.71
$GC,2273,1.37,115.2,3185,1714,1891,529,99.4,8.6,453,2279,0.03,3.38,0.73,0.007,10756,0.233,0.086,3194,500,1888,1888,530,0,0,0,0,0,0,26.84,26.60,26.86,8.94,19.12
$GC,2369,1.37,115.4,3187,501,1883,530,91.6,8.0,472,2374,0.00,3.10,0.05,0.011,9222,0.000,0.039,3194,1726,1889,1889,533,0,0,0,0,0,0,26.80,26.81,26.80,9.02,19.01
$GC,2404,1.37,115.4,3193,1727,1894,533,88.7,8.2,479,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1728,1889,1889,530,0,0,0,0,0,0,27.01,27.02,27.02,8.95,19.24
$GC,2433,1.37,115.4,3202,1729,1890,530,85.8,8.5,485,2439,0.00,3.03,0.12,0.009,8452,0.000,0.049,3185,2888,1888,1888,533,0,0,0,0,0,0,27.02,26.72,27.02,8.96,18.69
$GC,2798,1.41,145.4,3194,2890,1883,533,55.5,6.3,558,2809,0.12,3.10,3.35,0.535,11270,0.070,0.047,3208,1714,1849,1849,4095,0,0,0,0,0,0,26.82,26.76,25.72,8.94,19.08
$GC,2839,1.44,164.7,3208,1707,1849,4095,52.6,6.9,566,2848,0.00,3.10,2.62,0.326,8452,0.000,0.047,3208,2900,1833,1833,4095,0,0,0,0,0,0,27.02,26.39,25.75,8.94,19.44
$GC,2924,1.46,174.9,3202,2899,1832,4095,46.2,7.4,583,2934,0.10,3.12,2.47,0.261,11270,0.103,0.047,3225,1697,1819,1819,4095,0,0,0,0,0,0,26.74,26.73,25.72,8.95,19.04
$GC,2964,1.47,183.0,3221,1692,1819,4095,43.3,7.5,591,2968,0.00,0.00,1.40,0.006,8198,0.000,0.000,3220,1697,1818,1818,621,0,0,0,0,0,0,27.03,26.94,26.96,8.95,18.97
$GC,2999,1.48,189.9,3221,1698,1818,621,40.5,7.6,598,3000,0.12,0.00,0.08,0.019,10246,0.089,0.000,3234,1691,1818,1818,608,0,0,0,0,0,0,26.78,26.91,26.84,8.95,19.48
$GC,3029,1.48,193.4,3229,1697,1827,608,37.6,7.8,604,3034,0.00,0.00,2.70,0.320,8198,0.000,0.000,3235,1698,1799,1799,4095,0,0,0,0,0,0,27.05,26.39,25.79,8.94,18.97
$GC,3064,1.48,193.4,3234,1697,1802,4095,34.2,8.5,611,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1696,1795,1795,627,0,0,0,0,0,0,27.04,27.06,27.05,9.03,18.85
$GC,3094,1.48,193.4,3233,1705,1797,627,31.1,9.2,617,3099,0.00,3.33,0.00,0.000,516,0.000,0.087,3235,505,1797,1797,609,0,0,0,0,0,0,27.05,26.66,27.06,8.94,18.41
$GC,3134,1.48,193.4,3244,514,1798,609,26.5,10.2,625,3139,0.00,3.05,0.00,0.000,1030,0.000,0.040,3240,1703,1796,1796,588,0,0,0,0,0,0,26.84,26.81,26.85,8.95,18.93
$GC,3169,1.48,193.4,3236,1706,1796,588,22.7,10.8,632,3174,0.00,3.08,0.00,0.000,260,0.000,0.048,3235,2884,1796,1796,580,0,0,0,0,0,0,27.09,26.77,27.07,8.97,18.85
$GC,3238,1.48,193.4,3235,2886,1796,580,15.1,10.9,646,3247,0.00,3.08,0.00,0.000,1030,0.000,0.049,3231,1713,1795,1795,560,0,0,0,0,0,0,26.79,26.73,26.79,8.94,20.07
$GC,3275,1.48,193.4,3235,1714,1795,560,11.2,10.8,653,3280,0.00,3.33,0.00,0.000,516,0.000,0.088,3240,503,1794,1794,562,0,0,0,0,0,0,27.06,26.67,27.15,8.95,18.97
$GC,3320,1.48,193.4,3234,509,1794,562,5.7,11.1,662,3325,0.00,3.05,0.00,0.000,1030,0.000,0.040,3227,1707,1802,1802,559,0,0,0,0,0,0,26.85,26.82,26.86,8.99,18.93
$STATE,3354,end climb,SURFACE_DEPTH_REACHED
$STATE,3354,begin surface coast
$STATE,3369,end surface coast,CONTROL_FINISHED_OK
$STATE,3369,begin surface
$SM_CCo,3405,4.10,0.422,0,0,1736,250.24
$SM_GC,3.61,30.55,0.00,4.10,0.050,0.000,0.422,360,1708,1736,-7.56,-0.09,250.24,0,0,0,0,0,0,26.78,27.09,26.02
$IRIDIUM_FIX,4808.40,-12337.82,010318,135033
$TT8_MAMPS,0.050932,0.483854
$HUMID,18.53
$INTERNAL_PRESSURE,8.82775
$TCM_TEMP,6.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,14.6,999.0
$ALTIM_BOTTOM_PING,105.1,5.9
$SC_FREEKB,4004608
$24V_AH,24.66,1.372
$10V_AH,10.30,3.982
$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,68.225,101.325,29.700,4.100,0.000,23.592,18.556,683.944,1.500,0.000,30.977,0.000,2036.090,189.728,2002.828,61.336,33.447,706.223,0.000,962.135,0.000,10.799,0.000
$DEVICE_MAMPS,232.560,87.975,1775.565,422.280,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3413.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,152.800,0.000,0.000,0.000
$MEM,312904
$DATA_FILE_SIZE,24204,672
$CAP_FILE_SIZE,91735,20
$CFSIZE,1023623168,1018200064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010318,160219,4742.772,-12224.399,8,1.0,37,16.3,0.4,44.4,11,5.4