version: 66.14
glider: 404
mission: 1
dive: 20
start: 3 1 118 14 2 28
data:
$ID,404
$MISSION,1
$DIVE,20
$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,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,250
$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,12
$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,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
$GPS1,010318,134837,4742.5894,-12224.9678,4,0.8,12,16.3,0.0,0.0,10,5.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-62.5
$GPS2,010318,140130,4742.6362,-12224.9375,7,0.9,21,16.3,0.0,0.0,9,5.8
$SPEED_LIMITS,0.114,0.292
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.093311,-0.098951
$KALMAN_X,-348.534729,-18.422390,8.578539,-31.268591,-251.396393
$KALMAN_Y,-264.999115,-419.530334,-134.082855,-4106.766113,197.090912
$MHEAD_RNG_PITCHd_Wd,120.4,305,-27.4,-8.000,-30.46,838
$D_GRID,183
$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,-1.89,-44.1,361,1707,1738,409,0.0,0.0,0,12,0.00,0.00,-1.58,0.000,16390,0.000,0.000,367,1707,2064,2064,429,0,0,0,0,0,0,26.40,25.18,26.32,8.93,19.67
$GC,13,-1.89,-44.1,360,1708,2067,429,2.1,0.0,1,42,25.35,0.00,0.00,0.000,2310,0.177,0.000,2161,1706,2056,2056,580,0,0,0,0,0,0,25.91,26.12,26.06,8.94,19.71
$GC,73,-1.89,-44.1,2161,1707,2069,580,13.8,-19.5,13,74,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1706,2066,2066,556,0,0,0,0,0,0,26.40,26.41,26.41,8.95,19.28
$GC,103,-1.89,-44.1,2160,1707,2070,556,20.0,-19.8,19,108,0.00,3.25,0.00,0.000,260,0.000,0.053,2162,2903,2068,2068,565,0,0,0,0,0,0,26.45,26.13,26.46,8.95,19.20
$GC,469,-1.89,-44.1,2162,2904,2079,565,83.8,-16.6,92,474,0.00,3.12,0.00,0.000,1030,0.000,0.046,2162,1710,2078,2078,528,0,0,0,0,0,0,26.58,26.44,26.57,8.95,19.36
$GC,504,-1.89,-44.1,2161,1711,2081,528,90.0,-16.9,99,509,0.00,3.38,0.00,0.000,516,0.000,0.083,2166,498,2078,2078,532,0,0,0,0,0,0,26.74,26.41,26.79,8.95,19.56
$GC,719,-1.89,-44.1,2162,503,2089,532,135.8,-21.4,142,724,0.00,3.08,0.00,0.000,1030,0.000,0.039,2162,1720,2086,2086,877,0,0,0,0,0,0,26.67,26.61,26.68,8.95,19.44
$GC,753,-1.89,-44.1,2161,1715,2089,877,142.5,-21.3,149,759,0.00,3.38,0.00,0.000,516,0.000,0.080,2156,504,2089,2089,669,0,0,0,0,0,0,26.86,26.48,26.89,8.96,19.32
$GC,783,-1.89,-44.1,2161,511,2096,669,148.7,-20.9,155,789,0.00,3.10,0.00,0.000,1030,0.000,0.037,2162,1712,2089,2089,638,0,0,0,0,0,0,26.65,26.63,26.67,8.96,19.79
$GC,818,-1.89,-44.1,2160,1708,2090,638,154.9,-20.1,162,826,0.00,3.40,0.00,0.000,516,0.000,0.081,2162,498,2090,2090,624,0,0,0,0,0,0,26.94,26.50,26.91,8.90,19.75
$STATE,950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,950,begin apogee
$GC,955,-0.33,0.0,2166,1713,2097,886,181.0,-19.4,188,970,6.15,0.00,6.05,1.591,10246,0.127,0.000,2669,1715,2008,2008,4095,0,0,0,0,0,0,26.51,25.91,24.86,9.03,19.24
$STATE,971,end apogee,CONTROL_FINISHED_OK
$STATE,971,begin climb
$GC,972,1.89,44.1,2669,1715,2008,4095,184.3,0.0,192,990,7.38,3.47,4.10,1.232,10756,0.054,0.083,3365,503,1960,1960,4095,0,0,0,0,0,0,26.41,26.16,24.74,8.96,19.36
$GC,1350,1.94,76.1,3367,503,1951,4095,161.6,4.1,268,1360,0.00,3.12,3.40,0.920,9222,0.000,0.037,3361,1722,1919,1919,4095,0,0,0,0,0,0,26.64,26.62,24.98,8.96,19.16
$GC,1390,2.00,115.0,3362,1722,1912,4095,160.3,3.3,276,1400,0.35,3.45,3.70,1.021,10756,0.076,0.082,3399,506,1887,1887,4095,0,0,0,0,0,0,26.48,26.30,24.92,8.95,19.04
$GC,1760,2.00,115.0,3399,507,1880,4095,105.6,16.2,350,1765,0.00,3.08,0.00,0.000,1030,0.000,0.038,3399,1707,1878,1878,549,0,0,0,0,0,0,26.68,26.66,26.70,8.91,18.69
$GC,1795,2.00,115.0,3398,1704,1871,549,100.6,15.9,357,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1708,1885,1885,540,0,0,0,0,0,0,26.88,26.95,26.89,8.94,19.64
$GC,1825,2.00,115.0,3398,1704,1878,540,96.3,15.4,363,1830,0.00,3.38,0.00,0.000,516,0.000,0.083,3393,505,1877,1877,547,0,0,0,0,0,0,26.92,26.54,26.94,8.96,18.77
$GC,1860,2.00,115.0,3399,507,1876,547,90.8,14.8,370,1865,0.00,3.08,0.00,0.000,1030,0.000,0.038,3399,1708,1876,1876,549,0,0,0,0,0,0,26.72,26.67,26.70,8.96,19.12
$GC,1895,2.00,115.0,3393,1716,1875,549,85.5,14.8,377,1900,0.00,3.10,0.00,0.000,260,0.000,0.048,3399,2904,1875,1875,551,0,0,0,0,0,0,26.94,26.60,26.95,8.96,19.28
$GC,2145,2.00,115.0,3407,2899,1869,551,54.0,11.8,427,2150,0.00,3.15,0.00,0.000,1030,0.000,0.048,3399,1706,1880,1880,528,0,0,0,0,0,0,26.74,26.68,26.77,8.90,19.24
$GC,2180,2.00,115.0,3398,1702,1870,528,49.6,12.2,434,2185,0.00,3.33,0.00,0.000,516,0.000,0.085,3399,508,1868,1868,534,0,0,0,0,0,0,26.99,26.66,27.03,8.95,19.04
$GC,2205,2.00,115.0,3400,509,1868,534,46.7,12.3,439,2210,0.00,3.08,0.00,0.000,1030,0.000,0.039,3409,1713,1868,1868,539,0,0,0,0,0,0,26.79,26.77,26.81,8.95,19.95
$GC,2240,2.00,115.0,3400,1714,1867,539,42.8,11.8,446,2245,0.00,3.10,0.00,0.000,260,0.000,0.049,3399,2901,1867,1867,539,0,0,0,0,0,0,27.03,26.70,27.05,9.03,19.87
$GC,2340,2.00,115.0,3400,2902,1866,539,31.4,11.4,466,2345,0.00,3.12,0.00,0.000,1030,0.000,0.047,3399,1709,1865,1865,534,0,0,0,0,0,0,26.77,26.70,26.84,8.90,18.93
$GC,2375,2.00,115.0,3398,1709,1866,534,27.3,11.4,473,2380,0.00,3.35,0.00,0.000,516,0.000,0.087,3398,508,1863,1863,547,0,0,0,0,0,0,27.03,26.65,27.03,8.94,19.16
$GC,2540,2.00,115.0,3399,506,1862,547,10.8,9.5,506,2545,0.00,3.08,0.00,0.000,1030,0.000,0.038,3399,1712,1861,1861,597,0,0,0,0,0,0,26.84,26.82,26.86,9.01,18.57
$GC,2575,2.00,115.0,3397,1709,1869,597,8.1,8.7,513,2580,0.00,3.10,0.00,0.000,260,0.000,0.048,3401,2902,1853,1853,594,0,0,0,0,0,0,27.06,26.74,27.05,8.94,18.53
$STATE,2639,end climb,SURFACE_DEPTH_REACHED
$STATE,2639,begin surface coast
$STATE,2659,end surface coast,CONTROL_FINISHED_OK
$STATE,2659,begin surface
$SM_CCo,2700,6.80,0.568,0,0,1736,250.24
$SM_GC,4.80,33.08,3.17,6.80,0.063,0.047,0.568,360,1703,1736,-7.55,0.41,250.24,0,0,0,0,0,0,26.77,26.75,25.97
$IRIDIUM_FIX,4808.40,-12337.82,010318,130514
$TT8_MAMPS,0.049434,0.390978
$HUMID,18.85
$INTERNAL_PRESSURE,8.81798
$TCM_TEMP,6.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,14.8,5.8
$SC_FREEKB,4005632
$24V_AH,24.74,1.315
$10V_AH,10.34,3.802
$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,72.300,77.000,17.250,6.800,0.000,24.491,18.185,594.213,4.750,0.000,27.765,0.000,1624.626,155.510,1656.093,51.339,33.437,557.500,0.000,761.415,0.000,32.021,0.000
$DEVICE_MAMPS,176.715,87.210,1591.200,567.630,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2699.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,154.528,0.000,0.000,0.000
$MEM,312940
$DATA_FILE_SIZE,17401,530
$CAP_FILE_SIZE,67938,4
$CFSIZE,1023623168,1018380288
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,578.01,0x26edf6,0,24
$INTR,1,673.01,0x26edf2,0,24
$INTR,2,793.23,0x26edaa,0,24
$WARN,PPS timeout
$GPS,010318,144859,4742.616,-12224.764,20,1.3,60,16.3,0.3,22.2,8,22.3