version: 66.14
glider: 403
mission: 3
dive: 6
start: 3 22 118 1 52 12
data:
$ID,403
$MISSION,3
$DIVE,6
$N_DIVES,10
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,70
$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,80
$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,250
$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,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16
$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,55
$C_ROLL_DIVE,3200
$C_ROLL_CLIMB,3200
$HEAD_ERRBAND,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,11
$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,-50.780041
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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,149
$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
$GPS1,220318,014303,4741.8486,-12225.4688,5,1.0,32,16.3,0.2,350.3,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-55.8
$GPS2,220318,015113,4741.8271,-12225.4980,8,1.0,28,16.3,0.0,119.8,8,6.0
$SPEED_LIMITS,0.100,0.192
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.078262,0.175559
$KALMAN_X,-765.808838,-496.702911,50.353413,-366.972046,-129.613464
$KALMAN_Y,-1423.871582,-825.746399,115.880402,-729.949524,-280.858032
$MHEAD_RNG_PITCHd_Wd,7.7,1520,-24.5,-10.000,-27.49,1187
$D_GRID,75
$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,-1.65,-78.2,541,3189,1367,264,0.0,0.0,0,16,0.00,0.00,-5.53,0.000,16390,0.000,0.000,538,3185,2091,2091,321,0,0,0,0,0,0,26.27,24.92,26.29,8.99,28.06
$GC,17,-1.65,-78.2,541,3187,2091,321,1.2,0.0,1,41,22.48,0.00,0.00,0.000,2054,0.139,0.000,2318,3186,2085,2085,491,0,0,0,0,0,0,25.84,26.05,25.98,8.98,27.83
$GC,70,-1.65,-78.2,2321,3186,2088,491,7.8,-9.5,11,71,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2082,2082,487,0,0,0,0,0,0,26.29,26.30,26.29,9.01,28.06
$GC,100,-1.65,-78.2,2322,3187,2088,487,10.7,-9.5,17,101,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2083,2083,483,0,0,0,0,0,0,26.32,26.33,26.34,9.01,27.79
$GC,130,-1.65,-78.2,2323,3187,2084,483,13.3,-8.8,23,130,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,3185,2087,2087,481,0,0,0,0,0,0,26.36,26.37,26.37,9.01,28.06
$GC,160,-1.65,-78.2,2322,3182,2090,481,15.9,-8.4,29,160,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2088,2088,479,0,0,0,0,0,0,26.39,26.40,26.40,9.01,27.67
$GC,190,-1.65,-78.2,2322,3185,2099,479,18.6,-9.1,35,190,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3182,2089,2089,476,0,0,0,0,0,0,26.41,26.42,26.42,9.01,27.43
$GC,220,-1.65,-78.2,2321,3186,2091,476,21.4,-9.6,41,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,3184,2089,2089,475,0,0,0,0,0,0,26.43,26.45,26.44,9.02,27.75
$GC,250,-1.65,-78.2,2322,3187,2091,475,24.5,-10.2,47,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3185,2083,2083,472,0,0,0,0,0,0,26.46,26.48,26.47,9.01,27.83
$GC,280,-1.65,-78.2,2322,3187,2091,472,27.7,-11.0,53,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2090,2090,471,0,0,0,0,0,0,26.48,26.49,26.47,9.02,28.06
$GC,309,-1.65,-78.2,2322,3180,2092,471,31.2,-11.8,59,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2091,2091,468,0,0,0,0,0,0,26.50,26.51,26.51,9.04,28.38
$GC,339,-1.65,-78.2,2323,3187,2101,468,34.9,-12.3,65,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2091,2091,467,0,0,0,0,0,0,26.51,26.53,26.55,9.01,28.14
$GC,369,-1.65,-78.2,2323,3187,2101,467,38.5,-11.8,71,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2093,2093,464,0,0,0,0,0,0,26.53,26.55,26.54,9.01,27.67
$GC,399,-1.65,-78.2,2322,3187,2094,464,41.7,-10.6,77,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2094,2094,462,0,0,0,0,0,0,26.54,26.56,26.55,9.00,27.87
$GC,430,-1.65,-78.2,2322,3187,2103,462,44.7,-9.9,83,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3191,2094,2094,461,0,0,0,0,0,0,26.56,26.57,26.57,9.01,27.59
$GC,460,-1.65,-78.2,2322,3186,2096,461,47.5,-9.4,89,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3185,2097,2097,464,0,0,0,0,0,0,26.57,26.58,26.58,9.01,27.47
$GC,490,-1.65,-78.2,2323,3181,2097,464,50.5,-9.9,95,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,3186,2102,2102,457,0,0,0,0,0,0,26.58,26.60,26.60,9.01,27.47
$GC,520,-1.65,-78.2,2322,3187,2092,457,53.5,-10.2,101,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2097,2097,455,0,0,0,0,0,0,26.60,26.62,26.60,9.00,27.63
$GC,550,-1.65,-78.2,2322,3186,2100,455,56.6,-10.3,107,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,3186,2097,2097,454,0,0,0,0,0,0,26.60,26.63,26.63,9.00,27.87
$GC,579,-1.65,-78.2,2315,3183,2099,454,59.7,-10.3,113,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2097,2097,452,0,0,0,0,0,0,26.64,26.64,26.63,9.00,27.59
$GC,610,-1.65,-78.2,2322,3187,2092,452,62.8,-10.2,119,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2098,2098,450,0,0,0,0,0,0,26.63,26.65,26.63,9.00,27.59
$GC,639,-1.65,-78.2,2322,3188,2100,450,65.8,-10.2,125,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2099,2099,448,0,0,0,0,0,0,26.65,26.66,26.65,9.03,27.67
$GC,670,-1.65,-78.2,2321,3187,2104,448,68.9,-10.2,131,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,3185,2105,2105,445,0,0,0,0,0,0,26.65,26.67,26.67,9.01,28.18
$GC,700,-1.65,-78.2,2322,3187,2101,445,71.9,-10.0,137,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2100,2100,445,0,0,0,0,0,0,26.67,26.68,26.67,9.01,27.83
$GC,730,-1.65,-78.2,2321,3186,2106,445,74.9,-10.0,143,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,3186,2101,2101,444,0,0,0,0,0,0,26.67,26.68,26.68,9.01,28.02
$STATE,733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,733,begin apogee
$GC,736,-0.31,0.0,2319,3186,2102,447,75.4,-10.1,144,753,4.75,0.00,8.70,0.882,10246,0.090,0.000,2746,3186,1995,1995,4095,0,0,0,0,0,0,26.27,26.06,25.25,9.01,27.47
$STATE,754,end apogee,CONTROL_FINISHED_OK
$STATE,755,begin climb
$GC,755,1.65,78.2,2747,3186,1996,4095,76.2,0.0,147,772,6.50,0.00,7.10,0.842,10246,0.052,0.000,3368,3187,1912,1912,4095,0,0,0,0,0,0,26.23,25.91,25.10,9.01,27.59
$GC,801,1.71,120.3,3375,3187,1912,4095,74.0,6.4,155,808,0.12,0.00,4.80,0.680,10246,0.070,0.000,3388,3186,1866,1866,4095,0,0,0,0,0,0,26.17,25.89,25.12,9.01,27.90
$GC,837,1.74,140.9,3388,3187,1866,4095,71.3,8.2,162,844,0.00,0.00,3.50,0.499,8198,0.000,0.000,3388,3184,1840,1840,4095,0,0,0,0,0,0,26.36,25.89,25.12,9.00,26.92
$GC,873,1.75,143.8,3388,3190,1840,4095,67.9,9.7,169,874,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,3186,1840,1840,637,0,0,0,0,0,0,26.41,26.38,26.38,9.03,27.63
$GC,903,1.75,143.8,3388,3187,1836,637,64.9,10.1,175,904,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,3186,1839,1839,617,0,0,0,0,0,0,26.40,26.39,26.45,9.00,27.90
$GC,933,1.75,143.8,3385,3185,1837,617,61.8,10.3,181,934,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,3186,1829,1829,604,0,0,0,0,0,0,26.41,26.43,26.44,9.01,27.43
$GC,963,1.75,143.9,3388,3186,1841,604,58.8,10.0,187,964,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,3186,1838,1838,597,0,0,0,0,0,0,26.45,26.44,26.48,9.00,27.27
$GC,993,1.75,146.7,3388,3187,1839,597,55.9,9.8,193,994,0.03,0.00,0.00,0.000,2054,0.221,0.000,3396,3186,1838,1838,589,0,0,0,0,0,0,26.34,26.34,26.32,9.00,27.90
$GC,1023,1.77,159.0,3396,3187,1839,589,53.2,8.9,199,1030,0.00,0.00,2.70,0.282,8198,0.000,0.000,3397,3187,1825,1825,4095,0,0,0,0,0,0,26.49,25.83,25.34,9.00,28.46
$GC,1059,1.79,175.6,3396,3186,1826,4095,50.1,8.6,206,1066,0.15,0.00,3.08,0.365,10246,0.068,0.000,3416,3187,1804,1804,4095,0,0,0,0,0,0,26.27,26.03,25.31,9.00,27.59
$GC,1095,1.81,184.5,3415,3186,1798,4095,46.9,9.2,213,1102,0.00,0.00,2.53,0.224,8198,0.000,0.000,3416,3186,1794,1794,4095,0,0,0,0,0,0,26.48,25.82,25.26,9.00,27.35
$GC,1131,1.81,184.5,3415,3186,1794,4095,43.1,10.9,220,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,3186,1794,1794,636,0,0,0,0,0,0,26.50,26.51,26.51,9.00,27.39
$GC,1161,1.81,184.5,3414,3186,1793,636,39.7,11.4,226,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,3185,1792,1792,618,0,0,0,0,0,0,26.52,26.53,26.58,9.00,27.90
$GC,1191,1.81,184.5,3417,3187,1793,618,36.1,12.1,232,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,3185,1792,1792,602,0,0,0,0,0,0,26.53,26.55,26.55,8.99,28.34
$GC,1221,1.81,184.5,3416,3186,1792,602,32.4,12.6,238,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,3186,1790,1790,596,0,0,0,0,0,0,26.53,26.55,26.56,8.98,27.35
$GC,1251,1.81,184.5,3416,3186,1791,596,28.5,13.1,244,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,3186,1790,1790,587,0,0,0,0,0,0,26.57,26.58,26.58,8.99,27.16
$GC,1281,1.81,184.5,3413,3186,1789,587,24.5,13.2,250,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,3186,1788,1788,582,0,0,0,0,0,0,26.58,26.62,26.63,9.02,27.90
$GC,1311,1.81,184.5,3413,3192,1789,582,20.6,12.8,256,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,3186,1788,1788,576,0,0,0,0,0,0,26.59,26.58,26.58,9.00,27.83
$GC,1341,1.81,184.5,3416,3187,1788,576,16.9,12.2,262,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3186,1793,1793,571,0,0,0,0,0,0,26.62,26.60,26.62,8.99,27.67
$GC,1371,1.81,184.5,3417,3186,1784,571,13.4,11.8,268,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,3186,1795,1795,567,0,0,0,0,0,0,26.61,26.63,26.63,8.95,27.67
$GC,1401,1.81,184.5,3415,3187,1786,567,9.7,12.2,274,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,3185,1784,1784,554,0,0,0,0,0,0,26.62,26.64,26.64,8.99,27.67
$GC,1431,1.81,184.5,3415,3186,1786,554,6.3,11.4,280,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,3185,1792,1792,554,0,0,0,0,0,0,26.60,26.65,26.65,8.99,28.42
$GC,1461,1.81,184.5,3416,3186,1783,554,2.9,11.0,286,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,3186,1783,1783,554,0,0,0,0,0,0,26.69,26.67,26.66,8.98,27.63
$STATE,1470,end climb,SURFACE_DEPTH_REACHED
$STATE,1470,begin surface coast
$FINISH,0.3,0.999181
$STATE,1485,end surface coast,CONTROL_FINISHED_OK
$STATE,1485,begin surface
$SM_CCo,1520,5.60,0.421,0,0,1722,250.24
$SM_GC,2.78,29.52,0.00,5.60,0.033,0.000,0.421,539,3186,1722,-7.24,-0.64,250.24,0,0,0,0,0,0,26.38,26.60,25.63
$IRIDIUM_FIX,4808.40,-12337.82,220318,010118
$TT8_MAMPS,0.047187,0.743757
$HUMID,27.67
$INTERNAL_PRESSURE,8.87739
$TCM_TEMP,10.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,7.0
$SC_FREEKB,3907040
$24V_AH,24.92,2.031
$10V_AH,10.41,2.688
$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,63.550,7.575,32.400,5.600,0.000,24.218,20.604,338.334,0.750,0.000,29.094,0.000,779.662,135.488,1070.383,40.065,33.406,388.299,0.000,423.659,0.000,4.735,0.000
$DEVICE_MAMPS,221.085,44.370,882.045,420.750,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1498.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.319,0.000,0.000,0.000
$MEM,312992
$DATA_FILE_SIZE,7057,291
$CAP_FILE_SIZE,65339,0
$CFSIZE,1023623168,1020641280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220318,021831,4741.630,-12225.609,7,1.0,37,16.3,0.2,222.7,8,5.7