version: 66.14
glider: 403
mission: 4
dive: 9
start: 4 12 118 6 58 46
data:
$ID,403
$MISSION,4
$DIVE,9
$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,15
$R_STBD_OVSHOOT,25
$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
$GPS1,120418,064505,4743.3662,-12224.6924,19,1.0,56,16.3,0.0,36.1,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-54.9
$GPS2,120418,065754,4743.3159,-12224.7197,14,1.1,32,16.3,0.0,0.0,8,6.0
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.023513,0.256580
$KALMAN_X,1885.108643,522.861267,93.895538,-2548.890381,-116.240227
$KALMAN_Y,1331.198242,571.872070,255.535522,-2310.594238,-492.489807
$MHEAD_RNG_PITCHd_Wd,348.9,1271,-17.6,-10.000,-21.21,2208
$D_GRID,176
$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,-146.6,539,1898,1591,3402,0.0,0.0,0,13,0.00,0.00,-4.12,0.000,16390,0.000,0.000,537,1897,2154,2154,4095,0,0,0,0,0,0,26.18,24.86,26.19,8.77,30.15
$GC,14,-1.69,-146.6,538,1898,2159,4095,0.0,0.0,0,40,22.05,2.60,0.00,0.000,2820,0.129,0.057,2325,2872,2169,2169,4094,0,0,0,0,0,0,25.76,25.79,25.83,8.89,29.79
$GC,224,-1.69,-146.6,2325,2873,2167,4094,27.9,-10.0,22,228,0.00,2.58,0.00,0.000,1030,0.000,0.043,2330,1894,2173,2173,4095,0,0,0,0,0,0,26.10,26.06,26.13,8.89,29.95
$GC,294,-1.69,-146.6,2333,1894,2163,4095,34.0,-8.5,29,298,0.00,2.65,0.00,0.000,516,0.000,0.070,2329,923,2166,2166,4095,0,0,0,0,0,0,26.44,26.06,26.44,8.86,29.99
$GC,364,-1.69,-146.6,2331,923,2167,4095,41.1,-10.2,36,368,0.00,2.50,0.00,0.000,1030,0.000,0.039,2330,1898,2168,2168,4095,0,0,0,0,0,0,26.25,26.18,26.25,8.88,30.19
$GC,434,-1.69,-146.6,2329,1899,2171,4095,47.6,-9.7,43,438,0.00,2.67,0.00,0.000,516,0.000,0.068,2334,923,2176,2176,4095,0,0,0,0,0,0,26.46,26.13,26.49,8.89,30.31
$GC,494,-1.69,-146.6,2330,925,2170,4095,54.1,-11.0,49,498,0.00,2.50,0.00,0.000,1030,0.000,0.039,2329,1899,2175,2175,4095,0,0,0,0,0,0,26.32,26.27,26.29,8.88,29.83
$GC,564,-1.69,-146.6,2331,1900,2178,4095,61.2,-10.0,56,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1897,2173,2173,4094,0,0,0,0,0,0,26.48,26.48,26.55,8.96,29.79
$GC,624,-1.69,-146.6,2331,1899,2170,4094,67.2,-10.3,62,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1898,2170,2170,4092,0,0,0,0,0,0,26.55,26.55,26.55,8.89,29.64
$GC,725,-1.69,-146.6,2325,1899,2175,4092,75.5,-9.6,68,746,0.00,2.62,0.00,0.000,516,0.000,0.069,2330,924,2175,2175,4095,0,0,0,0,0,0,26.45,26.15,26.46,8.89,29.68
$GC,841,-1.69,-146.6,2331,925,2176,4095,88.5,-11.7,73,862,0.00,2.53,0.00,0.000,1030,0.000,0.038,2330,1907,2179,2179,4095,0,0,0,0,0,0,26.25,26.21,26.27,8.89,29.87
$GC,977,-1.69,-146.6,2326,1909,2182,4095,102.0,-9.7,80,999,0.00,2.67,0.00,0.000,516,0.000,0.069,2329,920,2182,2182,4095,0,0,0,0,0,0,26.37,26.06,26.38,8.89,30.35
$GC,1052,-1.69,-146.6,2330,924,2184,4095,110.2,-10.9,83,1075,0.00,2.53,0.00,0.000,1030,0.000,0.039,2330,1908,2178,2178,4094,0,0,0,0,0,0,26.17,26.14,26.20,8.90,30.27
$GC,1195,-1.69,-146.6,2328,1904,2187,4094,124.5,-9.1,90,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1903,2186,2186,4095,0,0,0,0,0,0,26.32,26.34,26.34,8.91,29.76
$GC,1340,-1.69,-146.6,2330,1903,2195,4095,139.7,-10.8,97,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1902,2191,2191,4095,0,0,0,0,0,0,26.28,26.30,26.29,8.89,29.36
$GC,1480,-1.69,-146.6,2331,1907,2193,4095,154.7,-10.1,104,1484,0.00,2.58,0.00,0.000,260,0.000,0.063,2330,2869,2191,2191,4094,0,0,0,0,0,0,26.25,24.55,26.26,8.88,29.64
$GC,1630,-1.69,-146.6,2331,2870,2195,4094,168.1,-9.4,110,1652,0.00,2.53,0.00,0.000,1030,0.000,0.043,2331,1903,2194,2194,4091,0,0,0,0,0,0,26.09,26.03,26.09,8.91,30.15
$STATE,1712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1712,begin apogee
$GC,1715,-0.42,0.0,2334,1900,2198,4095,176.3,-9.5,114,1737,4.40,0.00,15.52,1.587,10246,0.080,0.000,2737,1904,1999,1999,4095,0,0,0,0,0,0,26.01,25.29,24.09,8.90,29.44
$STATE,1738,end apogee,CONTROL_FINISHED_OK
$STATE,1738,begin climb
$GC,1738,1.69,146.6,2737,1906,2001,4095,178.6,0.0,118,1765,6.95,2.72,13.20,1.536,10500,0.041,0.057,3398,2870,1835,1835,4095,0,0,0,0,0,0,25.59,25.00,23.85,8.87,29.40
$GC,1806,1.69,146.6,3407,2870,1835,4095,172.4,11.6,125,1810,0.00,2.60,0.00,0.000,1030,0.000,0.044,3407,1904,1834,1834,4094,0,0,0,0,0,0,25.56,25.48,25.54,8.84,29.20
$GC,1876,1.69,146.6,3400,1903,1831,4094,163.6,12.7,132,1882,0.00,2.75,0.00,0.000,516,0.000,0.072,3403,918,1833,1833,4095,0,0,0,0,0,0,26.01,25.65,26.00,8.78,29.76
$GC,1936,1.69,146.6,3401,918,1830,4095,155.4,13.8,138,1940,0.00,2.53,0.00,0.000,1030,0.000,0.040,3399,1882,1829,1829,4094,0,0,0,0,0,0,25.87,25.84,25.90,8.83,29.44
$GC,2006,1.72,169.5,3396,1887,1829,4094,148.6,8.9,145,2010,0.00,0.00,2.97,0.552,8198,0.000,0.000,3400,1886,1813,1813,4094,0,0,0,0,0,0,26.21,25.72,24.71,8.80,29.40
$GC,2066,1.77,205.0,3400,1886,1819,4094,143.1,8.4,151,2072,0.22,0.00,4.62,0.923,10246,0.055,0.000,3429,1885,1771,1771,4091,0,0,0,0,0,0,26.01,25.70,24.65,8.80,29.87
$GC,2126,1.77,205.0,3424,1887,1772,4091,136.6,11.3,157,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1890,1773,1773,4092,0,0,0,0,0,0,26.24,26.25,26.25,8.84,29.60
$GC,2186,1.77,205.0,3425,1893,1764,4092,129.2,12.6,163,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1886,1774,1774,4091,0,0,0,0,0,0,26.32,26.32,26.32,8.76,29.60
$GC,2246,1.77,205.0,3426,1887,1767,4091,121.7,12.5,169,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1887,1768,1768,4094,0,0,0,0,0,0,26.36,26.37,26.39,8.83,30.35
$GC,2306,1.77,205.0,3426,1886,1764,4094,114.1,12.9,175,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1888,1764,1764,4088,0,0,0,0,0,0,26.39,26.40,26.40,8.81,29.44
$GC,2366,1.77,205.0,3425,1887,1762,4088,106.1,13.3,181,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1887,1767,1767,4093,0,0,0,0,0,0,26.43,26.44,26.44,8.90,30.39
$GC,2426,1.77,205.0,3425,1887,1761,4093,98.6,12.4,187,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1887,1762,1762,4092,0,0,0,0,0,0,26.46,26.48,26.46,8.72,30.11
$GC,2486,1.77,205.0,3426,1883,1759,4092,90.9,13.1,193,2490,0.00,2.67,0.00,0.000,516,0.000,0.070,3434,919,1759,1759,4095,0,0,0,0,0,0,26.52,26.15,26.51,8.77,29.79
$GC,2546,1.77,205.0,3421,920,1757,4095,82.4,14.3,199,2550,0.00,2.53,0.00,0.000,1030,0.000,0.040,3429,1902,1754,1754,4093,0,0,0,0,0,0,26.29,26.27,26.32,8.82,29.60
$GC,2616,1.77,205.0,3424,1905,1758,4093,72.9,13.4,206,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1904,1755,1755,4094,0,0,0,0,0,0,26.55,26.55,26.56,8.78,30.31
$GC,2675,1.77,205.0,3424,1904,1755,4094,65.1,13.0,212,2680,0.00,2.72,0.00,0.000,516,0.000,0.070,3423,912,1753,1753,4094,0,0,0,0,0,0,26.59,26.23,26.60,8.78,29.76
$GC,2756,1.77,205.0,3427,915,1748,4094,56.4,13.8,217,2777,0.00,2.53,0.00,0.000,1030,0.000,0.039,3425,1902,1750,1750,4094,0,0,0,0,0,0,26.35,26.32,26.38,8.80,30.11
$GC,2889,1.77,205.0,3425,1904,1747,4094,38.3,13.3,224,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1903,1746,1746,4094,0,0,0,0,0,0,26.47,26.46,26.48,8.79,29.83
$GC,3020,1.77,205.0,3425,1904,1742,4094,21.9,12.1,231,3042,0.00,2.67,0.00,0.000,516,0.000,0.070,3420,922,1743,1743,4094,0,0,0,0,0,0,26.40,26.09,26.41,8.78,29.79
$GC,3091,1.77,205.0,3424,923,1741,4094,13.6,11.7,234,3113,0.00,2.53,0.00,0.000,1030,0.000,0.040,3425,1903,1740,1740,4094,0,0,0,0,0,0,26.20,26.16,26.22,8.79,30.46
$GC,3166,1.80,222.2,3426,1903,1729,4094,4.6,9.2,241,3170,0.00,2.60,0.00,0.000,260,0.000,0.058,3425,2876,1747,1747,4094,0,0,0,0,0,0,26.46,26.11,26.47,8.84,29.60
$GC,3196,1.85,256.9,3426,2872,1738,4094,2.0,8.4,244,3206,0.20,2.55,3.30,0.265,11270,0.046,0.043,3448,1895,1717,1717,4094,0,0,0,0,0,0,26.22,26.17,25.52,8.81,29.64
$STATE,3215,end climb,SURFACE_DEPTH_REACHED
$STATE,3215,begin surface coast
$STATE,3235,end surface coast,CONTROL_FINISHED_OK
$STATE,3235,begin surface
$SM_CCo,3269,9.35,0.504,0,0,1592,371.21
$SM_GC,3.62,29.67,0.00,9.35,0.025,0.000,0.504,539,1895,1592,-7.30,-0.18,371.21,0,0,0,0,0,0,26.22,26.50,25.45
$IRIDIUM_FIX,4808.40,-12337.82,120418,053412
$TT8_MAMPS,0.048685,0.840378
$HUMID,29.48
$INTERNAL_PRESSURE,8.65277
$TCM_TEMP,10.40
$XPDR_PINGS,40
$ALTIM_TOP_PING,19.4,999.0
$SC_FREEKB,3904768
$24V_AH,23.85,3.631
$10V_AH,10.28,4.766
$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,63.500,62.350,39.625,9.350,0.000,38.989,26.286,563.344,177.500,0.000,33.618,0.000,1279.671,160.815,2554.812,59.811,33.426,650.623,0.000,490.028,0.000,1874.850,0.000
$DEVICE_MAMPS,128.520,71.910,1587.375,504.135,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3265.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,72.678,0.000,0.000,0.000
$MEM,312868
$DATA_FILE_SIZE,7043,248
$CAP_FILE_SIZE,104855,0
$CFSIZE,1023623168,1019969536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1877.50,0x23689c,1,24
$GPS,120418,075501,4743.394,-12224.791,39,0.8,72,16.3,0.3,225.0,10,4.9