version: 66.14
glider: 403
mission: 4
dive: 6
start: 4 12 118 3 8 23
data:
$ID,403
$MISSION,4
$DIVE,6
$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,10
$R_STBD_OVSHOOT,18
$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
$GPS1,120418,025556,4743.0615,-12224.2256,8,0.9,28,16.3,0.4,24.3,8,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.8
$GPS2,120418,030731,4743.1704,-12224.1387,9,1.1,46,16.3,0.4,33.5,8,5.0
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.119452,-0.228292
$KALMAN_X,1216.935425,811.974609,95.419937,-1453.624512,171.054245
$KALMAN_Y,1568.375488,860.887756,138.597610,-3004.119141,425.263611
$MHEAD_RNG_PITCHd_Wd,191.3,1490,-17.6,-10.000,-21.21,2208
$D_GRID,174
$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,-146.6,525,1901,1591,3401,0.0,0.0,0,13,0.00,0.00,-4.10,0.000,16390,0.000,0.000,524,1902,2163,2163,4095,0,0,0,0,0,0,26.26,24.79,26.20,8.78,30.90
$GC,14,-1.69,-146.6,524,1901,2162,4095,0.0,0.0,0,40,22.08,2.60,0.00,0.000,2308,0.128,0.057,2320,2880,2165,2165,4094,0,0,0,0,0,0,25.77,25.82,25.84,8.90,31.13
$GC,54,-1.69,-146.6,2324,2877,2162,4094,7.6,-16.1,5,58,0.00,2.62,0.00,0.000,1030,0.000,0.043,2325,1890,2161,2161,4094,0,0,0,0,0,0,25.94,25.89,25.97,8.86,30.39
$GC,124,-1.69,-146.6,2325,1891,2165,4094,16.6,-13.0,12,128,0.00,2.72,0.00,0.000,516,0.000,0.070,2325,908,2164,2164,4095,0,0,0,0,0,0,26.30,25.92,26.32,8.90,30.15
$GC,164,-1.69,-146.6,2326,908,2164,4095,21.8,-13.0,16,168,0.00,2.58,0.00,0.000,1030,0.000,0.040,2326,1900,2168,2168,4095,0,0,0,0,0,0,26.08,26.05,26.10,8.90,29.87
$GC,234,-1.69,-146.6,2324,1907,2164,4095,29.3,-10.2,23,238,0.00,2.72,0.00,0.000,516,0.000,0.070,2325,918,2166,2166,4095,0,0,0,0,0,0,26.40,26.02,26.41,8.90,30.35
$GC,274,-1.69,-146.6,2325,918,2169,4095,33.9,-11.8,27,278,0.00,2.53,0.00,0.000,1030,0.000,0.040,2325,1894,2167,2167,4095,0,0,0,0,0,0,26.17,26.14,26.20,8.90,29.95
$GC,344,-1.69,-146.6,2326,1894,2167,4095,40.9,-9.2,34,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1894,2168,2168,4094,0,0,0,0,0,0,26.47,26.48,26.47,8.87,30.27
$GC,404,-1.69,-146.6,2326,1894,2169,4094,46.4,-9.3,40,408,0.00,2.70,0.00,0.000,516,0.000,0.070,2325,925,2170,2170,4095,0,0,0,0,0,0,26.51,26.12,26.52,8.89,30.11
$GC,459,-1.69,-146.6,2326,919,2170,4095,51.7,-10.7,45,464,0.00,2.55,0.00,0.000,1030,0.000,0.039,2325,1909,2171,2171,4095,0,0,0,0,0,0,26.28,26.23,26.31,8.89,30.58
$GC,524,-1.69,-146.6,2326,1909,2171,4095,58.6,-9.4,52,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1908,2168,2168,4095,0,0,0,0,0,0,26.56,26.57,26.63,8.90,30.74
$GC,584,-1.69,-146.6,2326,1909,2173,4095,64.1,-9.3,58,588,0.00,2.72,0.00,0.000,516,0.000,0.069,2322,913,2168,2168,4094,0,0,0,0,0,0,26.59,26.21,26.57,8.89,30.19
$GC,659,-1.69,-146.6,2326,916,2168,4094,70.1,-10.1,64,680,0.00,2.47,0.00,0.000,1030,0.000,0.039,2329,1896,2171,2171,4095,0,0,0,0,0,0,26.36,26.31,26.39,8.86,29.79
$GC,793,-1.69,-146.6,2324,1897,2179,4095,82.8,-9.5,71,815,0.00,2.65,0.00,0.000,516,0.000,0.070,2325,922,2178,2178,4095,0,0,0,0,0,0,26.50,26.18,26.51,8.90,30.50
$GC,867,-1.69,-146.6,2325,921,2180,4095,90.4,-10.2,74,891,0.00,2.50,0.00,0.000,1030,0.000,0.040,2326,1909,2180,2180,4095,0,0,0,0,0,0,26.29,26.25,26.35,8.90,29.64
$GC,1011,-1.69,-146.6,2326,1907,2186,4095,106.0,-10.6,81,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1906,2183,2183,4095,0,0,0,0,0,0,26.48,26.46,26.46,8.90,29.87
$GC,1155,-1.69,-146.6,2326,1907,2186,4095,121.1,-10.4,88,1159,0.00,2.70,0.00,0.000,516,0.000,0.073,2328,921,2185,2185,4095,0,0,0,0,0,0,26.41,25.98,26.42,8.89,30.27
$GC,1207,-1.69,-146.6,2327,915,2181,4095,126.4,-10.5,90,1229,0.00,2.53,0.00,0.000,1030,0.000,0.039,2328,1896,2184,2184,4095,0,0,0,0,0,0,26.21,26.17,26.24,8.90,29.87
$GC,1352,-1.69,-146.6,2324,1896,2192,4095,141.9,-11.0,97,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1896,2190,2190,4095,0,0,0,0,0,0,26.37,26.39,26.39,8.90,30.23
$GC,1495,-1.69,-146.6,2330,1895,2196,4095,156.9,-9.9,104,1499,0.00,2.58,0.00,0.000,260,0.000,0.058,2326,2869,2203,2203,4095,0,0,0,0,0,0,26.37,26.06,26.37,8.90,29.68
$GC,1547,-1.69,-146.6,2324,2871,2203,4095,162.3,-10.2,106,1569,0.00,2.55,0.00,0.000,1030,0.000,0.044,2325,1897,2196,2196,4095,0,0,0,0,0,0,26.15,26.10,26.18,8.93,30.27
$STATE,1672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1672,begin apogee
$GC,1674,-0.42,0.0,2324,1898,2199,4094,175.0,-9.0,112,1696,4.43,0.00,15.82,1.582,10246,0.081,0.000,2735,1897,1993,1993,4095,0,0,0,0,0,0,26.06,25.36,24.20,8.94,29.87
$STATE,1697,end apogee,CONTROL_FINISHED_OK
$STATE,1697,begin climb
$GC,1698,1.69,146.6,2734,1897,1995,4095,177.7,0.0,116,1724,6.97,2.75,12.40,1.514,10500,0.042,0.057,3395,2869,1840,1840,4094,0,0,0,0,0,0,25.65,25.07,23.94,8.87,29.95
$GC,1760,1.69,149.1,3399,2867,1840,4094,173.3,9.9,122,1766,0.00,2.60,2.15,0.145,9222,0.000,0.044,3399,1902,1836,1836,4094,0,0,0,0,0,0,25.56,25.51,24.16,8.94,29.60
$GC,1830,1.69,149.1,3400,1902,1835,4094,164.5,11.9,130,1834,0.00,2.78,0.00,0.000,516,0.000,0.071,3397,913,1834,1834,4095,0,0,0,0,0,0,26.05,25.67,26.03,8.85,29.56
$GC,1919,1.69,149.1,3401,913,1833,4095,154.9,11.3,139,1924,0.00,2.58,0.00,0.000,1030,0.000,0.039,3400,1898,1832,1832,4094,0,0,0,0,0,0,25.94,25.90,25.97,8.83,29.95
$GC,1990,1.73,176.2,3399,1897,1828,4094,148.3,8.7,146,1999,0.00,2.67,3.53,0.718,8452,0.000,0.055,3399,2876,1810,1810,4094,0,0,0,0,0,0,26.27,25.75,24.72,8.83,29.48
$GC,2039,1.73,176.2,3399,2877,1808,4094,142.4,12.4,151,2044,0.00,2.60,0.12,0.007,9222,0.000,0.044,3406,1891,1801,1801,4093,0,0,0,0,0,0,26.01,25.96,26.03,8.83,29.72
$GC,2110,1.73,176.2,3401,1891,1803,4093,134.8,11.0,158,2111,0.08,0.00,0.00,0.000,2054,0.103,0.000,3408,1889,1813,1813,4094,0,0,0,0,0,0,26.13,26.19,26.15,8.87,29.76
$GC,2170,1.73,176.2,3410,1890,1803,4094,128.0,11.3,164,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1891,1802,1802,4094,0,0,0,0,0,0,26.37,26.41,26.41,8.83,30.07
$GC,2230,1.73,176.2,3410,1892,1802,4094,121.9,10.1,170,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1890,1800,1800,4094,0,0,0,0,0,0,26.44,26.46,26.46,8.85,29.83
$GC,2290,1.73,176.2,3411,1891,1801,4094,115.4,10.9,176,2294,0.00,2.67,0.00,0.000,516,0.000,0.070,3414,919,1803,1803,4094,0,0,0,0,0,0,26.48,26.13,26.51,8.81,29.83
$GC,2354,1.73,176.2,3413,919,1797,4094,108.2,12.3,182,2359,0.00,2.53,0.00,0.000,1030,0.000,0.040,3411,1901,1797,1797,4094,0,0,0,0,0,0,26.32,26.24,26.29,8.85,29.87
$GC,2420,1.73,176.2,3411,1901,1798,4094,99.7,12.3,189,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1899,1795,1795,4094,0,0,0,0,0,0,26.55,26.56,26.55,8.81,30.03
$GC,2480,1.73,176.2,3405,1900,1792,4094,92.4,12.0,195,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1900,1793,1793,4094,0,0,0,0,0,0,26.57,26.60,26.57,8.81,29.83
$GC,2540,1.73,176.2,3410,1900,1794,4094,85.4,11.7,201,2544,0.00,2.70,0.00,0.000,516,0.000,0.071,3412,920,1792,1792,4095,0,0,0,0,0,0,26.60,26.22,26.61,8.82,30.11
$GC,2584,1.73,176.2,3412,920,1791,4095,80.5,12.3,205,2589,0.00,2.50,0.00,0.000,1030,0.000,0.040,3407,1898,1790,1790,4094,0,0,0,0,0,0,26.35,26.34,26.39,8.81,30.42
$GC,2650,1.73,176.2,3414,1902,1787,4094,72.4,11.5,212,2654,0.00,2.70,0.00,0.000,516,0.000,0.071,3408,919,1794,1794,4094,0,0,0,0,0,0,26.60,26.26,26.66,8.87,30.11
$GC,2699,1.73,176.2,3411,918,1789,4094,66.3,12.2,217,2704,0.00,2.47,0.00,0.000,1030,0.000,0.040,3423,1885,1787,1787,4092,0,0,0,0,0,0,26.41,26.36,26.42,8.81,30.42
$GC,2794,1.73,176.2,3411,1888,1779,4092,57.2,11.7,224,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1888,1785,1785,4095,0,0,0,0,0,0,26.63,26.63,26.63,8.84,30.39
$GC,2925,1.73,176.2,3408,1887,1778,4095,41.8,11.9,231,2947,0.00,2.62,0.00,0.000,516,0.000,0.071,3411,918,1781,1781,4094,0,0,0,0,0,0,26.55,26.24,26.57,8.80,30.27
$GC,3022,1.73,176.2,3412,918,1778,4094,29.9,12.3,235,3043,0.00,2.53,0.00,0.000,1030,0.000,0.038,3405,1902,1784,1784,4095,0,0,0,0,0,0,26.35,26.31,26.37,8.81,30.66
$GC,3156,1.74,181.9,3410,1903,1777,4095,16.5,9.7,242,3178,0.00,2.67,0.00,0.000,516,0.000,0.071,3409,920,1776,1776,4090,0,0,0,0,0,0,26.47,26.17,26.48,8.81,30.15
$GC,3234,1.75,187.2,3420,920,1773,4090,7.7,9.8,247,3239,0.00,2.53,0.00,0.000,1030,0.000,0.039,3420,1905,1773,1773,4095,0,0,0,0,0,0,26.32,26.31,26.35,8.81,30.07
$GC,3299,1.85,253.6,3412,1903,1771,4095,3.0,6.9,254,3306,0.35,0.00,5.20,0.402,10246,0.053,0.000,3447,1904,1718,1718,4092,0,0,0,0,0,0,26.32,26.12,25.56,8.81,30.19
$STATE,3319,end climb,SURFACE_DEPTH_REACHED
$STATE,3319,begin surface coast
$STATE,3339,end surface coast,CONTROL_FINISHED_OK
$STATE,3339,begin surface
$SM_CCo,3374,9.48,0.507,0,0,1591,370.28
$SM_GC,2.66,29.83,0.00,9.48,0.028,0.000,0.507,524,1906,1591,-7.34,0.23,370.28,0,0,0,0,0,0,26.31,26.58,25.48
$IRIDIUM_FIX,4808.40,-12337.82,120418,014542
$TT8_MAMPS,0.049434,0.692076
$HUMID,29.56
$INTERNAL_PRESSURE,8.66254
$TCM_TEMP,10.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.4,999.0
$SC_FREEKB,3906656
$24V_AH,23.94,3.389
$10V_AH,10.33,4.411
$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,63.725,83.625,39.225,9.475,0.000,23.335,20.352,507.012,171.000,0.000,47.859,0.000,1300.816,173.184,2551.534,60.515,33.428,687.075,0.000,504.158,0.000,1929.409,0.000
$DEVICE_MAMPS,127.755,72.675,1582.020,507.195,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3365.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,72.845,0.000,0.000,0.000
$MEM,312956
$DATA_FILE_SIZE,7086,258
$CAP_FILE_SIZE,111060,0
$CFSIZE,1023623168,1020395520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120418,040549,4742.882,-12224.277,8,0.9,39,16.3,0.0,0.0,9,4.9