version: 66.14
glider: 404
mission: 1
dive: 23
start: 3 1 118 17 25 14
data:
$ID,404
$MISSION,1
$DIVE,23
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,40
$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,300
$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,13
$R_STBD_OVSHOOT,23
$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,1
$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
$GPS1,010318,170953,4742.8882,-12224.0215,7,0.8,24,16.3,0.3,15.4,11,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-63.0
$GPS2,010318,172416,4742.9941,-12223.9668,7,0.8,17,16.3,0.0,0.0,10,5.7
$SPEED_LIMITS,0.143,0.214
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.081752,-0.197872
$KALMAN_X,752.146118,-183.921158,-86.330101,328.115509,175.575378
$KALMAN_Y,1924.037598,-438.300323,476.880829,-6224.997070,381.286224
$MHEAD_RNG_PITCHd_Wd,186.1,1384,-21.8,-10.000,-25.04,1480
$D_GRID,163
$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,-1.60,-97.8,360,1708,1737,749,0.0,0.0,0,13,0.00,0.00,-1.85,0.000,16390,0.000,0.000,361,1708,2125,2125,732,0,0,0,0,0,0,26.37,25.16,26.34,8.93,19.83
$GC,14,-1.60,-97.8,362,1709,2125,732,2.4,0.0,1,48,26.83,3.40,0.00,0.000,2564,0.177,0.079,2262,509,2126,2126,713,0,0,0,0,0,0,25.89,25.96,25.99,8.92,19.56
$GC,138,-1.60,-97.8,2262,508,2130,713,32.2,-24.0,26,144,0.00,3.15,0.00,0.000,1030,0.000,0.039,2263,1713,2130,2130,594,0,0,0,0,0,0,26.25,26.21,26.27,8.96,19.01
$GC,173,-1.60,-97.8,2262,1715,2132,594,39.7,-23.9,33,174,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1711,2129,2129,586,0,0,0,0,0,0,26.52,26.53,26.52,8.95,19.16
$GC,204,-1.60,-97.8,2262,1715,2133,586,45.9,-23.1,39,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1714,2132,2132,580,0,0,0,0,0,0,26.54,26.56,26.56,8.95,18.93
$GC,233,-1.60,-97.8,2263,1715,2134,580,51.6,-21.8,45,239,0.00,3.45,0.00,0.000,516,0.000,0.083,2262,502,2133,2133,583,0,0,0,0,0,0,26.57,26.20,26.58,8.95,19.64
$GC,308,-1.60,-97.8,2262,507,2136,583,68.4,-21.1,60,314,0.00,3.12,0.00,0.000,1030,0.000,0.038,2263,1709,2135,2135,575,0,0,0,0,0,0,26.41,26.37,26.42,8.95,19.04
$GC,343,-1.60,-97.8,2262,1710,2138,575,75.4,-21.7,67,349,0.00,3.20,0.00,0.000,260,0.000,0.054,2262,2899,2137,2137,580,0,0,0,0,0,0,26.65,26.35,26.67,8.95,19.79
$GC,358,-1.60,-97.8,2263,2900,2137,580,77.9,-21.5,70,364,0.00,3.17,0.00,0.000,1030,0.000,0.047,2263,1707,2137,2137,584,0,0,0,0,0,0,26.39,26.34,26.43,8.96,19.04
$GC,394,-1.60,-97.8,2263,1709,2137,584,83.4,-19.9,77,399,0.00,3.20,0.00,0.000,260,0.000,0.053,2263,2896,2138,2138,585,0,0,0,0,0,0,26.68,26.36,26.70,8.95,19.01
$GC,423,-1.60,-97.8,2263,2900,2141,585,88.3,-18.0,83,429,0.00,3.15,0.00,0.000,1030,0.000,0.046,2263,1709,2138,2138,586,0,0,0,0,0,0,26.44,26.38,26.47,8.96,19.40
$STATE,438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,438,begin apogee
$GC,440,-0.33,0.0,2263,1710,2148,583,90.9,-17.2,86,454,4.90,0.00,7.45,1.180,10246,0.116,0.000,2677,1709,2011,2011,4095,0,0,0,0,0,0,26.32,26.10,25.05,8.96,19.91
$STATE,455,end apogee,CONTROL_FINISHED_OK
$STATE,455,begin climb
$GC,456,1.60,97.8,2669,1709,2013,4095,93.0,0.0,89,471,6.45,0.00,6.47,1.113,10246,0.056,0.000,3274,1709,1907,1907,4095,0,0,0,0,0,0,26.25,25.93,24.89,8.95,19.24
$GC,499,1.60,97.8,3271,1709,1909,4095,90.1,8.7,98,504,0.00,0.00,1.52,0.007,8198,0.000,0.000,3273,1702,1900,1900,625,0,0,0,0,0,0,26.40,26.34,26.30,8.95,19.12
$GC,534,1.60,97.8,3271,1709,1908,625,87.3,8.4,105,535,0.00,0.00,0.17,0.005,8198,0.000,0.000,3273,1708,1900,1900,606,0,0,0,0,0,0,26.46,26.46,26.47,8.95,19.16
$GC,564,1.60,97.8,3274,1706,1904,606,84.7,8.3,111,570,0.00,3.40,1.62,0.006,8708,0.000,0.086,3272,505,1906,1906,593,0,0,0,0,0,0,26.50,26.13,26.39,8.95,19.08
$GC,659,1.61,102.9,3276,501,1905,593,75.3,9.6,130,664,0.00,3.10,0.00,0.000,1030,0.000,0.038,3272,1714,1905,1905,574,0,0,0,0,0,0,26.41,26.33,26.46,8.95,19.01
$GC,694,1.63,114.5,3278,1716,1910,574,73.6,9.2,137,704,0.00,3.10,2.83,0.451,8452,0.000,0.047,3272,2900,1884,1884,4095,0,0,0,0,0,0,26.63,25.93,25.17,8.95,19.44
$GC,799,1.71,171.5,3272,2901,1884,4095,66.4,6.1,158,810,0.35,3.15,4.62,0.799,11270,0.071,0.047,3306,1709,1818,1818,4095,0,0,0,0,0,0,26.37,26.36,25.25,8.94,18.81
$GC,839,1.76,202.9,3304,1709,1824,4095,62.1,7.8,166,850,0.15,3.42,3.05,0.490,10756,0.090,0.085,3319,510,1794,1794,4095,0,0,0,0,0,0,26.34,26.22,25.26,8.94,19.60
$GC,889,1.76,202.9,3320,513,1793,4095,54.3,11.2,176,894,0.00,3.10,0.08,0.008,9222,0.000,0.038,3319,1708,1793,1793,617,0,0,0,0,0,0,26.41,26.39,26.43,8.94,19.44
$GC,924,1.76,202.9,3319,1709,1793,617,49.3,13.5,183,929,0.00,3.42,0.00,0.000,516,0.000,0.084,3320,503,1792,1792,596,0,0,0,0,0,0,26.65,26.27,26.67,8.95,19.12
$GC,1029,1.76,202.9,3318,504,1790,596,32.7,15.6,204,1034,0.00,3.12,0.00,0.000,1030,0.000,0.039,3326,1712,1793,1793,574,0,0,0,0,0,0,26.51,26.48,26.53,8.95,18.93
$GC,1064,1.76,202.9,3320,1713,1788,574,28.3,15.3,211,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1713,1791,1791,578,0,0,0,0,0,0,26.74,26.77,26.77,8.94,19.36
$GC,1094,1.76,202.9,3319,1713,1789,578,24.4,14.4,217,1099,0.00,3.12,0.00,0.000,260,0.000,0.050,3319,2896,1786,1786,571,0,0,0,0,0,0,26.79,26.44,26.78,9.04,19.56
$GC,1174,1.76,202.9,3320,2898,1786,571,13.6,13.2,233,1179,0.00,3.15,0.00,0.000,1030,0.000,0.048,3320,1710,1785,1785,650,0,0,0,0,0,0,26.60,26.48,26.61,8.94,19.28
$GC,1209,1.76,202.9,3319,1712,1784,650,8.5,13.6,240,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1711,1784,1784,612,0,0,0,0,0,0,26.82,26.83,26.83,8.89,19.20
$GC,1239,1.76,202.9,3320,1712,1785,612,4.2,14.0,246,1244,0.00,3.38,0.00,0.000,516,0.000,0.086,3320,507,1783,1783,596,0,0,0,0,0,0,26.82,26.44,26.84,8.94,19.16
$STATE,1258,end climb,SURFACE_DEPTH_REACHED
$STATE,1258,begin surface coast
$STATE,1268,end surface coast,CONTROL_FINISHED_OK
$STATE,1268,begin surface
$SM_CCo,1308,5.95,0.537,0,0,1682,300.10
$SM_GC,4.23,31.77,3.15,5.95,0.050,0.040,0.537,360,1716,1682,-7.55,-1.23,300.10,0,0,0,0,0,0,26.55,26.60,25.77
$IRIDIUM_FIX,4807.77,-12056.72,010318,160450
$TT8_MAMPS,0.050932,0.32207
$HUMID,19.04
$INTERNAL_PRESSURE,8.82775
$TCM_TEMP,6.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.9,12.1
$24V_AH,24.89,1.487
$10V_AH,10.44,4.218
$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,70.450,64.475,27.825,5.950,0.000,23.588,17.920,673.264,0.250,0.000,24.228,0.000,690.146,151.231,1286.476,54.117,33.435,382.924,0.000,368.478,0.000,5.016,0.000
$DEVICE_MAMPS,176.715,86.445,1180.395,537.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1319.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,149.332,0.000,0.000,0.000
$MEM,312940
$DATA_FILE_SIZE,7034,252
$CAP_FILE_SIZE,52698,3
$CFSIZE,1023623168,1017905152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010318,174748,4742.975,-12223.933,8,0.8,16,16.3,0.3,0.0,10,5.8