version: 66.14
glider: 403
mission: 4
dive: 5
start: 4 12 118 1 59 42
data:
$ID,403
$MISSION,4
$DIVE,5
$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,18
$R_STBD_OVSHOOT,20
$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
$GPS1,120418,014346,4743.0898,-12224.2529,7,2.1,47,16.3,0.5,30.2,6,14.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-56.0
$GPS2,120418,015850,4743.2734,-12224.0996,9,0.9,48,16.3,0.5,31.5,9,5.9
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.117656,-0.229223
$KALMAN_X,896.049438,799.419983,100.402473,-1079.952026,139.889633
$KALMAN_Y,1142.290771,851.701904,4.533699,-2251.144043,353.518036
$MHEAD_RNG_PITCHd_Wd,190.9,1678,-17.6,-10.000,-21.21,2208
$D_GRID,172
$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,-146.6,535,1895,1590,3401,0.0,0.0,0,13,0.00,0.00,-4.00,0.000,16390,0.000,0.000,532,1901,2162,2162,4095,0,0,0,0,0,0,26.23,24.75,26.23,8.78,30.54
$GC,14,-1.69,-146.6,536,1896,2161,4095,0.0,0.0,0,38,22.02,0.00,0.00,0.000,2822,0.126,0.000,2323,1895,2166,2166,4093,0,0,0,0,0,0,25.78,25.92,25.87,8.91,30.66
$GC,98,-1.69,-146.6,2327,1896,2164,4093,12.2,-12.4,9,103,0.00,2.67,0.00,0.000,260,0.000,0.060,2328,2877,2155,2155,4091,0,0,0,0,0,0,26.29,25.91,26.30,8.90,30.82
$GC,153,-1.69,-146.6,2327,2878,2172,4091,17.6,-10.6,14,158,0.00,2.58,0.00,0.000,1030,0.000,0.042,2334,1905,2164,2164,4095,0,0,0,0,0,0,26.10,26.02,26.10,8.97,30.86
$GC,219,-1.69,-146.6,2329,1900,2165,4095,24.5,-9.5,21,223,0.00,2.72,0.00,0.000,516,0.000,0.070,2325,913,2173,2173,4088,0,0,0,0,0,0,26.40,26.01,26.41,8.87,30.46
$GC,338,-1.69,-146.6,2329,921,2176,4088,37.4,-11.0,33,343,0.00,2.55,0.00,0.000,1030,0.000,0.039,2327,1905,2166,2166,4084,0,0,0,0,0,0,26.22,26.18,26.26,8.90,30.23
$GC,409,-1.69,-146.6,2318,1897,2167,4084,43.5,-8.2,40,413,0.00,2.72,0.00,0.000,516,0.000,0.069,2328,915,2169,2169,4093,0,0,0,0,0,0,26.51,26.14,26.54,8.96,30.27
$GC,473,-1.69,-146.6,2326,917,2174,4093,49.7,-10.7,46,478,0.00,2.53,0.00,0.000,1030,0.000,0.039,2328,1893,2170,2170,4095,0,0,0,0,0,0,26.29,26.25,26.32,8.86,29.99
$GC,539,-1.69,-146.6,2329,1895,2170,4095,56.6,-9.7,53,543,0.00,2.70,0.00,0.000,516,0.000,0.069,2325,914,2171,2171,4095,0,0,0,0,0,0,26.63,26.22,26.60,8.83,30.50
$GC,594,-1.69,-146.6,2327,914,2174,4095,62.2,-11.4,58,598,0.00,2.55,0.00,0.000,1030,0.000,0.039,2329,1901,2173,2173,4087,0,0,0,0,0,0,26.34,26.32,26.39,8.87,30.27
$GC,658,-1.69,-146.6,2327,1907,2176,4087,69.7,-10.5,65,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1906,2174,2174,4095,0,0,0,0,0,0,26.63,26.65,26.63,8.90,30.07
$GC,776,-1.69,-146.6,2327,1907,2179,4095,80.2,-10.4,71,797,0.00,2.67,0.00,0.000,516,0.000,0.069,2328,915,2177,2177,4094,0,0,0,0,0,0,26.55,26.20,26.55,8.90,30.23
$GC,824,-1.69,-146.6,2326,915,2180,4094,85.2,-10.5,73,847,0.00,2.55,0.00,0.000,1030,0.000,0.038,2328,1911,2179,2179,4093,0,0,0,0,0,0,26.31,26.27,26.34,8.93,30.58
$GC,969,-1.69,-146.6,2329,1907,2178,4093,101.3,-10.9,80,992,0.00,2.67,0.00,0.000,516,0.000,0.068,2325,916,2178,2178,4095,0,0,0,0,0,0,26.47,26.18,26.48,8.90,30.11
$GC,1020,-1.69,-146.6,2329,918,2181,4095,106.8,-11.2,82,1042,0.00,2.50,0.00,0.000,1030,0.000,0.039,2329,1889,2183,2183,4095,0,0,0,0,0,0,26.27,26.22,26.30,9.01,30.19
$GC,1166,-1.69,-146.6,2327,1890,2188,4095,122.8,-10.7,89,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1890,2186,2186,4095,0,0,0,0,0,0,26.41,26.43,26.42,8.90,30.11
$GC,1307,-1.69,-146.6,2328,1890,2191,4095,138.3,-10.5,96,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1890,2189,2189,4095,0,0,0,0,0,0,26.38,26.39,26.40,8.91,29.83
$GC,1451,-1.69,-146.6,2328,1891,2194,4095,153.0,-10.3,103,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1890,2193,2193,4095,0,0,0,0,0,0,26.37,26.39,26.38,8.91,29.72
$GC,1591,-1.69,-146.6,2328,1890,2198,4095,168.1,-11.2,110,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1890,2196,2196,4095,0,0,0,0,0,0,26.36,26.39,26.38,8.90,30.07
$STATE,1633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1633,begin apogee
$GC,1636,-0.42,0.0,2330,1890,2195,4094,172.4,-10.6,112,1658,4.40,0.00,15.43,1.561,10246,0.080,0.000,2739,1896,2000,2000,4091,0,0,0,0,0,0,26.06,25.37,24.34,8.91,29.87
$STATE,1659,end apogee,CONTROL_FINISHED_OK
$STATE,1659,begin climb
$GC,1659,1.69,146.6,2737,1890,2001,4091,175.4,0.0,116,1686,6.90,2.75,12.60,1.497,10500,0.041,0.057,3399,2873,1847,1847,4094,0,0,0,0,0,0,25.67,25.13,24.02,8.87,29.87
$GC,1726,1.69,146.8,3398,2874,1844,4094,170.2,10.0,123,1731,0.00,2.65,0.75,0.005,9222,0.000,0.043,3398,1891,1843,1843,4094,0,0,0,0,0,0,25.60,25.58,25.61,8.88,29.56
$GC,1791,1.71,162.0,3398,1894,1842,4094,164.0,9.3,129,1800,0.00,2.70,2.95,0.558,8708,0.000,0.070,3399,911,1827,1827,4094,0,0,0,0,0,0,26.03,25.28,24.46,8.90,29.52
$GC,1856,1.72,166.2,3398,911,1827,4094,158.2,9.8,135,1862,0.00,2.58,1.67,0.004,9222,0.000,0.040,3394,1899,1824,1824,4094,0,0,0,0,0,0,25.91,25.86,25.92,8.83,29.40
$GC,1926,1.72,168.9,3398,1900,1825,4094,150.7,9.9,143,1933,0.00,2.62,2.80,0.477,8452,0.000,0.056,3398,2872,1805,1805,4094,0,0,0,0,0,0,26.25,25.46,24.56,8.86,30.23
$GC,2066,1.74,185.6,3398,2874,1810,4094,136.7,9.2,156,2075,0.12,2.55,2.95,0.505,11270,0.055,0.044,3415,1905,1793,1793,4095,0,0,0,0,0,0,26.08,26.04,24.76,8.78,30.31
$GC,2141,1.74,185.6,3413,1905,1789,4095,128.6,10.9,164,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1906,1797,1797,4094,0,0,0,0,0,0,26.40,26.39,26.41,8.83,29.95
$GC,2201,1.74,185.6,3414,1906,1791,4094,121.9,11.0,170,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1905,1790,1790,4094,0,0,0,0,0,0,26.45,26.44,26.46,8.83,30.11
$GC,2261,1.74,185.6,3413,1905,1789,4094,115.3,10.8,176,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1905,1788,1788,4095,0,0,0,0,0,0,26.48,26.49,26.47,8.83,30.03
$GC,2321,1.74,185.6,3413,1904,1789,4095,108.7,11.3,182,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1904,1786,1786,4095,0,0,0,0,0,0,26.52,26.51,26.53,8.88,30.11
$GC,2381,1.74,185.6,3415,1905,1784,4095,101.9,11.2,188,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1903,1784,1784,4093,0,0,0,0,0,0,26.55,26.57,26.58,8.82,29.95
$GC,2441,1.74,185.6,3416,1905,1782,4093,95.1,11.4,194,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1905,1781,1781,4094,0,0,0,0,0,0,26.58,26.60,26.59,8.83,29.95
$GC,2501,1.74,185.6,3410,1906,1793,4094,88.4,11.2,200,2506,0.00,2.72,0.00,0.000,516,0.000,0.070,3414,910,1781,1781,4094,0,0,0,0,0,0,26.60,26.20,26.62,8.81,29.79
$GC,2571,1.74,185.6,3415,911,1779,4094,79.9,12.3,207,2576,0.00,2.53,0.00,0.000,1030,0.000,0.041,3414,1895,1778,1778,4095,0,0,0,0,0,0,26.37,26.33,26.39,8.82,30.19
$GC,2641,1.74,185.6,3415,1895,1777,4095,71.3,12.1,214,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1895,1777,1777,4093,0,0,0,0,0,0,26.66,26.66,26.67,8.87,30.11
$GC,2701,1.74,185.6,3415,1896,1775,4093,64.3,11.6,220,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1895,1776,1776,4088,0,0,0,0,0,0,26.67,26.67,26.67,8.82,30.15
$GC,2794,1.74,185.6,3414,1896,1775,4088,55.2,12.0,226,2815,0.00,2.65,0.00,0.000,516,0.000,0.072,3408,908,1783,1783,4090,0,0,0,0,0,0,26.60,26.29,26.62,8.81,30.15
$GC,2864,1.74,185.6,3416,912,1770,4090,46.5,12.6,229,2886,0.00,2.55,0.00,0.000,1030,0.000,0.039,3422,1908,1771,1771,4092,0,0,0,0,0,0,26.40,26.35,26.41,8.82,30.27
$GC,3000,1.74,185.6,3413,1910,1769,4092,29.3,12.8,236,3021,0.00,2.70,0.00,0.000,516,0.000,0.070,3414,911,1766,1766,4095,0,0,0,0,0,0,26.51,26.22,26.54,8.86,30.07
$GC,3116,1.74,185.6,3415,911,1764,4095,15.9,11.3,241,3137,0.00,2.50,0.00,0.000,1030,0.000,0.040,3414,1901,1763,1763,4095,0,0,0,0,0,0,26.32,26.30,26.35,8.81,29.83
$GC,3207,1.82,233.1,3413,1901,1762,4095,6.3,7.8,248,3212,0.22,0.00,2.75,0.199,10246,0.056,0.000,3441,1899,1746,1746,4094,0,0,0,0,0,0,26.35,26.13,25.53,8.81,29.95
$STATE,3256,end climb,SURFACE_DEPTH_REACHED
$STATE,3257,begin surface coast
$STATE,3277,end surface coast,CONTROL_FINISHED_OK
$STATE,3277,begin surface
$SM_CCo,3311,11.18,0.524,0,0,1592,370.28
$SM_GC,2.93,29.58,0.00,11.18,0.026,0.000,0.524,524,1900,1592,-7.34,0.00,370.28,0,0,0,0,0,0,26.32,26.62,25.48
$IRIDIUM_FIX,4808.40,-12337.82,120418,004211
$TT8_MAMPS,0.046438,0.8239
$HUMID,30.27
$INTERNAL_PRESSURE,8.6723
$TCM_TEMP,10.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,999.0
$SC_FREEKB,3907296
$24V_AH,24.02,3.320
$10V_AH,10.23,4.293
$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,63.250,62.925,41.900,11.175,0.000,22.399,24.747,698.710,163.000,0.000,50.058,0.000,1327.183,163.484,2679.003,63.963,33.435,677.890,0.000,497.025,0.000,1838.735,0.000
$DEVICE_MAMPS,126.225,71.910,1561.365,524.025,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3313.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.261,0.000,0.000,0.000
$MEM,313004
$DATA_FILE_SIZE,7080,255
$CAP_FILE_SIZE,106123,0
$CFSIZE,1023623168,1020526592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120418,025556,4743.062,-12224.226,8,0.9,28,16.3,0.4,24.3,8,5.8