version: 66.14
glider: 403
mission: 4
dive: 12
start: 4 12 118 10 30 56
data:
$ID,403
$MISSION,4
$DIVE,12
$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,7
$R_STBD_OVSHOOT,26
$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
$GPS1,120418,101227,4743.3262,-12224.9277,20,1.5,61,16.3,0.0,6.5,5,7.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-54.0
$GPS2,120418,103004,4743.4331,-12224.9736,17,0.9,43,16.3,0.2,347.0,9,5.9
$SPEED_LIMITS,0.100,0.204
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.088725,0.183237
$KALMAN_X,1787.340576,-98.085091,-153.213135,-1902.968140,-264.999573
$KALMAN_Y,828.416992,-290.158081,-382.238220,-105.025658,-406.037689
$MHEAD_RNG_PITCHd_Wd,9.5,1072,-23.1,-10.000,-26.16,1334
$D_GRID,178
$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,-88.0,539,1899,1591,3403,0.0,0.0,0,12,0.00,0.00,-3.67,0.000,16390,0.000,0.000,539,1898,2091,2091,4095,0,0,0,0,0,0,26.19,24.87,26.19,8.77,30.66
$GC,13,-2.05,-88.0,537,1892,2105,4095,0.0,0.0,0,38,20.70,2.62,0.00,0.000,2820,0.131,0.059,2207,2869,2095,2095,4095,0,0,0,0,0,0,25.76,25.82,25.91,8.88,30.07
$GC,379,-2.05,-88.0,2208,2872,2107,4095,45.4,-10.6,37,383,0.00,2.58,0.00,0.000,1030,0.000,0.041,2206,1885,2102,2102,4094,0,0,0,0,0,0,26.25,26.16,26.25,8.88,30.11
$GC,448,-2.05,-88.0,2205,1885,2107,4094,52.7,-10.4,44,453,0.00,2.65,0.00,0.000,516,0.000,0.070,2207,909,2105,2105,4095,0,0,0,0,0,0,26.51,26.15,26.56,8.86,30.23
$GC,543,-2.05,-88.0,2206,914,2106,4095,62.6,-11.1,53,548,0.00,2.53,0.00,0.000,1030,0.000,0.038,2207,1899,2104,2104,4095,0,0,0,0,0,0,26.32,26.29,26.34,8.87,30.50
$GC,608,-2.05,-88.0,2208,1899,2109,4095,70.3,-11.1,60,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1899,2108,2108,4095,0,0,0,0,0,0,26.58,26.60,26.57,8.88,30.15
$GC,668,-2.05,-88.0,2206,1899,2112,4095,77.1,-11.4,66,673,0.00,2.70,0.00,0.000,516,0.000,0.068,2209,911,2111,2111,4095,0,0,0,0,0,0,26.59,26.25,26.61,8.88,30.31
$GC,728,-2.05,-88.0,2207,911,2111,4095,84.4,-12.4,72,733,0.00,2.53,0.00,0.000,1030,0.000,0.038,2204,1893,2112,2112,4095,0,0,0,0,0,0,26.39,26.34,26.42,8.87,30.23
$GC,798,-2.05,-88.0,2206,1898,2118,4095,92.2,-11.1,79,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1897,2112,2112,4095,0,0,0,0,0,0,26.67,26.66,26.69,8.87,29.99
$GC,859,-2.05,-88.0,2213,1898,2116,4095,99.1,-11.6,85,863,0.00,2.67,0.00,0.000,516,0.000,0.068,2207,921,2114,2114,4095,0,0,0,0,0,0,26.67,26.31,26.68,8.88,29.87
$GC,1099,-2.05,-88.0,2205,917,2125,4095,133.0,-13.7,109,1103,0.00,2.53,0.00,0.000,1030,0.000,0.038,2207,1905,2127,2127,4094,0,0,0,0,0,0,26.48,26.50,26.51,8.89,30.35
$GC,1168,-2.05,-88.0,2207,1907,2125,4094,142.0,-12.3,116,1173,0.00,2.58,0.00,0.000,260,0.000,0.059,2207,2874,2124,2124,4095,0,0,0,0,0,0,26.75,26.41,26.74,8.88,30.31
$GC,1289,-2.05,-88.0,2211,2872,2131,4095,154.1,-9.5,128,1293,0.00,2.53,0.00,0.000,1030,0.000,0.044,2202,1894,2133,2133,4091,0,0,0,0,0,0,26.50,26.45,26.53,8.88,30.15
$GC,1359,-2.05,-88.0,2206,1895,2130,4091,160.2,-8.9,135,1363,0.00,2.62,0.00,0.000,516,0.000,0.070,2215,917,2129,2129,4095,0,0,0,0,0,0,26.76,26.40,26.79,8.89,29.99
$STATE,1538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1538,begin apogee
$GC,1543,-0.42,0.0,2204,1904,2135,4094,178.4,-10.9,153,1561,5.88,0.00,11.07,1.507,10246,0.089,0.000,2733,1906,1999,1999,4095,0,0,0,0,0,0,26.43,25.91,24.87,8.94,30.15
$STATE,1562,end apogee,CONTROL_FINISHED_OK
$STATE,1562,begin climb
$GC,1563,2.05,88.0,2733,1904,2001,4095,180.1,0.0,155,1581,8.00,0.00,8.77,1.424,10502,0.037,0.000,3516,1900,1898,1898,4095,0,0,0,0,0,0,26.15,25.61,24.45,8.86,29.76
$GC,1638,2.05,88.0,3517,1904,1897,4095,173.4,10.7,163,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,1904,1899,1899,4095,0,0,0,0,0,0,26.27,26.29,26.29,8.83,30.23
$GC,1699,2.05,88.0,3517,1904,1895,4095,166.4,12.1,169,1703,0.00,2.75,0.00,0.000,516,0.000,0.074,3515,921,1895,1895,4093,0,0,0,0,0,0,26.39,26.01,26.39,8.80,29.83
$GC,1943,2.05,88.0,3512,928,1885,4093,135.7,12.1,193,1948,0.00,2.50,0.00,0.000,1030,0.000,0.038,3516,1898,1889,1889,4095,0,0,0,0,0,0,26.29,26.25,26.31,8.84,29.91
$GC,2009,2.06,94.6,3516,1903,1889,4095,129.0,9.5,200,2013,0.00,2.62,0.00,0.000,260,0.000,0.057,3517,2878,1883,1883,4095,0,0,0,0,0,0,26.56,26.20,26.56,8.88,30.42
$GC,2139,2.07,101.8,3517,2878,1884,4095,115.8,9.4,213,2143,0.00,2.53,0.00,0.000,1030,0.000,0.042,3516,1905,1884,1884,4094,0,0,0,0,0,0,26.37,26.31,26.40,8.84,30.86
$GC,2209,2.08,108.8,3517,1904,1881,4094,109.4,9.5,220,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,1904,1882,1882,4094,0,0,0,0,0,0,26.61,26.63,26.64,8.83,30.35
$GC,2269,2.10,117.9,3515,1905,1882,4094,103.7,9.3,226,2273,0.10,0.00,2.80,0.397,10246,0.086,0.000,3529,1904,1868,1868,4095,0,0,0,0,0,0,26.40,26.15,25.25,8.83,29.95
$GC,2329,2.10,121.5,3528,1904,1868,4095,98.0,9.7,232,2330,0.00,0.00,0.12,0.002,8198,0.000,0.000,3530,1903,1866,1866,4086,0,0,0,0,0,0,26.60,26.65,26.61,8.83,30.42
$GC,2389,2.11,125.1,3530,1904,1865,4086,92.1,9.7,238,2393,0.00,2.65,0.82,0.004,8708,0.000,0.069,3523,911,1865,1865,4095,0,0,0,0,0,0,26.63,26.27,26.61,8.83,29.99
$GC,2543,2.11,125.1,3527,915,1862,4095,74.9,12.2,253,2548,0.00,2.53,0.00,0.000,1030,0.000,0.039,3528,1905,1861,1861,4093,0,0,0,0,0,0,26.41,26.39,26.45,8.89,29.83
$GC,2608,2.11,125.1,3529,1906,1870,4093,66.9,11.1,260,2613,0.00,2.70,0.03,0.024,8708,0.000,0.070,3529,916,1865,1865,4095,0,0,0,0,0,0,26.68,26.32,26.70,8.75,29.95
$GC,2678,2.11,125.1,3530,916,1859,4095,58.8,11.7,267,2683,0.00,2.53,0.00,0.000,1030,0.000,0.039,3530,1905,1854,1854,4095,0,0,0,0,0,0,26.47,26.41,26.48,8.80,29.79
$GC,2749,2.11,125.1,3523,1905,1857,4095,50.5,11.9,274,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,1904,1854,1854,4094,0,0,0,0,0,0,26.75,26.73,26.73,8.82,30.35
$GC,2808,2.11,125.1,3530,1905,1855,4094,43.2,12.2,280,2813,0.00,2.70,0.00,0.000,516,0.000,0.070,3529,919,1853,1853,4093,0,0,0,0,0,0,26.73,26.33,26.74,8.81,30.46
$GC,2853,2.11,125.1,3528,917,1855,4093,38.0,13.1,284,2858,0.00,2.50,0.00,0.000,1030,0.000,0.039,3529,1896,1853,1853,4095,0,0,0,0,0,0,26.48,26.46,26.52,8.86,30.35
$GC,2918,2.11,125.1,3527,1900,1850,4095,29.5,12.0,291,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,1901,1851,1851,4092,0,0,0,0,0,0,26.74,26.79,26.77,8.82,30.15
$GC,2979,2.12,135.4,3530,1898,1848,4092,23.7,9.2,297,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1900,1849,1849,4095,0,0,0,0,0,0,26.76,26.77,26.77,8.82,30.62
$GC,3039,2.13,141.4,3527,1901,1845,4095,18.0,9.5,303,3043,0.00,2.65,0.55,0.002,8708,0.000,0.070,3528,913,1847,1847,4094,0,0,0,0,0,0,26.77,26.40,26.77,8.82,30.35
$GC,3214,2.20,183.4,3522,914,1846,4094,3.7,6.8,320,3223,0.28,2.50,4.60,0.379,11270,0.045,0.039,3567,1902,1798,1798,4093,0,0,0,0,0,0,26.53,26.51,25.80,8.81,30.23
$STATE,3238,end climb,SURFACE_DEPTH_REACHED
$STATE,3238,begin surface coast
$STATE,3268,end surface coast,CONTROL_FINISHED_OK
$STATE,3268,begin surface
$SM_CCo,3304,14.35,0.551,0,0,1592,370.28
$SM_GC,3.48,31.35,0.00,14.35,0.041,0.000,0.551,537,1903,1592,-7.31,0.14,370.28,0,0,0,0,0,0,26.48,26.78,25.63
$IRIDIUM_FIX,4808.40,-12337.82,120418,090553
$TT8_MAMPS,0.049434,0.677096
$HUMID,29.56
$INTERNAL_PRESSURE,8.66254
$TCM_TEMP,10.40
$XPDR_PINGS,54
$ALTIM_TOP_PING,14.3,13.8
$ALTIM_BOTTOM_PING,100.3,102.9
$SC_FREEKB,3902880
$24V_AH,24.45,3.783
$10V_AH,10.36,5.038
$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,66.300,62.200,28.775,14.350,0.000,101.095,68.442,580.517,14.250,0.000,44.557,0.000,2404.931,157.237,1766.607,55.791,33.429,558.052,0.000,754.622,0.000,12.716,0.000
$DEVICE_MAMPS,130.815,74.205,1507.050,550.800,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3305.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.531,0.000,0.000,0.000
$MEM,312916
$DATA_FILE_SIZE,10495,326
$CAP_FILE_SIZE,73904,0
$CFSIZE,1023623168,1019559936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120418,112720,4743.554,-12224.749,17,0.8,42,16.3,0.3,19.8,12,6.0