version: 66.14
glider: 403
mission: 4
dive: 10
start: 4 12 118 8 8 22
data:
$ID,403
$MISSION,4
$DIVE,10
$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,75
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,23
$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,15
$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,5
$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
$GPS1,120418,075501,4743.3936,-12224.7910,39,0.8,72,16.3,0.3,225.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-54.7
$GPS2,120418,080730,4743.3462,-12224.9131,9,0.8,25,16.3,0.3,254.3,10,5.7
$SPEED_LIMITS,0.100,0.204
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.076711,0.188583
$KALMAN_X,1800.674438,354.791229,47.496666,-2489.957520,-283.912292
$KALMAN_Y,908.685059,336.016846,103.170746,-1448.956543,-775.812927
$MHEAD_RNG_PITCHd_Wd,5.8,1219,-23.1,-10.000,-26.16,1334
$D_GRID,177
$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,-2.05,-88.0,539,1895,1590,3402,0.0,0.0,0,12,0.00,0.00,-3.67,0.000,16390,0.000,0.000,543,1902,2092,2092,4095,0,0,0,0,0,0,26.13,24.85,26.04,8.77,30.62
$GC,13,-2.05,-88.0,539,1895,2095,4095,0.0,0.0,0,38,20.77,2.67,0.00,0.000,2820,0.131,0.059,2211,2877,2099,2099,4095,0,0,0,0,0,0,25.73,25.77,25.87,8.88,29.91
$GC,258,-2.05,-88.0,2217,2877,2100,4095,33.0,-12.0,25,263,0.00,2.55,0.00,0.000,1030,0.000,0.042,2211,1903,2103,2103,4094,0,0,0,0,0,0,26.08,26.08,26.10,8.93,29.72
$GC,328,-2.05,-88.0,2212,1904,2104,4094,41.4,-11.9,32,333,0.00,2.70,0.00,0.000,516,0.000,0.069,2211,927,2105,2105,4094,0,0,0,0,0,0,26.38,26.02,26.39,8.87,29.76
$GC,383,-2.05,-88.0,2212,919,2106,4094,47.4,-12.1,37,388,0.00,2.53,0.00,0.000,1030,0.000,0.040,2210,1897,2106,2106,4090,0,0,0,0,0,0,26.17,26.14,26.22,8.88,29.56
$GC,448,-2.05,-88.0,2210,1902,2110,4090,55.0,-10.6,44,453,0.00,2.70,0.00,0.000,516,0.000,0.068,2212,917,2107,2107,4091,0,0,0,0,0,0,26.45,26.10,26.46,8.88,29.52
$GC,543,-2.05,-88.0,2212,917,2110,4091,65.9,-12.5,53,548,0.00,2.53,0.00,0.000,1030,0.000,0.039,2211,1899,2111,2111,4094,0,0,0,0,0,0,26.28,26.23,26.33,8.88,29.91
$GC,608,-2.05,-88.0,2212,1900,2111,4094,74.2,-11.5,60,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,1899,2112,2112,4094,0,0,0,0,0,0,26.54,26.55,26.50,8.88,30.03
$GC,668,-2.05,-88.0,2211,1899,2113,4094,80.5,-10.4,66,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1899,2114,2114,4095,0,0,0,0,0,0,26.56,26.57,26.58,8.91,30.23
$GC,728,-2.05,-88.0,2210,1900,2117,4095,87.0,-11.0,72,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1899,2114,2114,4094,0,0,0,0,0,0,26.59,26.64,26.60,8.88,30.62
$GC,788,-2.05,-88.0,2210,1900,2118,4094,94.0,-11.9,78,793,0.00,2.67,0.00,0.000,516,0.000,0.068,2213,919,2114,2114,4093,0,0,0,0,0,0,26.62,26.26,26.63,8.88,29.76
$GC,853,-2.05,-88.0,2205,919,2120,4093,101.7,-13.0,84,861,0.00,2.53,0.00,0.000,1030,0.000,0.039,2213,1904,2127,2127,4093,0,0,0,0,0,0,26.39,26.33,26.41,8.88,29.83
$GC,919,-2.05,-88.0,2211,1899,2121,4093,108.5,-8.7,91,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1904,2120,2120,4094,0,0,0,0,0,0,26.65,26.66,26.65,8.88,29.83
$GC,979,-2.05,-88.0,2207,1911,2123,4094,114.7,-10.6,97,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1904,2121,2121,4095,0,0,0,0,0,0,26.66,26.67,26.65,8.87,30.15
$GC,1038,-2.05,-88.0,2213,1904,2122,4095,121.1,-11.1,103,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1904,2122,2122,4090,0,0,0,0,0,0,26.70,26.70,26.70,8.84,29.79
$GC,1098,-2.05,-88.0,2212,1907,2130,4090,128.2,-11.4,109,1103,0.00,2.70,0.00,0.000,516,0.000,0.067,2212,910,2129,2129,4094,0,0,0,0,0,0,26.70,26.34,26.72,8.88,29.72
$GC,1183,-2.05,-88.0,2209,919,2122,4094,139.9,-15.4,117,1188,0.00,2.53,0.00,0.000,1030,0.000,0.038,2211,1904,2120,2120,4094,0,0,0,0,0,0,26.47,26.43,26.50,8.88,30.70
$GC,1248,-2.05,-88.0,2214,1896,2133,4094,149.8,-13.6,124,1253,0.00,2.58,0.00,0.000,260,0.000,0.060,2211,2872,2132,2132,4095,0,0,0,0,0,0,26.74,26.36,26.74,8.88,30.19
$GC,1293,-2.05,-88.0,2209,2873,2137,4095,154.7,-12.3,128,1298,0.00,2.53,0.00,0.000,1030,0.000,0.043,2211,1894,2130,2130,4095,0,0,0,0,0,0,26.47,26.43,26.51,8.88,30.31
$GC,1359,-2.05,-88.0,2212,1894,2132,4095,161.6,-9.2,135,1363,0.00,2.60,0.00,0.000,516,0.000,0.070,2211,927,2131,2131,4094,0,0,0,0,0,0,26.74,26.37,26.76,8.88,29.83
$STATE,1498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1498,begin apogee
$GC,1503,-0.42,0.0,2212,1904,2135,4088,177.4,-13.3,149,1522,5.85,0.00,11.62,1.517,10246,0.090,0.000,2734,1905,1993,1993,4094,0,0,0,0,0,0,26.41,25.86,24.63,8.86,29.79
$STATE,1523,end apogee,CONTROL_FINISHED_OK
$STATE,1523,begin climb
$GC,1524,2.05,88.0,2736,1905,1993,4094,179.3,0.0,151,1542,8.10,0.00,8.30,1.401,10246,0.046,0.000,3512,1906,1900,1900,4095,0,0,0,0,0,0,26.09,25.59,24.36,8.86,30.07
$GC,1599,2.11,122.9,3512,1906,1902,4095,176.5,7.3,159,1604,0.12,0.00,4.32,0.983,10246,0.078,0.000,3528,1907,1866,1866,4093,0,0,0,0,0,0,25.99,25.67,24.60,8.84,29.64
$GC,1658,2.11,122.9,3529,1906,1864,4093,170.2,10.4,165,1663,0.00,2.72,0.00,0.000,516,0.000,0.069,3528,920,1863,1863,4091,0,0,0,0,0,0,26.25,25.89,26.27,8.83,29.60
$GC,1934,2.11,122.9,3527,925,1857,4091,134.3,11.4,192,1938,0.00,2.50,0.00,0.000,1030,0.000,0.043,3528,1897,1849,1849,4095,0,0,0,0,0,0,26.27,26.21,26.27,8.85,30.11
$GC,1998,2.11,122.9,3529,1897,1854,4095,127.0,10.5,199,2003,0.00,2.60,0.00,0.000,260,0.000,0.058,3530,2867,1854,1854,4094,0,0,0,0,0,0,26.47,26.16,26.48,8.83,30.03
$GC,2023,2.11,122.9,3534,2866,1851,4094,124.7,11.2,201,2028,0.00,2.53,0.00,0.000,1030,0.000,0.047,3528,1911,1853,1853,4095,0,0,0,0,0,0,26.26,26.20,26.28,8.85,30.31
$GC,2088,2.11,122.9,3528,1900,1854,4095,115.4,13.7,208,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,1909,1850,1850,4093,0,0,0,0,0,0,26.52,26.53,26.53,8.83,30.31
$GC,2149,2.11,122.9,3529,1901,1849,4093,107.9,11.9,214,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,1901,1850,1850,4094,0,0,0,0,0,0,26.55,26.58,26.58,8.83,29.99
$GC,2209,2.11,122.9,3528,1902,1848,4094,101.0,11.3,220,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1902,1845,1845,4095,0,0,0,0,0,0,26.57,26.59,26.60,8.83,29.95
$GC,2268,2.11,122.9,3528,1902,1848,4095,94.1,11.5,226,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,1899,1845,1845,4091,0,0,0,0,0,0,26.64,26.60,26.62,8.82,29.95
$GC,2328,2.11,122.9,3521,1901,1851,4091,86.7,12.6,232,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,1901,1843,1843,4094,0,0,0,0,0,0,26.65,26.62,26.65,8.82,30.39
$GC,2388,2.11,122.9,3527,1902,1843,4094,78.9,13.0,238,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,1902,1848,1848,4095,0,0,0,0,0,0,26.65,26.72,26.66,8.90,30.39
$GC,2449,2.11,122.9,3529,1902,1841,4095,71.1,13.1,244,2453,0.00,2.70,0.00,0.000,516,0.000,0.072,3537,913,1842,1842,4095,0,0,0,0,0,0,26.67,26.30,26.69,8.82,29.95
$GC,2503,2.11,122.9,3528,912,1838,4095,64.5,13.1,249,2508,0.00,2.53,0.00,0.000,1030,0.000,0.039,3528,1899,1848,1848,4095,0,0,0,0,0,0,26.46,26.41,26.46,8.79,29.95
$GC,2569,2.11,122.9,3529,1899,1839,4095,56.1,12.0,256,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,1898,1843,1843,4092,0,0,0,0,0,0,26.69,26.71,26.73,8.81,29.72
$GC,2628,2.11,122.9,3529,1900,1836,4092,48.7,12.3,262,2633,0.00,2.70,0.00,0.000,516,0.000,0.070,3529,912,1836,1836,4090,0,0,0,0,0,0,26.71,26.32,26.70,8.83,30.58
$GC,2834,2.11,122.9,3529,911,1830,4090,22.5,12.5,282,2838,0.00,2.50,0.00,0.000,1030,0.000,0.039,3531,1896,1827,1827,4094,0,0,0,0,0,0,26.53,26.47,26.55,8.77,29.91
$GC,2899,2.11,122.9,3526,1894,1827,4094,15.1,10.4,289,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,1899,1828,1828,4095,0,0,0,0,0,0,26.77,26.82,26.82,8.81,30.50
$GC,2959,2.12,132.6,3537,1896,1827,4095,9.5,9.3,295,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1895,1826,1826,4093,0,0,0,0,0,0,26.77,26.78,26.81,8.77,30.39
$GC,3019,2.19,178.0,3529,1893,1825,4093,5.1,6.5,301,3028,0.20,2.60,3.15,0.259,10500,0.063,0.057,3551,2875,1812,1812,4094,0,0,0,0,0,0,26.54,26.37,25.77,8.80,30.15
$STATE,3118,end climb,SURFACE_DEPTH_REACHED
$STATE,3118,begin surface coast
$STATE,3228,end surface coast,CONTROL_FINISHED_OK
$STATE,3228,begin surface
$SM_CCo,3266,14.52,0.547,0,0,1592,370.28
$SM_GC,2.16,31.25,2.58,14.52,0.041,0.043,0.547,537,1888,1592,-7.30,0.46,370.28,0,0,0,0,0,0,26.51,26.49,25.66
$IRIDIUM_FIX,4808.40,-12337.82,120418,064711
$TT8_MAMPS,0.049434,0.541527
$HUMID,29.68
$INTERNAL_PRESSURE,8.64301
$TCM_TEMP,10.40
$XPDR_PINGS,62
$ALTIM_TOP_PING,14.1,13.7
$ALTIM_BOTTOM_PING,102.8,105.0
$SC_FREEKB,3904160
$24V_AH,24.36,3.683
$10V_AH,10.55,4.857
$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,66.300,62.275,27.400,14.525,0.000,23.989,21.245,568.463,16.750,0.000,27.036,0.000,2272.380,165.690,1544.539,55.395,33.430,544.150,0.000,688.006,0.000,17.396,0.000
$DEVICE_MAMPS,130.815,71.910,1516.995,546.975,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,72.800,0.000,0.000,0.000
$MEM,313032
$DATA_FILE_SIZE,10510,322
$CAP_FILE_SIZE,73699,0
$CFSIZE,1023623168,1019854848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120418,090411,4743.317,-12224.915,24,0.9,44,16.3,0.2,302.3,8,5.8