version: 66.14
glider: 403
mission: 4
dive: 13
start: 4 12 118 11 40 50
data:
$ID,403
$MISSION,4
$DIVE,13
$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,12
$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
$GPS1,120418,112720,4743.5537,-12224.7490,17,0.8,42,16.3,0.3,19.8,12,6.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-53.8
$GPS2,120418,113958,4743.6489,-12224.7217,9,1.2,33,16.3,0.3,10.2,10,6.0
$SPEED_LIMITS,0.100,0.204
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.002664,0.203571
$KALMAN_X,1999.661133,-296.372894,-193.047470,-1566.589355,-76.624664
$KALMAN_Y,885.414795,-545.816711,-447.723907,559.471130,-105.896423
$MHEAD_RNG_PITCHd_Wd,343.0,658,-23.1,-10.000,-26.16,1334
$D_GRID,174
$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,-88.0,540,1903,1590,3404,0.0,0.0,0,13,0.00,0.00,-3.70,0.000,16390,0.000,0.000,536,1901,2099,2099,4086,0,0,0,0,0,0,26.17,24.86,26.19,8.77,30.39
$GC,14,-2.05,-88.0,533,1903,2101,4086,0.0,0.0,0,39,20.80,2.62,0.00,0.000,2308,0.131,0.059,2210,2877,2100,2100,4095,0,0,0,0,0,0,25.75,25.80,25.89,8.88,30.82
$GC,398,-2.05,-88.0,2211,2877,2109,4095,47.5,-10.2,39,403,0.00,2.58,0.00,0.000,1030,0.000,0.043,2212,1895,2109,2109,4095,0,0,0,0,0,0,26.22,26.18,26.27,8.87,29.76
$GC,463,-2.05,-88.0,2211,1892,2110,4095,54.8,-10.4,46,468,0.00,2.65,0.00,0.000,260,0.000,0.057,2217,2876,2110,2110,4090,0,0,0,0,0,0,26.52,26.17,26.53,8.88,30.54
$GC,514,-2.05,-88.0,2209,2876,2114,4090,60.2,-10.8,51,518,0.00,2.55,0.00,0.000,1030,0.000,0.043,2209,1888,2112,2112,4092,0,0,0,0,0,0,26.29,26.25,26.29,8.88,30.19
$GC,583,-2.05,-88.0,2210,1894,2115,4092,67.5,-10.5,58,588,0.00,2.65,0.00,0.000,516,0.000,0.070,2208,923,2117,2117,4094,0,0,0,0,0,0,26.57,26.20,26.58,8.87,29.79
$GC,703,-2.05,-88.0,2210,924,2119,4094,81.6,-12.0,70,708,0.00,2.50,0.00,0.000,1030,0.000,0.038,2217,1901,2116,2116,4091,0,0,0,0,0,0,26.39,26.33,26.39,8.89,29.64
$GC,773,-2.05,-88.0,2210,1901,2117,4091,89.2,-10.6,77,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1898,2114,2114,4091,0,0,0,0,0,0,26.64,26.65,26.63,8.88,30.31
$GC,833,-2.05,-88.0,2208,1902,2120,4091,95.9,-11.4,83,838,0.00,2.67,0.00,0.000,516,0.000,0.069,2210,918,2119,2119,4095,0,0,0,0,0,0,26.65,26.28,26.69,8.87,29.99
$GC,1103,-2.05,-88.0,2209,922,2130,4095,134.2,-14.9,110,1108,0.00,2.50,0.00,0.000,1030,0.000,0.039,2218,1903,2128,2128,4088,0,0,0,0,0,0,26.48,26.44,26.58,8.88,29.79
$GC,1173,-2.05,-88.0,2211,1904,2129,4088,143.9,-13.5,117,1178,0.00,2.58,0.00,0.000,260,0.000,0.059,2211,2875,2125,2125,4094,0,0,0,0,0,0,26.74,26.38,26.75,8.88,29.95
$GC,1218,-2.05,-88.0,2210,2876,2139,4094,149.0,-13.0,121,1223,0.00,2.50,0.00,0.000,1030,0.000,0.042,2209,1906,2130,2130,4094,0,0,0,0,0,0,26.48,26.44,26.51,8.83,29.72
$GC,1283,-2.05,-88.0,2211,1907,2134,4094,157.1,-11.4,128,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1907,2133,2133,4095,0,0,0,0,0,0,26.74,26.77,26.77,8.89,29.95
$GC,1343,-2.05,-88.0,2211,1907,2135,4095,163.5,-10.2,134,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1904,2139,2139,4093,0,0,0,0,0,0,26.76,26.79,26.78,8.88,29.83
$GC,1404,-2.05,-88.0,2215,1904,2133,4093,169.0,-9.1,140,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1906,2134,2134,4094,0,0,0,0,0,0,26.80,26.82,26.80,8.90,30.27
$STATE,1463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1463,begin apogee
$GC,1465,-0.42,0.0,2212,1906,2137,4095,174.9,-10.4,146,1484,5.85,0.00,11.55,1.499,10246,0.085,0.000,2735,1906,1993,1993,4093,0,0,0,0,0,0,26.42,25.90,24.68,8.89,29.87
$STATE,1485,end apogee,CONTROL_FINISHED_OK
$STATE,1485,begin climb
$GC,1486,2.05,88.0,2736,1907,1996,4093,175.8,0.0,148,1504,8.02,0.00,7.90,1.356,10246,0.037,0.000,3509,1909,1902,1902,4095,0,0,0,0,0,0,26.14,25.67,24.62,8.86,29.76
$GC,1563,2.05,88.0,3515,1906,1901,4095,168.1,11.7,156,1567,0.00,0.00,2.25,0.215,8198,0.000,0.000,3517,1906,1901,1901,4094,0,0,0,0,0,0,26.29,25.81,24.73,8.85,29.64
$GC,1623,2.05,88.0,3514,1906,1899,4094,159.8,13.9,162,1628,0.00,2.62,0.00,0.000,260,0.000,0.057,3513,2877,1902,1902,4095,0,0,0,0,0,0,26.34,25.99,26.35,8.85,30.19
$GC,1698,2.05,88.0,3514,2878,1897,4095,149.1,15.5,169,1703,0.00,2.58,0.00,0.000,1030,0.000,0.043,3512,1894,1897,1897,4095,0,0,0,0,0,0,26.13,26.06,26.16,8.84,29.83
$GC,1763,2.05,88.0,3514,1894,1895,4095,141.0,10.5,176,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,1894,1892,1892,4094,0,0,0,0,0,0,26.43,26.44,26.44,8.84,30.50
$GC,1824,2.07,97.4,3513,1894,1896,4094,135.3,9.3,182,1825,0.00,0.00,0.08,0.011,8198,0.000,0.000,3512,1892,1890,1890,4094,0,0,0,0,0,0,26.48,26.49,26.48,8.84,29.76
$GC,1884,2.10,116.2,3513,1895,1895,4094,130.1,8.6,188,1893,0.12,2.65,3.47,0.654,10500,0.074,0.055,3529,2879,1870,1870,4091,0,0,0,0,0,0,26.27,26.03,24.88,8.84,29.72
$GC,1934,2.10,118.1,3529,2876,1870,4091,125.3,9.9,193,1938,0.00,2.55,0.00,0.000,1030,0.000,0.043,3530,1900,1870,1870,4094,0,0,0,0,0,0,26.21,26.17,26.25,8.84,30.15
$GC,2004,2.11,124.2,3530,1901,1866,4094,118.6,9.5,200,2007,0.00,0.00,2.10,0.092,8198,0.000,0.000,3525,1899,1864,1864,4095,0,0,0,0,0,0,26.51,26.01,24.91,8.83,29.91
$GC,2064,2.12,132.3,3529,1901,1865,4095,113.0,9.4,206,2067,0.00,0.00,2.58,0.332,8198,0.000,0.000,3529,1894,1854,1854,4094,0,0,0,0,0,0,26.54,26.03,24.98,8.83,30.66
$GC,2123,2.12,132.3,3529,1901,1854,4094,106.8,10.3,212,2128,0.00,2.67,0.00,0.000,516,0.000,0.071,3526,920,1856,1856,4091,0,0,0,0,0,0,26.55,26.16,26.55,8.79,29.79
$GC,2318,2.12,132.3,3530,920,1847,4091,84.1,13.4,231,2323,0.00,2.50,0.00,0.000,1030,0.000,0.038,3539,1899,1847,1847,4094,0,0,0,0,0,0,26.39,26.35,26.41,8.85,29.76
$GC,2383,2.12,132.3,3529,1902,1847,4094,75.2,12.5,238,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1907,1843,1843,4094,0,0,0,0,0,0,26.64,26.68,26.66,8.92,30.19
$GC,2444,2.12,132.3,3529,1903,1852,4094,67.7,12.5,244,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,1902,1841,1841,4095,0,0,0,0,0,0,26.66,26.66,26.67,8.85,29.79
$GC,2503,2.12,132.3,3531,1901,1841,4095,60.1,12.6,250,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1901,1840,1840,4091,0,0,0,0,0,0,26.67,26.70,26.70,8.82,30.19
$GC,2563,2.12,132.3,3530,1902,1839,4091,52.4,12.9,256,2568,0.00,2.70,0.00,0.000,516,0.000,0.070,3530,913,1839,1839,4095,0,0,0,0,0,0,26.70,26.32,26.74,8.81,30.27
$GC,2709,2.12,132.3,3527,913,1830,4095,32.5,14.0,270,2713,0.00,2.50,0.00,0.000,1030,0.000,0.039,3530,1900,1825,1825,4094,0,0,0,0,0,0,26.49,26.46,26.52,8.81,30.19
$GC,2774,2.12,132.3,3528,1900,1837,4094,24.4,11.3,277,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,1895,1837,1837,4095,0,0,0,0,0,0,26.77,26.75,26.79,8.81,30.35
$GC,2833,2.12,132.3,3531,1900,1831,4095,18.2,10.5,283,2838,0.00,2.70,0.00,0.000,516,0.000,0.070,3530,915,1825,1825,4094,0,0,0,0,0,0,26.76,26.39,26.77,8.81,29.95
$STATE,3013,end climb,SURFACE_DEPTH_REACHED
$STATE,3013,begin surface coast
$STATE,3023,end surface coast,CONTROL_FINISHED_OK
$STATE,3023,begin surface
$SM_CCo,3061,16.05,0.560,0,0,1592,370.28
$SM_GC,2.42,31.12,2.55,16.05,0.043,0.039,0.560,538,1908,1592,-7.30,-1.00,370.28,0,0,0,0,0,0,26.49,26.52,25.63
$IRIDIUM_FIX,4808.40,-12337.82,120418,101903
$TT8_MAMPS,0.048685,0.462133
$HUMID,29.48
$INTERNAL_PRESSURE,8.66254
$TCM_TEMP,10.40
$XPDR_PINGS,28
$ALTIM_TOP_PING,14.4,13.9
$ALTIM_BOTTOM_PING,101.0,94.7
$SC_FREEKB,3902304
$24V_AH,24.62,3.829
$10V_AH,10.55,5.121
$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,65.925,51.825,29.925,16.050,0.000,47.006,35.762,489.579,7.750,0.000,34.152,0.000,2164.314,159.840,1470.552,50.644,33.429,515.542,0.000,662.700,0.000,12.434,0.000
$DEVICE_MAMPS,130.815,71.145,1498.635,559.980,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3052.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.784,0.000,0.000,0.000
$MEM,312944
$DATA_FILE_SIZE,10495,302
$CAP_FILE_SIZE,67617,0
$CFSIZE,1023623168,1019428864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120418,123304,4743.948,-12224.605,13,0.9,32,16.3,0.3,14.9,11,5.8