version: 66.14
glider: 403
mission: 4
dive: 8
start: 4 12 118 5 46 37
data:
$ID,403
$MISSION,4
$DIVE,8
$N_DIVES,20
$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,30
$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,100
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,120418,053218,4743.3008,-12224.3955,8,1.0,22,16.3,0.0,0.0,8,5.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.8
$GPS2,120418,054545,4743.2695,-12224.3496,12,1.0,25,16.3,0.0,0.0,8,6.0
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.085737,0.242971
$KALMAN_X,1846.260742,661.478088,128.891846,-2227.593750,-2.427544
$KALMAN_Y,1819.540894,716.509094,293.970337,-3072.719482,-120.786911
$MHEAD_RNG_PITCHd_Wd,324.3,1465,-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,-146.6,538,1890,1593,3402,0.0,0.0,0,13,0.00,0.00,-4.10,0.000,16390,0.000,0.000,538,1893,2160,2160,4095,0,0,0,0,0,0,26.16,24.82,26.16,8.77,30.19
$GC,14,-1.69,-146.6,540,1894,2160,4095,0.0,0.0,0,38,22.12,0.00,0.00,0.000,2310,0.129,0.000,2326,1892,2162,2162,4094,0,0,0,0,0,0,25.73,25.86,25.84,8.89,30.66
$GC,98,-1.69,-146.6,2329,1895,2165,4094,14.8,-12.4,9,99,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1893,2164,2164,4095,0,0,0,0,0,0,26.23,26.25,26.25,8.90,29.72
$GC,159,-1.69,-146.6,2324,1894,2167,4095,21.7,-11.9,15,163,0.00,2.65,0.00,0.000,260,0.000,0.058,2333,2866,2158,2158,4095,0,0,0,0,0,0,26.30,25.94,26.32,8.90,30.15
$GC,178,-1.69,-146.6,2326,2858,2165,4095,24.0,-12.0,17,183,0.00,2.53,0.00,0.000,1030,0.000,0.044,2330,1899,2166,2166,4095,0,0,0,0,0,0,26.05,26.00,26.06,8.89,30.15
$GC,248,-1.69,-146.6,2324,1906,2167,4095,31.6,-10.6,24,253,0.00,2.72,0.00,0.000,516,0.000,0.070,2325,913,2162,2162,4093,0,0,0,0,0,0,26.38,26.01,26.39,8.89,30.50
$GC,283,-1.69,-146.6,2328,922,2168,4093,34.9,-10.8,27,288,0.00,2.53,0.00,0.000,1030,0.000,0.039,2325,1896,2169,2169,4095,0,0,0,0,0,0,26.15,26.12,26.19,8.89,30.27
$GC,349,-1.69,-146.6,2329,1886,2169,4095,41.9,-9.7,34,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1891,2165,2165,4092,0,0,0,0,0,0,26.45,26.46,26.46,8.89,29.79
$GC,408,-1.69,-146.6,2327,1891,2168,4092,48.0,-10.0,40,413,0.00,2.70,0.00,0.000,516,0.000,0.069,2327,915,2163,2163,4094,0,0,0,0,0,0,26.48,26.12,26.48,8.90,29.95
$GC,448,-1.69,-146.6,2327,914,2171,4094,52.5,-11.4,44,453,0.00,2.53,0.00,0.000,1030,0.000,0.039,2324,1896,2172,2172,4094,0,0,0,0,0,0,26.26,26.23,26.28,8.85,30.07
$GC,518,-1.69,-146.6,2326,1896,2172,4094,59.8,-10.1,51,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1896,2167,2167,4095,0,0,0,0,0,0,26.54,26.55,26.55,8.89,29.87
$GC,579,-1.69,-146.6,2333,1895,2176,4095,66.0,-10.5,57,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1895,2174,2174,4093,0,0,0,0,0,0,26.57,26.58,26.58,8.89,29.91
$GC,671,-1.69,-146.6,2335,1896,2174,4093,74.2,-11.1,63,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1889,2177,2177,4094,0,0,0,0,0,0,26.50,26.52,26.51,8.89,29.68
$GC,801,-1.69,-146.6,2328,1896,2178,4094,88.2,-10.5,70,823,0.00,2.65,0.00,0.000,516,0.000,0.070,2329,920,2179,2179,4091,0,0,0,0,0,0,26.44,26.15,26.44,8.89,29.79
$GC,872,-1.69,-146.6,2326,916,2179,4091,95.7,-10.9,73,893,0.00,2.53,0.00,0.000,1030,0.000,0.040,2328,1899,2186,2186,4095,0,0,0,0,0,0,26.20,26.17,26.25,8.90,29.91
$GC,1013,-1.69,-146.6,2326,1899,2185,4095,110.2,-10.1,80,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1899,2184,2184,4094,0,0,0,0,0,0,26.33,26.35,26.34,8.90,29.91
$GC,1155,-1.69,-146.6,2332,1899,2185,4094,125.4,-11.0,87,1178,0.00,2.67,0.00,0.000,516,0.000,0.069,2326,917,2187,2187,4094,0,0,0,0,0,0,26.31,25.99,26.32,8.90,29.76
$GC,1233,-1.69,-146.6,2322,916,2192,4094,134.5,-11.7,90,1256,0.00,2.55,0.00,0.000,1030,0.000,0.040,2325,1904,2190,2190,4095,0,0,0,0,0,0,26.14,26.09,26.14,8.89,29.99
$GC,1376,-1.69,-146.6,2328,1904,2189,4095,149.8,-10.3,97,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1904,2193,2193,4094,0,0,0,0,0,0,26.28,26.30,26.29,8.90,30.27
$GC,1516,-1.69,-146.6,2325,1905,2202,4094,164.8,-10.7,104,1520,0.00,2.72,0.00,0.000,516,0.000,0.072,2327,911,2196,2196,4094,0,0,0,0,0,0,26.25,25.91,26.26,8.90,29.64
$STATE,1639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1639,begin apogee
$GC,1644,-0.42,0.0,2327,1904,2200,4094,176.0,-8.9,109,1666,4.43,0.00,15.57,1.584,10246,0.081,0.000,2734,1903,2001,2001,4094,0,0,0,0,0,0,25.98,25.29,24.28,8.83,30.15
$STATE,1667,end apogee,CONTROL_FINISHED_OK
$STATE,1667,begin climb
$GC,1668,1.69,146.6,2734,1903,2002,4094,179.0,0.0,113,1693,7.03,2.65,13.25,1.530,10500,0.044,0.057,3399,2878,1837,1837,4092,0,0,0,0,0,0,25.60,24.98,24.01,8.86,29.79
$GC,1837,1.69,146.6,3400,2880,1834,4092,162.1,10.3,131,1842,0.00,2.62,0.00,0.000,1030,0.000,0.043,3399,1893,1833,1833,4092,0,0,0,0,0,0,25.79,25.77,25.86,8.83,29.99
$GC,1907,1.71,159.7,3400,1892,1830,4092,155.7,9.4,138,1912,0.00,2.70,0.43,0.004,8708,0.000,0.071,3398,916,1832,1832,4094,0,0,0,0,0,0,26.15,25.84,26.19,8.83,29.79
$GC,1992,1.71,159.7,3397,910,1832,4094,146.9,11.6,146,1998,0.00,2.55,2.55,0.366,9222,0.000,0.039,3399,1899,1821,1821,4092,0,0,0,0,0,0,26.05,26.01,24.68,8.83,29.28
$GC,2062,1.71,159.7,3400,1896,1821,4092,139.3,10.1,154,2066,0.00,2.72,0.00,0.000,516,0.000,0.070,3398,921,1816,1816,4094,0,0,0,0,0,0,26.33,25.98,26.34,8.82,29.40
$GC,2117,1.71,159.7,3403,921,1820,4094,134.2,10.4,159,2122,0.00,2.50,0.00,0.000,1030,0.000,0.040,3399,1893,1818,1818,4089,0,0,0,0,0,0,26.19,26.11,26.17,8.83,29.79
$GC,2182,1.71,159.7,3398,1893,1817,4089,126.4,11.3,166,2186,0.00,2.62,0.00,0.000,260,0.000,0.057,3398,2867,1821,1821,4094,0,0,0,0,0,0,26.42,26.08,26.44,8.83,29.60
$GC,2242,1.71,159.7,3399,2871,1817,4094,119.0,12.5,172,2246,0.00,2.55,0.00,0.000,1030,0.000,0.043,3399,1896,1809,1809,4091,0,0,0,0,0,0,26.22,26.16,26.23,8.82,29.48
$GC,2312,1.71,159.7,3407,1900,1807,4091,111.0,11.4,179,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1891,1814,1814,4095,0,0,0,0,0,0,26.48,26.51,26.54,8.83,30.54
$GC,2372,1.71,159.7,3401,1896,1811,4095,104.1,11.2,185,2376,0.00,2.67,0.00,0.000,516,0.000,0.072,3399,920,1811,1811,4095,0,0,0,0,0,0,26.55,26.17,26.55,8.82,30.03
$GC,2427,1.71,159.7,3397,920,1809,4095,98.4,11.6,190,2432,0.00,2.47,0.00,0.000,1030,0.000,0.040,3399,1889,1809,1809,4095,0,0,0,0,0,0,26.32,26.28,26.34,8.82,29.76
$GC,2492,1.71,159.7,3399,1888,1808,4095,90.5,11.2,197,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1890,1807,1807,4095,0,0,0,0,0,0,26.58,26.60,26.60,8.80,29.72
$GC,2552,1.71,159.7,3399,1888,1808,4095,84.0,10.6,203,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1892,1806,1806,4095,0,0,0,0,0,0,26.61,26.62,26.63,8.81,29.87
$GC,2612,1.71,164.6,3400,1896,1805,4095,78.0,9.8,209,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1888,1802,1802,4095,0,0,0,0,0,0,26.60,26.63,26.66,8.80,30.82
$GC,2672,1.71,164.6,3394,1889,1805,4095,72.0,10.5,215,2677,0.00,2.67,0.00,0.000,516,0.000,0.071,3399,918,1803,1803,4095,0,0,0,0,0,0,26.63,26.26,26.63,8.79,29.79
$GC,2757,1.71,164.6,3397,918,1803,4095,62.7,11.8,223,2762,0.00,2.53,0.00,0.000,1030,0.000,0.040,3399,1903,1801,1801,4095,0,0,0,0,0,0,26.41,26.36,26.44,8.82,30.50
$GC,2871,1.71,164.6,3398,1904,1799,4095,50.9,11.4,230,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1904,1797,1797,4094,0,0,0,0,0,0,26.53,26.54,26.55,8.82,29.76
$GC,3001,1.71,164.6,3398,1905,1805,4094,36.7,11.2,237,3022,0.00,2.70,0.00,0.000,516,0.000,0.070,3399,913,1793,1793,4094,0,0,0,0,0,0,26.46,26.15,26.47,8.81,30.27
$GC,3212,1.75,189.3,3398,915,1789,4094,16.4,8.9,246,3233,0.12,2.53,0.00,0.000,3078,0.054,0.038,3416,1897,1789,1789,4094,0,0,0,0,0,0,26.20,26.18,26.22,8.82,29.99
$GC,3311,1.83,245.4,3414,1898,1789,4094,7.5,7.4,253,3321,0.28,2.58,5.30,0.427,10500,0.054,0.058,3444,2869,1732,1732,4094,0,0,0,0,0,0,26.23,26.04,25.46,8.81,29.64
$STATE,3370,end climb,SURFACE_DEPTH_REACHED
$STATE,3370,begin surface coast
$STATE,3380,end surface coast,CONTROL_FINISHED_OK
$STATE,3380,begin surface
$SM_CCo,3417,10.27,0.516,0,0,1592,370.28
$SM_GC,2.52,30.12,2.58,10.27,0.034,0.043,0.516,538,1898,1592,-7.30,0.82,370.28,0,0,0,0,0,0,26.18,26.15,25.41
$IRIDIUM_FIX,4808.40,-12337.82,120418,043328
$TT8_MAMPS,0.047936,0.836633
$HUMID,30.19
$INTERNAL_PRESSURE,8.66254
$TCM_TEMP,10.40
$XPDR_PINGS,16
$ALTIM_TOP_PING,18.4,999.0
$SC_FREEKB,3905408
$24V_AH,24.01,3.556
$10V_AH,10.30,4.651
$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,64.100,73.025,37.100,10.275,0.000,24.298,21.259,624.638,180.250,0.000,26.626,0.000,1326.132,165.785,2688.615,61.418,33.424,653.182,0.000,518.234,0.000,1972.645,0.000
$DEVICE_MAMPS,128.520,71.910,1584.315,515.610,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3414.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,73.904,0.000,0.000,0.000
$MEM,312920
$DATA_FILE_SIZE,7057,260
$CAP_FILE_SIZE,107837,0
$CFSIZE,1023623168,1020116992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,120418,064505,4743.366,-12224.692,19,1.0,56,16.3,0.0,36.1,8,6.0