version: 66.14
glider: 403
mission: 1
dive: 18
start: 3 1 118 14 21 20
data:
$ID,403
$MISSION,1
$DIVE,18
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,70
$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,20
$T_MISSION,40
$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,250
$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,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,420
$PITCH_MAX,3895
$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,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$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,20
$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,0.80000001
$MAXI_10V,0.89999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.123459
$PRESSURE_SLOPE,3.3037559e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,2052
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,30
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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,33
$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
$GPS1,010318,141628,4747.4858,-12225.0078,6,0.8,21,16.3,0.6,298.3,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-29.5
$GPS2,010318,142028,4747.5444,-12225.0137,9,0.9,23,16.3,0.4,310.6,9,5.8
$SPEED_LIMITS,0.167,0.341
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.160320,-0.300426
$KALMAN_X,-1653.754150,-560.443115,57.007538,1157.599121,181.648346
$KALMAN_Y,13875.252930,-284.952637,-1136.303467,-4671.470215,737.950439
$MHEAD_RNG_PITCHd_Wd,191.8,9346,-15.3,-11.667,-18.91,3154
$D_GRID,179
$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,7,-1.32,-244.4,437,1798,253,23,0.0,0.0,0,25,0.00,0.00,-13.68,0.000,16390,0.000,0.000,437,1799,2262,2262,200,0,0,0,0,0,0,26.55,25.10,26.58,8.69,23.30
$GC,26,-1.32,-244.4,438,1795,2266,200,1.5,-8.3,3,53,24.70,0.00,0.00,0.000,2054,0.139,0.000,2428,1803,2268,2268,465,0,0,0,0,0,0,26.08,26.24,26.24,8.79,23.77
$GC,82,-1.32,-244.4,2433,1801,2259,465,15.0,-12.5,14,82,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1799,2259,2259,457,0,0,0,0,0,0,26.54,26.52,26.54,8.76,23.81
$GC,111,-1.32,-244.4,2426,1799,2275,457,18.6,-11.8,20,112,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1796,2262,2262,459,0,0,0,0,0,0,26.54,26.52,26.54,8.75,23.45
$GC,142,-1.32,-244.4,2425,1800,2267,459,22.1,-11.8,26,142,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1799,2268,2268,452,0,0,0,0,0,0,26.56,26.56,26.55,8.74,22.82
$GC,172,-1.32,-244.4,2430,1800,2261,452,24.9,-9.0,32,172,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1799,2267,2267,457,0,0,0,0,0,0,26.54,26.58,26.58,8.81,23.22
$GC,202,-1.32,-244.4,2426,1796,2268,457,27.4,-8.2,38,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1791,2268,2268,449,0,0,0,0,0,0,26.57,26.58,26.58,8.74,23.42
$GC,232,-1.32,-244.4,2433,1802,2268,449,30.0,-8.9,44,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1799,2266,2266,457,0,0,0,0,0,0,26.59,26.60,26.59,8.71,23.81
$GC,262,-1.32,-244.4,2426,1801,2268,457,33.2,-10.6,50,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1806,2276,2276,444,0,0,0,0,0,0,26.58,26.63,26.59,8.67,23.14
$GC,292,-1.32,-244.4,2421,1804,2268,444,36.2,-10.8,56,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1799,2268,2268,446,0,0,0,0,0,0,26.58,26.61,26.60,8.73,22.94
$GC,322,-1.32,-244.4,2425,1801,2269,446,39.6,-11.1,62,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1798,2272,2272,442,0,0,0,0,0,0,26.60,26.63,26.63,8.74,23.34
$GC,352,-1.32,-244.4,2426,1798,2275,442,42.7,-10.3,68,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1803,2269,2269,443,0,0,0,0,0,0,26.62,26.62,26.65,8.77,23.14
$GC,382,-1.32,-244.4,2426,1799,2271,443,45.7,-10.3,74,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1800,2268,2268,440,0,0,0,0,0,0,26.65,26.64,26.65,8.77,23.42
$GC,412,-1.32,-244.4,2422,1799,2263,440,48.7,-9.9,80,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1799,2272,2272,439,0,0,0,0,0,0,26.62,26.65,26.65,8.75,22.86
$GC,442,-1.32,-244.4,2420,1801,2268,439,51.9,-10.8,86,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1801,2270,2270,434,0,0,0,0,0,0,26.65,26.65,26.66,8.71,23.30
$GC,472,-1.32,-244.4,2425,1802,2272,434,55.2,-11.0,92,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1799,2268,2268,436,0,0,0,0,0,0,26.66,26.65,26.66,8.78,23.42
$GC,502,-1.32,-244.4,2433,1800,2281,436,58.5,-11.1,98,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1799,2269,2269,438,0,0,0,0,0,0,26.65,26.65,26.67,8.71,23.10
$GC,532,-1.32,-244.4,2426,1799,2269,438,61.9,-11.4,104,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1795,2272,2272,434,0,0,0,0,0,0,26.65,26.67,26.65,8.68,22.67
$GC,562,-1.32,-244.4,2421,1797,2270,434,65.4,-11.9,110,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1806,2273,2273,432,0,0,0,0,0,0,26.67,26.69,26.69,8.73,23.69
$GC,592,-1.32,-244.4,2427,1800,2271,432,68.6,-10.0,116,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1797,2275,2275,431,0,0,0,0,0,0,26.67,26.69,26.68,8.75,23.10
$STATE,606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,606,begin apogee
$GC,608,-0.31,0.0,2424,1797,2280,435,70.2,-10.0,119,634,3.53,0.00,19.10,0.929,10246,0.076,0.000,2750,1800,1998,1998,3710,0,0,0,0,0,0,26.39,25.87,25.07,8.82,23.38
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,635,begin climb
$GC,636,1.32,244.4,2751,1801,1999,3710,71.0,0.0,124,665,5.40,0.00,18.90,0.918,10246,0.050,0.000,3260,1799,1737,1737,3553,0,0,0,0,0,0,26.00,25.29,24.79,8.75,22.94
$GC,694,1.38,282.5,3262,1801,1728,3553,65.6,10.4,133,701,0.17,0.00,4.05,0.515,10246,0.062,0.000,3280,1806,1693,1693,4095,0,0,0,0,0,0,25.77,25.57,24.84,8.66,22.94
$GC,730,1.38,282.5,3281,1801,1694,4095,61.3,12.1,140,731,0.00,0.00,0.05,0.003,8198,0.000,0.000,3281,1799,1688,1688,633,0,0,0,0,0,0,26.04,26.06,26.06,8.74,22.82
$GC,760,1.38,282.5,3279,1801,1695,633,57.4,12.8,146,760,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1799,1692,1692,612,0,0,0,0,0,0,26.10,26.12,26.12,8.74,23.22
$GC,790,1.38,282.5,3281,1801,1692,612,53.6,13.0,152,791,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1799,1692,1692,601,0,0,0,0,0,0,26.15,26.18,26.17,8.73,22.86
$GC,820,1.38,282.5,3281,1794,1700,601,49.8,12.2,158,820,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1799,1691,1691,586,0,0,0,0,0,0,26.17,26.21,26.22,8.73,22.59
$GC,850,1.38,282.5,3281,1795,1691,586,46.2,11.8,164,851,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1799,1690,1690,582,0,0,0,0,0,0,26.23,26.25,26.24,8.74,22.51
$GC,880,1.48,348.3,3285,1801,1684,582,43.2,9.5,170,892,0.28,0.00,6.20,0.612,10246,0.054,0.000,3310,1800,1616,1616,4095,0,0,0,0,0,0,26.01,25.83,25.09,8.73,23.22
$GC,920,1.60,430.7,3316,1798,1620,4095,39.5,9.0,178,932,0.38,0.00,7.43,0.640,10246,0.052,0.000,3351,1799,1532,1532,4095,0,0,0,0,0,0,25.96,25.68,25.05,8.71,22.59
$GC,961,1.64,454.7,3350,1803,1528,4095,35.3,10.9,186,968,0.00,0.00,3.30,0.349,8198,0.000,0.000,3351,1797,1507,1507,4095,0,0,0,0,0,0,26.17,25.73,25.10,8.82,22.47
$GC,996,1.64,454.7,3352,1799,1505,4095,31.0,12.1,193,997,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1807,1502,1502,637,0,0,0,0,0,0,26.17,26.20,26.20,8.70,22.67
$GC,1026,1.64,454.7,3353,1804,1504,637,27.2,13.3,199,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1803,1503,1503,612,0,0,0,0,0,0,26.24,26.23,26.20,8.73,22.90
$GC,1056,1.64,454.7,3352,1800,1510,612,23.0,13.7,205,1058,0.10,0.00,0.00,0.000,2054,0.088,0.000,3364,1803,1504,1504,599,0,0,0,0,0,0,26.03,26.10,26.08,8.79,23.14
$GC,1086,1.64,454.7,3360,1799,1504,599,18.6,14.8,211,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1798,1504,1504,594,0,0,0,0,0,0,26.28,26.27,26.29,8.72,22.43
$GC,1116,1.64,454.7,3365,1795,1505,594,14.5,13.6,217,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1804,1498,1498,590,0,0,0,0,0,0,26.29,26.32,26.32,8.84,22.63
$GC,1146,1.64,454.7,3372,1801,1501,590,10.5,13.4,223,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1808,1500,1500,572,0,0,0,0,0,0,26.34,26.39,26.34,8.72,22.59
$GC,1176,1.64,454.7,3365,1800,1505,572,6.7,12.8,229,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1797,1501,1501,567,0,0,0,0,0,0,26.34,26.41,26.37,8.71,22.90
$GC,1206,1.64,454.7,3366,1800,1499,567,2.8,12.8,235,1207,0.00,0.00,0.03,0.003,8198,0.000,0.000,3364,1794,1497,1497,562,0,0,0,0,0,0,26.35,26.40,26.39,8.73,22.82
$STATE,1215,end climb,SURFACE_DEPTH_REACHED
$STATE,1215,begin surface coast
$FINISH,0.1,0.999938
$STATE,1231,end surface coast,CONTROL_FINISHED_OK
$STATE,1231,begin surface
$SM_CCo,1326,0.00,0.000,0,0,1497,459.85
$SM_GC,1.31,30.02,0.00,0.00,0.028,0.000,0.000,439,1799,1497,-7.56,-0.05,459.85,0,0,0,0,0,0,26.14,26.41,26.19
$IRIDIUM_FIX,4808.40,-12337.82,010318,141204
$TT8_MAMPS,0.047936,0.590961
$HUMID,23.22
$INTERNAL_PRESSURE,8.61371
$TCM_TEMP,0.00
$XPDR_PINGS,16
$ALTIM_TOP_PING,29.8,9.1
$SC_FREEKB,3901280
$24V_AH,24.79,1.149
$10V_AH,10.54,1.727
$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,64.575,0.000,59.050,0.000,0.000,0.000,0.000,0.000,4.250,0.000,24.327,0.000,674.228,145.574,561.587,15.442,33.440,370.206,0.000,0.000,0.000,2.609,0.000
$DEVICE_MAMPS,139.230,0.000,929.475,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1248.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,104.361,0.000,0.000,0.000
$MEM,313024
$DATA_FILE_SIZE,7067,240
$CAP_FILE_SIZE,139206,0
$CFSIZE,1023623168,1019445248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010318,144417,4747.657,-12224.790,4,1.2,36,16.3,0.6,339.2,8,6.0