version: 66.14
glider: 404
mission: 1
dive: 11
start: 3 1 118 5 36 45
data:
$ID,404
$MISSION,1
$DIVE,11
$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,11
$R_STBD_OVSHOOT,28
$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
$GPS1,010318,052239,4746.0273,-12224.9619,5,0.9,15,16.3,0.0,355.5,8,5.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-61.6
$GPS2,010318,053547,4746.2529,-12225.0264,7,0.9,15,16.3,0.6,346.3,8,5.9
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.040342,-0.254499
$KALMAN_X,-245.603455,57.984970,26.194555,-338.543518,-131.097809
$KALMAN_Y,4711.296875,1363.582153,423.822845,-2017.159058,1011.386963
$MHEAD_RNG_PITCHd_Wd,154.7,6956,-17.6,-10.000,-21.21,2209
$D_GRID,179
$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,-1.39,-146.6,360,1711,1737,750,0.0,0.0,0,13,0.00,0.00,-2.12,0.000,16390,0.000,0.000,361,1710,2181,2181,730,0,0,0,0,0,0,26.39,25.11,26.36,8.94,20.03
$GC,14,-1.39,-146.6,361,1710,2181,730,2.3,0.0,1,48,27.83,3.42,0.00,0.000,2564,0.180,0.077,2326,507,2177,2177,716,0,0,0,0,0,0,25.88,25.95,26.06,8.94,19.91
$GC,68,-1.39,-146.6,2326,507,2184,716,18.0,-30.9,12,73,0.00,3.15,0.00,0.000,1030,0.000,0.041,2326,1698,2180,2180,640,0,0,0,0,0,0,26.14,26.10,26.16,8.95,19.32
$GC,103,-1.39,-146.6,2325,1704,2187,640,24.3,-24.2,19,104,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1702,2185,2185,613,0,0,0,0,0,0,26.42,26.46,26.43,8.96,19.64
$GC,133,-1.39,-146.6,2326,1704,2185,613,29.2,-17.6,25,134,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1703,2186,2186,597,0,0,0,0,0,0,26.46,26.48,26.48,8.95,18.89
$GC,163,-1.39,-146.6,2326,1705,2188,597,34.1,-16.3,31,168,0.00,3.42,0.00,0.000,516,0.000,0.083,2326,506,2186,2186,597,0,0,0,0,0,0,26.50,26.10,26.51,8.95,19.01
$GC,178,-1.39,-146.6,2325,506,2188,597,36.8,-16.3,34,183,0.00,3.17,0.00,0.000,1030,0.000,0.039,2326,1716,2187,2187,602,0,0,0,0,0,0,26.27,26.24,26.29,8.96,19.52
$GC,214,-1.39,-146.6,2327,1719,2190,602,42.5,-17.1,41,218,0.00,3.45,0.00,0.000,516,0.000,0.083,2326,506,2188,2188,599,0,0,0,0,0,0,26.49,26.15,26.48,8.95,19.60
$GC,249,-1.39,-146.6,2327,507,2189,599,48.3,-16.2,48,253,0.00,3.15,0.00,0.000,1030,0.000,0.040,2326,1714,2188,2188,595,0,0,0,0,0,0,26.36,26.27,26.35,8.95,19.28
$GC,283,-1.39,-146.6,2319,1724,2188,595,53.7,-16.3,55,289,0.00,3.17,0.00,0.000,260,0.000,0.054,2329,2898,2190,2190,594,0,0,0,0,0,0,26.59,26.22,26.60,8.94,19.44
$GC,513,-1.39,-146.6,2327,2898,2194,594,85.3,-13.6,101,518,0.00,3.15,0.00,0.000,1030,0.000,0.047,2326,1711,2195,2195,559,0,0,0,0,0,0,26.48,26.42,26.51,8.94,19.36
$GC,548,-1.39,-146.6,2325,1712,2197,559,90.4,-14.0,108,553,0.00,3.38,0.00,0.000,516,0.000,0.084,2325,506,2194,2194,567,0,0,0,0,0,0,26.77,26.38,26.76,8.96,18.77
$GC,703,-1.39,-146.6,2327,508,2200,567,120.1,-18.8,139,709,0.00,3.10,0.00,0.000,1030,0.000,0.039,2330,1726,2199,2199,602,0,0,0,0,0,0,26.60,26.58,26.63,8.96,19.40
$GC,738,-1.39,-146.6,2326,1714,2201,602,125.2,-16.4,146,743,0.00,3.12,0.00,0.000,260,0.000,0.054,2326,2890,2201,2201,591,0,0,0,0,0,0,26.85,26.48,26.87,8.96,19.16
$STATE,923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,923,begin apogee
$GC,928,-0.33,0.0,2327,1717,2204,562,150.0,-12.9,183,944,4.00,0.00,10.75,1.694,10246,0.109,0.000,2669,1717,2010,2010,4095,0,0,0,0,0,0,26.51,26.00,24.76,8.95,19.44
$STATE,945,end apogee,CONTROL_FINISHED_OK
$STATE,945,begin climb
$GC,946,1.39,146.6,2669,1713,2011,4095,151.5,0.0,187,968,5.82,3.10,8.88,1.581,10500,0.063,0.047,3204,2889,1856,1856,4095,0,0,0,0,0,0,26.20,25.43,24.53,8.96,19.48
$GC,1188,1.39,146.6,3204,2889,1852,4095,120.1,12.3,236,1194,0.00,3.15,0.12,0.011,9222,0.000,0.047,3201,1719,1852,1852,565,0,0,0,0,0,0,26.31,26.25,26.34,8.96,19.56
$GC,1223,1.39,146.6,3205,1711,1851,565,116.5,11.1,243,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1710,1851,1851,561,0,0,0,0,0,0,26.61,26.63,26.62,8.96,19.16
$GC,1253,1.39,146.6,3204,1712,1851,561,113.4,10.3,249,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1713,1852,1852,564,0,0,0,0,0,0,26.63,26.67,26.62,8.96,18.69
$GC,1284,1.39,146.6,3203,1712,1852,564,110.1,10.6,255,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1718,1851,1851,551,0,0,0,0,0,0,26.66,26.67,26.67,8.95,19.08
$GC,1313,1.39,146.6,3203,1712,1851,551,106.9,10.8,261,1319,0.00,3.15,0.03,0.007,8452,0.000,0.049,3204,2893,1849,1849,552,0,0,0,0,0,0,26.68,26.35,26.70,8.95,19.91
$GC,1404,1.40,152.5,3205,2894,1849,552,98.1,9.7,279,1409,0.00,3.15,0.85,0.008,9222,0.000,0.049,3204,1696,1848,1848,546,0,0,0,0,0,0,26.51,26.40,26.53,8.95,19.75
$GC,1439,1.47,198.5,3204,1697,1849,546,95.7,7.9,286,1449,0.17,3.38,4.20,0.861,10756,0.080,0.086,3224,509,1790,1790,4095,0,0,0,0,0,0,26.46,26.26,25.18,8.95,18.93
$GC,1483,1.55,248.4,3228,509,1794,4095,91.8,7.7,295,1494,0.25,3.08,4.00,0.804,11270,0.061,0.040,3252,1699,1744,1744,4095,0,0,0,0,0,0,26.39,26.44,25.13,8.95,19.40
$GC,1524,1.56,255.4,3254,1699,1738,4095,87.9,9.7,303,1533,0.00,3.15,2.53,0.349,8452,0.000,0.049,3253,2898,1731,1731,4095,0,0,0,0,0,0,26.65,25.92,25.13,8.95,19.32
$GC,1539,1.56,255.6,3251,2898,1735,4095,86.1,10.0,306,1543,0.00,3.15,0.00,0.000,1030,0.000,0.047,3252,1707,1731,1731,735,0,0,0,0,0,0,26.41,26.30,26.43,9.02,18.89
$GC,1574,1.56,255.6,3252,1708,1732,735,82.4,10.7,313,1578,0.00,3.40,0.00,0.000,516,0.000,0.087,3252,510,1742,1742,629,0,0,0,0,0,0,26.66,26.27,26.68,8.95,19.52
$GC,1609,1.56,255.6,3248,503,1724,629,78.3,11.0,320,1613,0.00,3.08,0.00,0.000,1030,0.000,0.040,3252,1696,1729,1729,595,0,0,0,0,0,0,26.46,26.43,26.48,8.91,18.85
$GC,1643,1.56,255.6,3253,1698,1729,595,74.4,11.6,327,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1697,1729,1729,584,0,0,0,0,0,0,26.70,26.72,26.72,8.95,19.52
$GC,1673,1.56,255.6,3252,1698,1730,584,71.1,11.1,333,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1697,1729,1729,578,0,0,0,0,0,0,26.72,26.74,26.74,8.95,18.93
$GC,1703,1.56,255.6,3253,1705,1725,578,67.7,11.1,339,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1697,1728,1728,572,0,0,0,0,0,0,26.74,26.76,26.76,8.92,18.61
$GC,1733,1.56,255.6,3252,1698,1729,572,64.4,11.2,345,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1697,1727,1727,566,0,0,0,0,0,0,26.76,26.77,26.77,8.94,18.97
$GC,1763,1.56,255.6,3252,1698,1729,566,61.0,11.2,351,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1694,1723,1723,560,0,0,0,0,0,0,26.77,26.81,26.83,8.95,19.08
$GC,1794,1.56,255.6,3252,1698,1723,560,57.7,11.2,357,1798,0.00,3.15,0.00,0.000,260,0.000,0.050,3246,2891,1729,1729,565,0,0,0,0,0,0,26.79,26.46,26.80,8.95,19.56
$GC,1838,1.56,255.6,3250,2902,1716,565,52.0,12.1,366,1843,0.00,3.15,0.00,0.000,1030,0.000,0.049,3252,1714,1717,1717,558,0,0,0,0,0,0,26.57,26.45,26.56,8.94,19.60
$GC,1874,1.56,255.6,3253,1715,1724,558,47.5,12.9,373,1878,0.00,3.42,0.00,0.000,516,0.000,0.087,3252,497,1724,1724,549,0,0,0,0,0,0,26.82,26.42,26.83,8.90,18.61
$GC,1904,1.56,255.6,3247,500,1725,549,43.2,13.4,379,1908,0.00,3.12,0.00,0.000,1030,0.000,0.040,3262,1721,1724,1724,545,0,0,0,0,0,0,26.60,26.58,26.62,8.95,19.08
$GC,1938,1.56,255.6,3253,1711,1722,545,38.6,13.8,386,1944,0.00,3.10,0.00,0.000,260,0.000,0.050,3253,2886,1722,1722,543,0,0,0,0,0,0,26.84,26.49,26.83,8.97,18.81
$GC,2023,1.56,255.6,3252,2887,1721,543,26.9,13.6,403,2028,0.00,3.12,0.00,0.000,1030,0.000,0.048,3244,1712,1720,1720,536,0,0,0,0,0,0,26.56,26.55,26.62,8.94,18.77
$GC,2059,1.56,255.6,3258,1707,1730,536,23.1,12.3,410,2063,0.00,3.38,0.00,0.000,516,0.000,0.087,3253,498,1714,1714,629,0,0,0,0,0,0,26.87,26.47,26.86,8.89,18.77
$GC,2103,1.56,255.6,3260,499,1721,629,18.2,10.8,419,2108,0.00,3.10,0.00,0.000,1030,0.000,0.041,3244,1702,1723,1723,599,0,0,0,0,0,0,26.67,26.65,26.68,8.89,18.69
$GC,2138,1.56,255.6,3252,1697,1720,599,14.7,10.7,426,2143,0.00,3.15,0.00,0.000,260,0.000,0.051,3252,2898,1718,1718,581,0,0,0,0,0,0,26.89,26.61,26.95,8.90,19.16
$GC,2173,1.57,265.1,3246,2902,1719,581,11.5,9.6,433,2178,0.00,3.17,0.00,0.000,1030,0.000,0.050,3257,1708,1720,1720,572,0,0,0,0,0,0,26.62,26.55,26.66,8.94,19.16
$GC,2209,1.59,275.1,3253,1711,1715,572,8.0,9.5,440,2214,0.08,3.35,0.03,0.008,10756,0.111,0.089,3262,495,1716,1716,568,0,0,0,0,0,0,26.66,26.51,26.69,9.00,19.20
$STATE,2258,end climb,SURFACE_DEPTH_REACHED
$STATE,2258,begin surface coast
$STATE,2273,end surface coast,CONTROL_FINISHED_OK
$STATE,2273,begin surface
$SM_CCo,2371,0.00,0.000,0,0,1714,272.40
$SM_GC,2.74,30.48,3.17,0.00,0.040,0.042,0.000,362,1713,1714,-7.55,-1.32,272.40,0,0,0,0,0,0,26.63,26.67,26.68
$IRIDIUM_FIX,4808.40,-12337.82,010318,043301
$TT8_MAMPS,0.050932,0.342293
$HUMID,18.65
$INTERNAL_PRESSURE,8.80822
$TCM_TEMP,6.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,24.7,5.8
$ALTIM_BOTTOM_PING,100.9,6.2
$SC_FREEKB,4012352
$24V_AH,24.53,0.859
$10V_AH,10.37,2.688
$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,68.625,109.000,31.375,0.000,0.000,22.568,23.392,610.682,2.500,0.000,21.974,0.000,1370.937,179.425,1565.636,49.816,33.423,560.578,0.000,652.712,0.000,9.162,0.000
$DEVICE_MAMPS,179.775,88.740,1693.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2311.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,156.181,0.000,0.000,0.000
$MEM,312928
$DATA_FILE_SIZE,13960,453
$CAP_FILE_SIZE,76987,17
$CFSIZE,1023623168,1019609088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010318,061719,4746.288,-12224.862,5,0.9,40,16.3,0.4,337.6,8,3.0