version: 66.14
glider: 403
mission: 1
dive: 20
start: 3 1 118 15 53 46
data:
$ID,403
$MISSION,1
$DIVE,20
$N_DIVES,25
$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,30
$T_MISSION,60
$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,400
$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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$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,1
$MAXI_10V,0.80000001
$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,2
$ALTIM_SENSITIVITY,5
$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
$GPS1,010318,154235,4748.1826,-12224.5381,5,0.9,31,16.3,0.6,7.5,10,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-45.1
$GPS2,010318,155254,4748.3364,-12224.5811,7,0.9,29,16.3,0.4,348.2,10,5.9
$SPEED_LIMITS,0.238,0.475
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.044778,-0.472411
$KALMAN_X,-1145.049927,-522.182312,254.434860,944.553711,82.797043
$KALMAN_Y,15126.345703,-368.397552,413.376587,-5882.824707,939.221375
$MHEAD_RNG_PITCHd_Wd,169.1,10813,-16.4,-16.667,-19.35,3540
$D_GRID,170
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8,-1.61,-391.0,439,1802,1203,211,0.0,0.0,0,21,0.00,0.00,-8.48,0.000,16390,0.000,0.000,439,1803,2419,2419,331,0,0,0,0,0,0,26.17,25.46,26.18,8.69,23.45
$GC,22,-1.61,-391.0,439,1800,2414,331,1.8,-10.0,2,54,24.17,3.38,-0.08,0.000,18948,0.142,0.085,2338,591,2428,2428,573,0,0,0,0,0,0,25.78,24.84,25.51,8.78,23.26
$GC,98,-1.61,-391.0,2346,598,2446,573,26.2,-18.9,17,105,0.00,3.12,0.00,0.000,1030,0.000,0.039,2338,1804,2429,2429,587,0,0,0,0,0,0,26.00,25.93,26.03,8.75,22.51
$GC,133,-1.61,-391.0,2338,1800,2436,587,32.3,-16.7,24,140,0.00,3.17,0.00,0.000,260,0.000,0.060,2343,2982,2435,2435,597,0,0,0,0,0,0,26.24,25.89,26.25,8.76,22.51
$GC,189,-1.61,-391.0,2332,2980,2430,597,41.2,-15.4,35,196,0.00,3.10,0.00,0.000,1030,0.000,0.046,2339,1796,2436,2436,601,0,0,0,0,0,0,26.09,25.98,26.10,8.76,22.51
$GC,224,-1.61,-391.0,2338,1796,2437,601,46.7,-15.3,42,231,0.00,3.35,0.00,0.000,516,0.000,0.079,2338,602,2437,2437,602,0,0,0,0,0,0,26.32,25.94,26.32,8.80,22.39
$GC,285,-1.61,-391.0,2347,598,2445,602,57.4,-18.8,54,292,0.00,3.10,0.00,0.000,1030,0.000,0.039,2333,1802,2438,2438,610,0,0,0,0,0,0,26.16,26.08,26.15,8.76,22.23
$GC,320,-1.61,-391.0,2338,1802,2441,610,63.6,-17.1,61,327,0.00,3.17,0.00,0.000,260,0.000,0.061,2330,2994,2435,2435,618,0,0,0,0,0,0,26.39,26.03,26.40,8.76,22.23
$GC,381,-1.61,-391.0,2337,2991,2442,618,73.4,-16.1,73,388,0.00,3.10,0.00,0.000,1030,0.000,0.046,2339,1802,2441,2441,608,0,0,0,0,0,0,26.23,26.09,26.22,8.76,22.12
$GC,416,-1.61,-391.0,2334,1802,2439,608,79.0,-15.5,80,423,0.00,3.33,0.00,0.000,516,0.000,0.078,2339,597,2445,2445,611,0,0,0,0,0,0,26.42,26.06,26.44,8.76,22.12
$GC,432,-1.61,-391.0,2338,606,2450,611,81.6,-16.3,83,439,0.00,3.10,0.00,0.000,1030,0.000,0.039,2338,1803,2440,2440,628,0,0,0,0,0,0,26.24,26.15,26.26,8.78,22.59
$GC,467,-1.61,-391.0,2336,1807,2454,628,87.7,-16.3,90,474,0.00,3.33,0.00,0.000,516,0.000,0.076,2345,595,2443,2443,625,0,0,0,0,0,0,26.44,26.08,26.46,8.77,22.63
$GC,523,-1.61,-391.0,2334,601,2455,625,96.7,-15.7,101,530,0.00,3.08,0.00,0.000,1030,0.000,0.038,2337,1799,2445,2445,616,0,0,0,0,0,0,26.28,26.20,26.29,8.76,22.35
$GC,559,-1.61,-391.0,2355,1803,2441,616,101.4,-13.0,108,565,0.00,3.17,0.00,0.000,260,0.000,0.060,2337,2997,2442,2442,616,0,0,0,0,0,0,26.51,26.14,26.44,8.76,22.23
$GC,609,-1.61,-391.0,2339,2999,2447,616,107.6,-13.1,118,616,0.00,3.10,0.00,0.000,1030,0.000,0.045,2339,1797,2446,2446,615,0,0,0,0,0,0,26.30,26.20,26.32,8.76,22.31
$GC,645,-1.61,-391.0,2339,1796,2454,615,111.8,-11.4,125,651,0.00,3.28,0.00,0.000,516,0.000,0.076,2339,597,2446,2446,622,0,0,0,0,0,0,26.54,26.15,26.55,8.84,22.63
$GC,700,-1.61,-391.0,2340,602,2454,622,117.8,-10.0,136,707,0.00,3.08,0.00,0.000,1030,0.000,0.038,2339,1808,2441,2441,612,0,0,0,0,0,0,26.34,26.22,26.40,8.75,22.63
$GC,736,-1.61,-391.0,2342,1810,2450,612,120.5,-7.0,143,742,0.00,3.10,0.00,0.000,260,0.000,0.060,2342,2995,2450,2450,619,0,0,0,0,0,0,26.55,26.20,26.59,8.75,23.10
$GC,796,-1.61,-391.0,2339,2992,2447,619,124.1,-4.7,155,803,0.00,3.10,0.00,0.000,1030,0.000,0.047,2338,1800,2448,2448,610,0,0,0,0,0,0,26.37,26.26,26.38,8.78,23.10
$GC,832,-1.61,-391.0,2339,1799,2450,610,125.7,-4.7,162,838,0.00,3.17,0.00,0.000,260,0.000,0.059,2339,2993,2449,2449,622,0,0,0,0,0,0,26.58,26.23,26.60,8.69,22.43
$GC,842,-1.61,-391.0,2339,2995,2460,622,125.9,-3.7,164,849,0.00,3.08,0.00,0.000,1030,0.000,0.044,2337,1794,2445,2445,632,0,0,0,0,0,0,26.37,26.28,26.39,8.77,23.10
$GC,878,-1.61,-391.0,2334,1796,2449,632,130.7,-15.4,171,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1800,2450,2450,608,0,0,0,0,0,0,26.61,26.61,26.60,8.81,22.16
$GC,908,-1.61,-391.0,2339,1798,2451,608,134.9,-15.9,177,915,0.00,3.28,0.00,0.000,516,0.000,0.079,2338,604,2452,2452,614,0,0,0,0,0,0,26.59,26.22,26.62,8.79,22.12
$GC,938,-1.61,-391.0,2343,609,2453,614,139.4,-14.9,183,945,0.00,3.05,0.00,0.000,1030,0.000,0.039,2338,1801,2449,2449,619,0,0,0,0,0,0,26.40,26.32,26.42,8.77,22.27
$GC,974,-1.61,-391.0,2337,1802,2453,619,144.1,-11.7,190,980,0.00,3.12,0.00,0.000,260,0.000,0.060,2339,2993,2455,2455,624,0,0,0,0,0,0,26.62,26.26,26.63,8.76,22.79
$STATE,1013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1013,begin apogee
$GC,1019,-0.31,0.0,2338,1806,2451,612,150.4,-13.2,198,1059,4.50,0.00,31.80,1.371,10246,0.076,0.000,2750,1803,1996,1996,3118,0,0,0,0,0,0,26.29,25.18,24.29,8.77,22.67
$STATE,1060,end apogee,CONTROL_FINISHED_OK
$STATE,1060,begin climb
$GC,1061,1.61,391.0,2750,1805,1998,3118,153.1,0.0,206,1101,6.47,0.00,30.33,1.359,10246,0.045,0.000,3353,1803,1573,1573,3192,0,0,0,0,0,0,25.48,24.67,23.73,8.76,22.71
$GC,1130,2.65,1085.5,3353,1807,1575,3192,152.2,-3.4,217,1192,3.55,3.35,52.50,1.355,10500,0.039,0.049,3689,2997,828,828,2161,0,0,0,0,0,0,25.24,24.27,23.68,8.82,22.67
$GC,1212,2.65,1085.5,3690,3001,824,2161,132.1,25.8,233,1218,0.00,3.28,0.00,0.000,1030,0.000,0.047,3689,1799,822,822,600,0,0,0,0,0,0,25.11,25.00,25.11,8.76,22.43
$GC,1247,2.65,1085.5,3689,1799,829,600,122.2,36.2,240,1254,0.00,3.45,0.00,0.000,516,0.000,0.081,3680,602,822,822,551,0,0,0,0,0,0,25.54,25.18,25.53,8.72,22.08
$GC,1262,2.65,1085.5,3690,598,827,551,116.6,37.4,243,1269,0.00,3.20,0.00,0.000,1030,0.000,0.039,3689,1805,817,817,525,0,0,0,0,0,0,25.44,25.36,25.45,8.72,21.96
$GC,1298,2.65,1085.5,3690,1801,819,525,107.2,30.1,250,1305,0.00,3.28,0.00,0.000,260,0.000,0.063,3698,3000,823,823,494,0,0,0,0,0,0,25.75,25.42,25.76,8.73,21.72
$GC,1333,2.65,1085.5,3697,2994,817,494,97.3,28.0,257,1340,0.00,3.20,0.00,0.000,1030,0.000,0.047,3689,1798,815,815,473,0,0,0,0,0,0,25.67,25.57,25.68,8.72,22.08
$GC,1369,2.65,1085.5,3688,1798,815,473,86.4,30.5,264,1376,0.00,3.38,0.00,0.000,516,0.000,0.076,3690,607,811,811,456,0,0,0,0,0,0,25.94,25.58,25.95,8.71,22.08
$GC,1384,2.65,1085.5,3685,600,813,456,82.1,28.3,267,1391,0.00,3.12,0.00,0.000,1030,0.000,0.038,3689,1799,810,810,424,0,0,0,0,0,0,25.79,25.72,25.79,8.79,21.88
$GC,1420,2.65,1085.5,3694,1799,812,424,73.2,24.8,274,1427,0.00,3.25,0.00,0.000,260,0.000,0.063,3691,3001,809,809,410,0,0,0,0,0,0,26.04,25.70,26.06,8.73,22.08
$GC,1460,2.65,1085.5,3691,2996,808,410,63.0,25.5,282,1467,0.00,3.15,0.00,0.000,1030,0.000,0.046,3689,1803,805,805,397,0,0,0,0,0,0,25.89,25.80,25.92,8.72,22.16
$GC,1496,2.65,1085.5,3690,1800,808,397,53.7,27.2,289,1503,0.00,3.40,0.00,0.000,516,0.000,0.080,3686,589,806,806,385,0,0,0,0,0,0,26.13,25.77,26.17,8.70,22.39
$GC,1521,2.65,1085.5,3687,588,806,385,46.9,27.3,294,1528,0.00,3.15,0.00,0.000,1030,0.000,0.040,3688,1800,805,805,373,0,0,0,0,0,0,25.98,25.91,26.01,8.71,22.12
$GC,1557,2.65,1085.5,3690,1801,801,373,38.1,25.4,301,1564,0.00,3.22,0.00,0.000,260,0.000,0.061,3686,3002,802,802,375,0,0,0,0,0,0,26.22,25.85,26.27,8.72,22.04
$GC,1592,2.65,1085.5,3697,2994,795,375,28.3,27.5,308,1599,0.00,3.17,0.00,0.000,1030,0.000,0.046,3688,1798,797,797,356,0,0,0,0,0,0,26.03,25.96,26.07,8.74,21.92
$GC,1628,2.65,1085.5,3690,1795,801,356,19.5,25.4,315,1635,0.00,3.35,0.00,0.000,516,0.000,0.080,3690,595,799,799,351,0,0,0,0,0,0,26.28,25.91,26.29,8.76,22.27
$GC,1653,2.65,1085.5,3689,594,798,351,13.3,24.8,320,1660,0.00,3.10,0.00,0.000,1030,0.000,0.039,3689,1796,797,797,344,0,0,0,0,0,0,26.10,26.04,26.12,8.72,21.92
$GC,1689,2.65,1085.5,3689,1796,797,344,4.8,25.1,327,1696,0.00,3.22,0.00,0.000,260,0.000,0.062,3688,2995,795,795,338,0,0,0,0,0,0,26.34,25.99,26.36,8.67,21.92
$STATE,1703,end climb,SURFACE_DEPTH_REACHED
$STATE,1703,begin surface coast
$FINISH,0.2,0.999938
$STATE,1709,end surface coast,CONTROL_FINISHED_OK
$STATE,1709,begin surface
$SM_CCo,1810,0.00,0.000,0,0,794,1109.93
$SM_GC,0.88,33.42,3.20,0.00,0.028,0.044,0.000,439,1789,794,-7.56,0.59,1109.93,0,0,0,0,0,0,26.10,26.03,26.15
$IRIDIUM_FIX,4808.40,-12337.82,010318,145906
$TT8_MAMPS,0.047936,0.689829
$HUMID,22.31
$INTERNAL_PRESSURE,8.59418
$TCM_TEMP,0.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,29.7,999.0
$ALTIM_BOTTOM_PING,90.1,10.9
$SC_FREEKB,3900256
$24V_AH,23.68,1.291
$10V_AH,10.37,1.897
$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,72.125,134.450,114.625,0.000,0.000,22.710,21.139,436.107,1.000,0.000,30.112,0.000,775.403,381.636,1236.010,41.755,33.455,688.384,0.000,0.000,0.000,10.304,0.000
$DEVICE_MAMPS,142.290,84.915,1370.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1755.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,110.803,0.000,0.000,0.000
$MEM,312948
$DATA_FILE_SIZE,10492,331
$CAP_FILE_SIZE,70942,5
$CFSIZE,1023623168,1019297792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,437.97,0x2139a2,0,24
$GPS,010318,162457,4748.325,-12224.211,5,1.6,38,16.3,0.6,344.2,9,6.0