version: 66.14
glider: 403
mission: 4
dive: 11
start: 4 12 118 9 15 34
data:
$ID,403
$MISSION,4
$DIVE,11
$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,19
$R_STBD_OVSHOOT,20
$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
$GPS1,120418,090411,4743.3169,-12224.9150,24,0.9,44,16.3,0.2,302.3,8,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-55.7
$GPS2,120418,091442,4743.3389,-12225.0098,13,1.0,33,16.3,0.2,0.0,8,6.0
$SPEED_LIMITS,0.100,0.204
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.089901,0.182663
$KALMAN_X,1745.889404,124.507217,-51.476143,-2228.317139,-327.493774
$KALMAN_Y,805.207947,7.339201,-160.872223,-773.487610,-680.578491
$MHEAD_RNG_PITCHd_Wd,9.9,1252,-23.1,-10.000,-26.16,1334
$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,8,-2.05,-88.0,544,1887,1590,3402,0.0,0.0,0,12,0.00,0.00,-3.65,0.000,16390,0.000,0.000,545,1895,2100,2100,4091,0,0,0,0,0,0,26.18,24.89,26.22,8.83,30.50
$GC,13,-2.05,-88.0,537,1888,2097,4091,0.0,0.0,0,38,20.70,2.70,0.00,0.000,2820,0.131,0.058,2210,2881,2097,2097,4093,0,0,0,0,0,0,25.78,25.83,25.92,8.88,30.35
$GC,353,-2.05,-88.0,2211,2882,2104,4093,45.1,-11.3,34,358,0.00,2.55,0.00,0.000,1030,0.000,0.042,2208,1904,2114,2114,4095,0,0,0,0,0,0,26.19,26.13,26.20,8.87,29.87
$GC,418,-2.05,-88.0,2211,1905,2107,4095,52.5,-10.4,41,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1904,2107,2107,4095,0,0,0,0,0,0,26.46,26.45,26.46,8.91,29.87
$GC,479,-2.05,-88.0,2208,1903,2110,4095,58.6,-10.3,47,483,0.00,2.67,0.00,0.000,516,0.000,0.069,2210,923,2109,2109,4095,0,0,0,0,0,0,26.48,26.13,26.51,8.88,30.07
$GC,608,-2.05,-88.0,2209,923,2113,4095,74.3,-13.2,60,613,0.00,2.50,0.00,0.000,1030,0.000,0.040,2208,1892,2114,2114,4090,0,0,0,0,0,0,26.32,26.28,26.34,8.87,30.15
$GC,678,-2.05,-88.0,2206,1899,2111,4090,82.9,-12.0,67,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1899,2113,2113,4094,0,0,0,0,0,0,26.58,26.60,26.60,8.95,29.64
$GC,738,-2.05,-88.0,2211,1900,2114,4094,90.1,-12.1,73,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1898,2114,2114,4094,0,0,0,0,0,0,26.65,26.63,26.61,8.87,29.79
$GC,798,-2.05,-88.0,2209,1900,2119,4094,97.0,-11.4,79,803,0.00,2.67,0.00,0.000,516,0.000,0.069,2211,920,2122,2122,4094,0,0,0,0,0,0,26.63,26.27,26.63,8.94,29.95
$GC,893,-2.05,-88.0,2209,920,2121,4094,108.1,-12.5,88,898,0.00,2.53,0.00,0.000,1030,0.000,0.039,2213,1909,2119,2119,4094,0,0,0,0,0,0,26.41,26.35,26.43,8.87,29.83
$GC,959,-2.05,-88.0,2207,1905,2122,4094,116.4,-11.9,95,963,0.00,2.70,0.00,0.000,516,0.000,0.069,2210,912,2121,2121,4094,0,0,0,0,0,0,26.60,26.25,26.59,8.86,30.50
$GC,1003,-2.05,-88.0,2211,912,2122,4094,122.7,-13.8,99,1008,0.00,2.53,0.00,0.000,1030,0.000,0.040,2217,1896,2107,2107,4092,0,0,0,0,0,0,26.41,26.36,26.43,8.88,29.64
$GC,1074,-2.05,-88.0,2210,1901,2123,4092,131.5,-12.1,106,1078,0.00,2.62,0.00,0.000,260,0.000,0.060,2212,2885,2124,2124,4095,0,0,0,0,0,0,26.67,26.32,26.68,8.91,29.91
$GC,1228,-2.05,-88.0,2209,2886,2130,4095,148.0,-10.8,121,1233,0.00,2.55,0.00,0.000,1030,0.000,0.043,2210,1899,2128,2128,4095,0,0,0,0,0,0,26.46,26.39,26.48,8.89,29.72
$GC,1294,-2.05,-88.0,2211,1900,2134,4095,155.4,-10.4,128,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1898,2130,2130,4095,0,0,0,0,0,0,26.72,26.74,26.77,8.88,29.99
$GC,1354,-2.05,-88.0,2211,1900,2131,4095,160.4,-7.7,134,1358,0.00,2.65,0.00,0.000,516,0.000,0.069,2210,919,2130,2130,4095,0,0,0,0,0,0,26.74,26.38,26.74,8.90,30.58
$GC,1523,-2.05,-88.0,2211,915,2135,4095,175.9,-10.0,151,1528,0.00,2.50,0.00,0.000,1030,0.000,0.038,2210,1901,2135,2135,4094,0,0,0,0,0,0,26.53,26.50,26.55,8.96,29.99
$STATE,1563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1563,begin apogee
$GC,1565,-0.42,0.0,2209,1900,2138,4093,179.9,-9.9,155,1584,5.85,0.00,11.32,1.518,10246,0.086,0.000,2734,1902,1997,1997,4095,0,0,0,0,0,0,26.43,25.88,24.69,8.89,30.31
$STATE,1585,end apogee,CONTROL_FINISHED_OK
$STATE,1585,begin climb
$GC,1586,2.05,88.0,2734,1902,1999,4095,180.6,0.0,157,1604,8.07,0.00,8.50,1.410,10246,0.039,0.000,3513,1896,1904,1904,4095,0,0,0,0,0,0,26.12,25.61,24.44,8.86,29.87
$GC,1663,2.05,88.0,3514,1902,1899,4095,173.1,11.9,165,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,1899,1899,1899,4094,0,0,0,0,0,0,26.26,26.27,26.27,8.85,30.11
$GC,1724,2.05,88.0,3513,1901,1898,4094,165.8,10.6,171,1728,0.00,2.78,0.00,0.000,516,0.000,0.074,3514,913,1901,1901,4094,0,0,0,0,0,0,26.33,25.96,26.39,8.81,30.15
$GC,1988,2.05,88.0,3513,914,1892,4094,133.4,11.6,197,1993,0.00,2.50,0.00,0.000,1030,0.000,0.039,3515,1893,1890,1890,4095,0,0,0,0,0,0,26.29,26.25,26.32,8.84,29.91
$GC,2054,2.07,98.9,3518,1892,1888,4095,126.8,9.2,204,2058,0.00,2.65,0.00,0.000,260,0.000,0.058,3513,2883,1898,1898,4094,0,0,0,0,0,0,26.55,26.20,26.57,8.84,30.11
$GC,2214,2.07,98.9,3514,2884,1884,4094,111.4,10.2,220,2218,0.00,2.58,0.00,0.000,1030,0.000,0.044,3513,1894,1881,1881,4094,0,0,0,0,0,0,26.39,26.30,26.39,8.84,30.11
$GC,2284,2.10,117.4,3518,1894,1878,4094,104.8,8.6,227,2291,0.12,2.62,2.78,0.393,10756,0.079,0.070,3533,914,1877,1877,4094,0,0,0,0,0,0,26.41,25.94,25.20,8.85,30.62
$GC,2344,2.10,117.4,3529,916,1870,4094,98.9,10.9,232,2349,0.00,2.53,0.00,0.000,1030,0.000,0.039,3529,1902,1868,1868,4091,0,0,0,0,0,0,26.40,26.38,26.45,8.78,29.95
$GC,2409,2.10,117.4,3532,1903,1868,4091,90.9,11.4,239,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,1905,1867,1867,4094,0,0,0,0,0,0,26.70,26.65,26.67,8.83,30.35
$GC,2469,2.10,117.4,3529,1903,1868,4094,84.6,10.4,245,2474,0.00,2.70,0.00,0.000,516,0.000,0.070,3529,919,1865,1865,4095,0,0,0,0,0,0,26.66,26.29,26.68,8.80,30.46
$GC,2524,2.10,117.4,3529,919,1864,4095,79.0,11.3,250,2529,0.00,2.53,0.00,0.000,1030,0.000,0.039,3529,1907,1864,1864,4093,0,0,0,0,0,0,26.44,26.43,26.49,8.83,29.99
$GC,2589,2.10,117.4,3530,1907,1863,4093,71.0,11.4,257,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1907,1866,1866,4091,0,0,0,0,0,0,26.70,26.72,26.72,8.83,29.87
$GC,2649,2.10,117.4,3529,1908,1866,4091,64.5,10.6,263,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1907,1862,1862,4094,0,0,0,0,0,0,26.72,26.73,26.73,8.82,30.31
$GC,2709,2.10,117.4,3530,1903,1858,4094,58.1,10.8,269,2714,0.00,2.70,0.00,0.000,516,0.000,0.070,3529,919,1860,1860,4094,0,0,0,0,0,0,26.73,26.37,26.74,8.82,29.91
$GC,2884,2.10,117.4,3530,914,1854,4094,37.3,12.8,286,2889,0.00,2.50,0.00,0.000,1030,0.000,0.039,3529,1907,1855,1855,4095,0,0,0,0,0,0,26.55,26.50,26.53,8.82,30.66
$GC,2949,2.10,117.4,3531,1903,1852,4095,29.1,11.5,293,2954,0.00,2.55,0.00,0.000,260,0.000,0.059,3537,2864,1852,1852,4094,0,0,0,0,0,0,26.77,26.44,26.79,8.82,29.87
$GC,3024,2.10,117.4,3528,2860,1850,4094,21.5,10.5,300,3029,0.00,2.47,0.00,0.000,1030,0.000,0.043,3530,1909,1851,1851,4090,0,0,0,0,0,0,26.52,26.54,26.56,8.81,30.11
$GC,3089,2.11,127.3,3530,1905,1850,4090,15.0,9.2,307,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,1901,1851,1851,4084,0,0,0,0,0,0,26.79,26.82,26.80,8.82,30.74
$GC,3149,2.14,144.7,3530,1904,1849,4084,9.7,8.7,313,3153,0.10,0.00,2.35,0.128,10246,0.092,0.000,3541,1909,1839,1839,4095,0,0,0,0,0,0,26.57,26.37,25.75,8.82,29.79
$GC,3210,2.22,196.2,3540,1905,1841,4095,5.5,6.0,319,3219,0.17,2.67,5.35,0.428,10756,0.070,0.070,3563,905,1784,1784,4094,0,0,0,0,0,0,26.51,26.37,25.77,8.85,30.66
$GC,3254,2.27,230.8,3564,906,1780,4094,2.6,7.3,323,3260,0.15,2.53,1.17,0.005,11266,0.054,0.039,3583,1897,1780,1780,4094,0,0,0,0,0,0,26.48,26.47,26.52,8.81,29.79
$STATE,3260,end climb,SURFACE_DEPTH_REACHED
$STATE,3261,begin surface coast
$STATE,3278,end surface coast,CONTROL_FINISHED_OK
$STATE,3278,begin surface
$SM_CCo,3315,13.20,0.542,0,0,1593,370.28
$SM_GC,3.61,31.67,0.00,13.20,0.043,0.000,0.542,537,1896,1593,-7.30,-0.14,370.28,0,0,0,0,0,0,26.48,26.77,25.64
$IRIDIUM_FIX,4808.40,-12337.82,120418,075655
$TT8_MAMPS,0.047187,0.677096
$HUMID,29.60
$INTERNAL_PRESSURE,8.66254
$TCM_TEMP,10.40
$XPDR_PINGS,35
$ALTIM_TOP_PING,14.1,13.6
$ALTIM_BOTTOM_PING,121.3,83.0
$SC_FREEKB,3903552
$24V_AH,24.44,3.728
$10V_AH,10.47,4.946
$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,66.850,67.475,31.475,13.200,0.000,23.748,21.695,457.038,13.250,0.000,34.726,0.000,2247.947,166.321,1505.005,49.440,33.430,565.805,0.000,740.304,0.000,44.594,0.000
$DEVICE_MAMPS,130.815,74.205,1517.760,542.385,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3302.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.145,0.000,0.000,0.000
$MEM,312968
$DATA_FILE_SIZE,10516,326
$CAP_FILE_SIZE,74631,0
$CFSIZE,1023623168,1019723776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120418,101227,4743.326,-12224.928,20,1.5,61,16.3,0.0,6.5,5,7.4