version: 66.14
glider: 403
mission: 4
dive: 4
start: 4 12 118 0 46 7
data:
$ID,403
$MISSION,4
$DIVE,4
$N_DIVES,10
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$D_ABORT,200
$D_NO_BLEED,50
$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,60
$T_MISSION,95
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74303
$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,370
$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,520
$PITCH_MAX,3845
$C_PITCH,2878
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12
$PITCH_TIMEOUT,45
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3840
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,290
$VBD_MAX,3706
$C_VBD,1995
$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,60
$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,-50.784832
$PRESSURE_SLOPE,2.6182999e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.5
$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,97
$COMPASS2_DEVICE,145
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044036745
$SEABIRD_T_H,0.00064191263
$SEABIRD_T_I,2.5792477e-05
$SEABIRD_T_J,3.2129112e-06
$SEABIRD_C_G,-9.8522949
$SEABIRD_C_H,1.1415073
$SEABIRD_C_I,-0.0017661594
$SEABIRD_C_J,0.00021273457
$SEABIRD_C_Z,2942.1799
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,120418,004132,4743.2261,-12224.1611,7,1.0,23,16.3,0.4,20.2,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-58.9
$GPS2,120418,004516,4743.2700,-12224.1299,8,1.0,24,16.3,0.4,26.5,8,6.0
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.128576,-0.223281
$KALMAN_X,516.880127,608.091980,252.297485,-704.441223,50.263672
$KALMAN_Y,574.103638,600.976685,143.042023,-1587.353760,98.557434
$MHEAD_RNG_PITCHd_Wd,193.6,1653,-17.6,-10.000,-21.21,2208
$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,-1.69,-146.6,537,1895,1589,3400,0.0,0.0,0,13,0.00,0.00,-3.92,0.000,16390,0.000,0.000,539,1895,2155,2155,4093,0,0,0,0,0,0,26.56,25.04,26.58,8.79,30.94
$GC,14,-1.69,-146.6,538,1895,2163,4093,0.0,0.0,0,38,21.70,0.00,0.00,0.000,2566,0.129,0.000,2319,1894,2162,2162,4094,0,0,0,0,0,0,26.07,26.23,26.18,8.90,31.72
$GC,99,-1.69,-146.6,2315,1901,2164,4094,12.5,-10.9,9,103,0.00,2.67,0.00,0.000,260,0.000,0.058,2317,2883,2162,2162,4095,0,0,0,0,0,0,26.55,26.16,26.57,8.91,30.98
$GC,143,-1.69,-146.6,2319,2882,2166,4095,16.8,-11.0,13,148,0.00,2.58,0.00,0.000,1030,0.000,0.043,2320,1895,2164,2164,4095,0,0,0,0,0,0,26.29,26.23,26.32,8.90,30.90
$GC,208,-1.69,-146.6,2328,1895,2166,4095,24.5,-11.1,20,213,0.00,2.67,0.00,0.000,516,0.000,0.070,2319,918,2165,2165,4094,0,0,0,0,0,0,26.60,26.20,26.61,8.91,30.78
$GC,328,-1.69,-146.6,2319,919,2170,4094,38.0,-11.5,32,333,0.00,2.53,0.00,0.000,1030,0.000,0.040,2319,1900,2166,2166,4094,0,0,0,0,0,0,26.37,26.32,26.41,8.89,31.05
$GC,399,-1.69,-146.6,2322,1905,2171,4094,45.3,-9.9,39,403,0.00,2.70,0.00,0.000,516,0.000,0.070,2316,923,2170,2170,4095,0,0,0,0,0,0,26.71,26.26,26.68,8.87,31.25
$GC,519,-1.69,-146.6,2317,919,2176,4095,57.6,-9.9,51,523,0.00,2.53,0.00,0.000,1030,0.000,0.039,2323,1908,2166,2166,4094,0,0,0,0,0,0,26.45,26.42,26.50,8.88,31.05
$GC,589,-1.69,-146.6,2321,1909,2185,4094,64.4,-9.9,58,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,1908,2167,2167,4091,0,0,0,0,0,0,26.72,26.74,26.74,8.90,31.45
$GC,648,-1.69,-146.6,2322,1914,2181,4091,70.6,-10.3,64,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1908,2174,2174,4095,0,0,0,0,0,0,26.73,26.76,26.76,8.91,30.94
$GC,708,-1.69,-146.6,2319,1909,2178,4095,77.0,-10.6,70,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1908,2177,2177,4095,0,0,0,0,0,0,26.76,26.76,26.75,8.99,30.98
$GC,769,-1.69,-146.6,2320,1908,2175,4095,83.5,-11.0,76,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1909,2183,2183,4093,0,0,0,0,0,0,26.77,26.78,26.78,8.89,30.82
$GC,831,-1.69,-146.6,2319,1909,2180,4093,90.2,-11.0,82,835,0.00,2.67,0.00,0.000,516,0.000,0.069,2321,919,2179,2179,4091,0,0,0,0,0,0,26.71,26.34,26.72,8.90,31.29
$GC,908,-1.69,-146.6,2320,918,2181,4091,99.3,-12.3,89,913,0.00,2.53,0.00,0.000,1030,0.000,0.039,2320,1908,2181,2181,4095,0,0,0,0,0,0,26.50,26.48,26.54,8.91,30.86
$GC,973,-1.69,-146.6,2318,1908,2186,4095,107.1,-10.8,96,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1907,2183,2183,4095,0,0,0,0,0,0,26.81,26.81,26.79,8.88,30.82
$GC,1034,-1.69,-146.6,2318,1907,2185,4095,113.4,-10.6,102,1038,0.00,2.58,0.00,0.000,260,0.000,0.058,2313,2875,2183,2183,4092,0,0,0,0,0,0,26.81,26.41,26.82,8.91,30.62
$GC,1068,-1.69,-146.6,2320,2874,2185,4092,116.7,-10.7,105,1073,0.00,2.53,0.00,0.000,1030,0.000,0.043,2320,1897,2184,2184,4094,0,0,0,0,0,0,26.53,26.48,26.56,8.90,30.66
$GC,1133,-1.69,-146.6,2320,1898,2186,4094,124.4,-11.1,112,1138,0.00,2.65,0.00,0.000,516,0.000,0.070,2327,918,2186,2186,4094,0,0,0,0,0,0,26.82,26.41,26.82,8.91,30.62
$GC,1163,-1.69,-146.6,2321,918,2187,4094,128.0,-11.8,115,1168,0.00,2.50,0.00,0.000,1030,0.000,0.039,2319,1901,2183,2183,4094,0,0,0,0,0,0,26.55,26.49,26.58,8.85,30.39
$GC,1233,-1.69,-146.6,2319,1902,2191,4094,135.7,-10.8,122,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1902,2189,2189,4094,0,0,0,0,0,0,26.84,26.83,26.84,8.91,30.66
$GC,1294,-1.69,-146.6,2317,1901,2192,4094,141.6,-9.4,128,1298,0.00,2.58,0.00,0.000,260,0.000,0.060,2316,2867,2190,2190,4094,0,0,0,0,0,0,26.84,26.42,26.86,8.88,30.70
$GC,1334,-1.69,-146.6,2318,2870,2188,4094,145.5,-9.8,132,1338,0.00,2.50,0.00,0.000,1030,0.000,0.043,2323,1901,2191,2191,4090,0,0,0,0,0,0,26.54,26.48,26.59,8.91,31.45
$GC,1403,-1.69,-146.6,2319,1902,2195,4090,153.3,-10.8,139,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1902,2192,2192,4094,0,0,0,0,0,0,26.84,26.85,26.86,8.90,31.33
$GC,1464,-1.69,-146.6,2319,1900,2192,4094,158.7,-9.0,145,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1897,2189,2189,4095,0,0,0,0,0,0,26.85,26.87,26.86,8.90,31.41
$GC,1524,-1.69,-146.6,2322,1901,2195,4095,164.4,-9.5,151,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1901,2201,2201,4091,0,0,0,0,0,0,26.86,26.89,26.87,8.88,30.74
$GC,1583,-1.69,-146.6,2320,1901,2196,4091,170.6,-10.4,157,1588,0.00,2.65,0.00,0.000,516,0.000,0.070,2319,921,2196,2196,4094,0,0,0,0,0,0,26.86,26.46,26.87,8.94,31.05
$STATE,1633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1633,begin apogee
$GC,1638,-0.42,0.0,2321,1901,2196,4094,176.0,-11.1,162,1659,4.50,0.00,15.20,1.571,10246,0.080,0.000,2730,1902,2001,2001,4094,0,0,0,0,0,0,26.47,25.77,24.50,8.88,30.42
$STATE,1660,end apogee,CONTROL_FINISHED_OK
$STATE,1660,begin climb
$GC,1661,1.69,146.6,2731,1902,2001,4094,177.1,0.0,164,1683,6.88,0.00,13.02,1.521,10502,0.041,0.000,3398,1901,1836,1836,4094,0,0,0,0,0,0,26.08,25.15,24.32,8.87,30.58
$GC,1743,1.69,146.6,3399,1901,1833,4094,170.0,10.8,173,1748,0.00,2.75,0.00,0.000,516,0.000,0.070,3399,921,1834,1834,4094,0,0,0,0,0,0,26.15,25.77,26.16,8.84,30.74
$GC,1828,1.69,146.6,3398,926,1834,4094,160.7,11.7,181,1833,0.00,2.55,0.00,0.000,1030,0.000,0.040,3399,1903,1832,1832,4095,0,0,0,0,0,0,26.03,25.99,26.06,8.83,30.58
$GC,1894,1.69,146.6,3398,1904,1832,4095,152.1,12.2,188,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1903,1831,1831,4095,0,0,0,0,0,0,26.36,26.38,26.37,8.81,30.39
$GC,1953,1.69,146.6,3400,1903,1828,4095,145.2,11.2,194,1958,0.00,2.62,0.00,0.000,260,0.000,0.057,3400,2874,1829,1829,4094,0,0,0,0,0,0,26.41,26.03,26.43,8.84,30.46
$GC,2118,1.69,146.6,3398,2871,1826,4094,126.8,11.3,210,2123,0.00,2.55,0.00,0.000,1030,0.000,0.043,3398,1895,1825,1825,4094,0,0,0,0,0,0,26.25,26.20,26.27,8.88,30.78
$GC,2183,1.69,146.6,3400,1896,1823,4094,119.3,10.7,217,2188,0.00,2.67,0.00,0.000,516,0.000,0.071,3399,923,1822,1822,4094,0,0,0,0,0,0,26.55,26.17,26.56,8.83,30.42
$GC,2263,1.69,146.6,3398,919,1823,4094,110.0,11.6,225,2268,0.00,2.53,0.00,0.000,1030,0.000,0.039,3402,1902,1821,1821,4094,0,0,0,0,0,0,26.32,26.28,26.36,8.83,30.98
$GC,2333,1.69,146.6,3399,1902,1819,4094,102.2,10.8,232,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,1901,1823,1823,4094,0,0,0,0,0,0,26.62,26.63,26.63,8.82,30.62
$GC,2393,1.69,146.6,3399,1902,1817,4094,95.8,10.8,238,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,1902,1816,1816,4093,0,0,0,0,0,0,26.65,26.69,26.66,8.83,30.78
$GC,2453,1.69,146.6,3399,1902,1815,4093,89.3,11.0,244,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1901,1814,1814,4095,0,0,0,0,0,0,26.66,26.70,26.67,8.83,30.78
$GC,2514,1.69,149.4,3398,1901,1816,4095,83.2,9.9,250,2518,0.00,2.70,0.00,0.000,516,0.000,0.070,3398,918,1814,1814,4094,0,0,0,0,0,0,26.72,26.29,26.69,8.82,30.86
$GC,2558,1.69,149.4,3400,918,1812,4094,79.0,10.5,254,2563,0.00,2.53,0.00,0.000,1030,0.000,0.039,3410,1906,1813,1813,4095,0,0,0,0,0,0,26.43,26.39,26.46,8.83,31.25
$GC,2623,1.69,149.4,3400,1906,1811,4095,71.7,10.4,261,2628,0.00,2.58,0.00,0.000,260,0.000,0.058,3398,2873,1811,1811,4095,0,0,0,0,0,0,26.71,26.33,26.70,8.82,30.27
$GC,2664,1.69,149.4,3398,2873,1808,4095,67.1,11.4,265,2668,0.00,2.53,0.00,0.000,1030,0.000,0.044,3398,1897,1811,1811,4094,0,0,0,0,0,0,26.44,26.39,26.46,8.82,30.50
$GC,2733,1.69,149.4,3397,1901,1811,4094,59.6,10.6,272,2738,0.00,2.67,0.00,0.000,516,0.000,0.070,3399,917,1809,1809,4093,0,0,0,0,0,0,26.74,26.34,26.75,8.82,30.42
$GC,2783,1.69,149.4,3400,920,1808,4093,54.0,11.3,277,2788,0.00,2.53,0.00,0.000,1030,0.000,0.041,3398,1906,1810,1810,4094,0,0,0,0,0,0,26.47,26.44,26.51,8.82,31.17
$GC,2853,1.69,149.4,3397,1907,1807,4094,46.4,10.7,284,2858,0.00,2.70,0.00,0.000,516,0.000,0.070,3406,923,1809,1809,4092,0,0,0,0,0,0,26.75,26.36,26.77,8.79,30.82
$GC,3103,1.70,153.3,3398,921,1801,4092,20.1,9.8,309,3108,0.00,2.50,0.00,0.000,1030,0.000,0.040,3398,1910,1799,1799,4094,0,0,0,0,0,0,26.54,26.51,26.58,8.81,30.62
$GC,3174,1.71,160.9,3399,1907,1798,4094,13.3,9.6,316,3178,0.00,2.70,0.00,0.000,516,0.000,0.070,3398,920,1801,1801,4094,0,0,0,0,0,0,26.81,26.41,26.83,8.82,31.25
$GC,3219,1.75,188.7,3396,919,1802,4094,9.9,8.7,320,3224,0.05,2.47,0.03,0.003,11270,0.082,0.040,3409,1898,1807,1807,4095,0,0,0,0,0,0,26.46,26.52,26.55,8.82,31.21
$GC,3284,1.82,237.9,3407,1896,1798,4095,4.5,7.7,327,3292,0.30,0.00,5.32,0.415,10246,0.051,0.000,3443,1901,1738,1738,4095,0,0,0,0,0,0,26.55,26.32,25.72,8.82,30.42
$STATE,3323,end climb,SURFACE_DEPTH_REACHED
$STATE,3323,begin surface coast
$STATE,3343,end surface coast,CONTROL_FINISHED_OK
$STATE,3343,begin surface
$SM_CCo,3377,10.65,0.525,0,0,1592,370.28
$SM_GC,4.50,29.80,0.00,10.65,0.035,0.000,0.525,536,1895,1592,-7.31,-0.23,370.28,0,0,0,0,0,0,26.48,26.80,25.63
$IRIDIUM_FIX,4808.40,-12337.82,120418,003640
$TT8_MAMPS,0.047936,0.656873
$HUMID,30.62
$INTERNAL_PRESSURE,8.66254
$TCM_TEMP,10.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,6.6
$ALTIM_BOTTOM_PING,90.2,5.7
$SC_FREEKB,3907936
$24V_AH,24.32,3.239
$10V_AH,10.37,4.174
$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,63.225,82.950,33.575,10.650,0.000,0.000,0.000,0.000,1.500,0.000,25.701,0.000,2350.272,180.686,904.076,23.330,32.436,571.768,0.000,685.435,0.000,7.147,0.000
$DEVICE_MAMPS,128.520,71.145,1571.310,524.790,0.000,0.000,0.000,0.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3338.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.750,0.000,0.000,0.000
$MEM,313000
$DATA_FILE_SIZE,10490,333
$CAP_FILE_SIZE,101009,0
$CFSIZE,1023623168,1020706816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1658.03,0x2139ee,2,24
$GPS,120418,014346,4743.090,-12224.253,7,2.1,47,16.3,0.5,30.2,6,14.1