version: 66.14
glider: 403
mission: 4
dive: 14
start: 4 12 118 12 44 43
data:
$ID,403
$MISSION,4
$DIVE,14
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,350
$C_ROLL_CLIMB,350
$HEAD_ERRBAND,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,27
$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,130
$ALTIM_PING_DELTA,3
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,4
$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
$GPS1,120418,123304,4743.9478,-12224.6055,13,0.9,32,16.3,0.3,14.9,11,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-54.7
$GPS2,120418,124347,4744.0791,-12224.5020,9,1.0,25,16.3,0.5,26.4,11,5.9
$SPEED_LIMITS,0.275,0.346
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.244075,-0.126150
$KALMAN_X,2363.197754,-438.950226,-162.638580,-1545.944946,162.349335
$KALMAN_Y,1029.508545,-711.796570,-354.246613,1284.083984,129.285217
$MHEAD_RNG_PITCHd_Wd,226.4,399,-16.2,-10.000,-20.00,2551
$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,-1.61,-169.8,539,347,1592,3403,0.0,0.0,0,13,0.00,0.00,-4.25,0.000,16390,0.000,0.000,538,349,2180,2180,4091,0,0,0,0,0,0,26.16,24.88,26.16,8.76,30.50
$GC,14,-1.61,-169.8,539,356,2178,4091,0.0,0.0,0,39,23.25,0.00,0.00,0.000,2054,0.142,0.000,2352,346,2180,2180,4094,0,0,0,0,0,0,25.72,25.91,25.86,8.88,30.19
$GC,98,-1.61,-169.8,2353,348,2185,4094,14.1,-13.6,9,99,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2183,2183,4094,0,0,0,0,0,0,26.23,26.24,26.24,8.86,29.83
$GC,159,-1.61,-169.8,2344,349,2191,4094,22.1,-13.3,15,159,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,349,2184,2184,4095,0,0,0,0,0,0,26.30,26.32,26.31,8.89,29.95
$GC,218,-1.61,-169.8,2352,349,2189,4095,30.4,-13.7,21,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2186,2186,4095,0,0,0,0,0,0,26.35,26.37,26.40,8.97,29.87
$GC,278,-1.61,-169.8,2352,350,2189,4095,38.4,-13.4,27,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2187,2187,4094,0,0,0,0,0,0,26.40,26.44,26.41,8.89,30.11
$GC,338,-1.61,-169.8,2352,348,2190,4094,46.4,-13.2,33,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2189,2189,4094,0,0,0,0,0,0,26.44,26.46,26.45,8.89,30.11
$GC,398,-1.61,-169.8,2353,349,2199,4094,53.6,-11.7,39,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2190,2190,4094,0,0,0,0,0,0,26.48,26.48,26.49,8.89,29.76
$GC,459,-1.61,-169.8,2355,348,2196,4094,60.6,-11.8,45,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,348,2192,2192,4094,0,0,0,0,0,0,26.51,26.53,26.53,8.89,29.68
$GC,518,-1.61,-169.8,2353,351,2194,4094,68.0,-12.4,51,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2192,2192,4095,0,0,0,0,0,0,26.56,26.56,26.55,8.93,29.99
$GC,578,-1.61,-169.8,2354,348,2194,4095,75.5,-12.6,57,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,349,2195,2195,4095,0,0,0,0,0,0,26.57,26.58,26.58,8.89,29.72
$GC,638,-1.61,-169.8,2353,349,2195,4095,83.3,-13.1,63,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2196,2196,4094,0,0,0,0,0,0,26.59,26.59,26.62,8.85,30.27
$GC,698,-1.61,-169.8,2352,349,2195,4094,91.5,-13.9,69,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,350,2198,2198,4095,0,0,0,0,0,0,26.62,26.63,26.67,8.89,30.07
$GC,759,-1.61,-169.8,2352,350,2205,4095,99.5,-13.2,75,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2199,2199,4094,0,0,0,0,0,0,26.64,26.65,26.64,8.89,29.76
$GC,818,-1.61,-169.8,2359,349,2203,4094,107.6,-13.5,81,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2196,2196,4094,0,0,0,0,0,0,26.65,26.67,26.67,8.89,30.58
$GC,878,-1.61,-169.8,2348,349,2204,4094,115.7,-13.6,87,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2203,2203,4095,0,0,0,0,0,0,26.71,26.69,26.69,8.89,29.95
$GC,939,-1.61,-169.8,2352,351,2214,4095,124.2,-14.3,93,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,351,2204,2204,4094,0,0,0,0,0,0,26.69,26.70,26.70,8.89,29.56
$GC,998,-1.61,-169.8,2353,348,2207,4094,132.8,-13.9,99,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2207,2207,4094,0,0,0,0,0,0,26.68,26.70,26.71,8.94,30.31
$GC,1058,-1.61,-169.8,2352,349,2211,4094,141.2,-14.3,105,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2209,2209,4095,0,0,0,0,0,0,26.70,26.73,26.72,8.89,30.07
$GC,1119,-1.61,-169.8,2352,349,2203,4095,148.9,-12.4,111,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,349,2206,2206,4094,0,0,0,0,0,0,26.72,26.74,26.74,8.90,29.68
$GC,1178,-1.61,-169.8,2354,348,2212,4094,156.8,-13.1,117,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2212,2212,4094,0,0,0,0,0,0,26.74,26.75,26.75,8.90,29.99
$GC,1238,-1.61,-169.8,2356,349,2214,4094,165.0,-13.6,123,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,349,2214,2214,4095,0,0,0,0,0,0,26.77,26.77,26.78,8.90,29.56
$GC,1298,-1.61,-169.8,2352,345,2213,4095,173.4,-13.8,129,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,349,2215,2215,4094,0,0,0,0,0,0,26.76,26.79,26.82,8.92,30.03
$STATE,1308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1308,begin apogee
$GC,1310,-0.42,0.0,2354,349,2216,4095,174.8,-13.6,130,1333,4.35,0.00,16.98,1.597,10246,0.094,0.000,2740,344,1996,1996,4094,0,0,0,0,0,0,26.39,25.66,24.63,8.90,29.91
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1334,begin climb
$GC,1335,1.61,169.8,2733,350,1998,4094,176.2,0.0,132,1358,6.90,0.00,14.30,1.553,10246,0.060,0.000,3372,345,1817,1817,4092,0,0,0,0,0,0,25.88,24.96,24.21,8.86,29.87
$GC,1418,1.61,169.8,3372,348,1816,4092,168.4,12.3,141,1420,0.00,0.00,0.17,0.002,8198,0.000,0.000,3371,348,1816,1816,4095,0,0,0,0,0,0,26.03,26.01,26.00,8.83,29.95
$GC,1479,1.61,169.8,3373,349,1817,4095,161.4,11.2,147,1480,0.00,0.00,0.47,0.004,8198,0.000,0.000,3375,344,1819,1819,4095,0,0,0,0,0,0,26.12,26.12,26.13,8.83,29.60
$GC,1538,1.61,169.8,3371,348,1821,4095,154.1,12.6,153,1540,0.00,0.00,0.03,0.003,8198,0.000,0.000,3372,348,1812,1812,4094,0,0,0,0,0,0,26.21,26.22,26.22,8.77,29.91
$GC,1598,1.61,169.8,3372,349,1813,4094,146.2,13.0,159,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,348,1811,1811,4095,0,0,0,0,0,0,26.28,26.29,26.29,8.82,29.91
$GC,1658,1.61,169.8,3372,348,1809,4095,138.9,12.0,165,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,348,1809,1809,4092,0,0,0,0,0,0,26.34,26.35,26.34,8.81,29.95
$GC,1718,1.61,169.8,3372,348,1808,4092,132.3,10.9,171,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,348,1808,1808,4094,0,0,0,0,0,0,26.39,26.41,26.38,8.82,30.19
$GC,1779,1.61,169.8,3371,347,1805,4094,126.1,10.3,177,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,348,1805,1805,4094,0,0,0,0,0,0,26.43,26.41,26.44,8.88,30.27
$GC,1839,1.61,174.3,3370,348,1807,4094,120.1,9.8,183,1840,0.00,0.00,0.03,0.003,8198,0.000,0.000,3372,348,1805,1805,4095,0,0,0,0,0,0,26.46,26.48,26.48,8.79,30.19
$GC,1898,1.61,174.3,3373,348,1803,4095,113.9,10.3,189,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,348,1803,1803,4094,0,0,0,0,0,0,26.51,26.52,26.51,8.82,30.11
$GC,1958,1.61,174.3,3373,348,1802,4094,107.4,10.9,195,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,348,1802,1802,4094,0,0,0,0,0,0,26.53,26.55,26.57,8.83,30.70
$GC,2018,1.61,174.3,3372,348,1804,4094,100.9,10.7,201,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,348,1801,1801,4094,0,0,0,0,0,0,26.55,26.58,26.57,8.82,30.23
$GC,2079,1.61,174.3,3375,344,1798,4094,94.5,10.7,207,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,348,1799,1799,4094,0,0,0,0,0,0,26.63,26.60,26.60,8.86,30.39
$GC,2139,1.61,174.3,3372,348,1797,4094,88.0,10.9,213,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,349,1797,1797,4094,0,0,0,0,0,0,26.60,26.61,26.62,8.76,30.35
$GC,2198,1.61,174.3,3371,349,1798,4094,81.2,11.3,219,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,348,1795,1795,4095,0,0,0,0,0,0,26.63,26.65,26.65,8.82,30.19
$GC,2258,1.61,174.3,3372,348,1794,4095,74.1,12.2,225,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,345,1793,1793,4095,0,0,0,0,0,0,26.65,26.67,26.66,8.81,30.19
$GC,2318,1.61,174.3,3371,347,1794,4095,66.6,12.4,231,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,352,1792,1792,4095,0,0,0,0,0,0,26.67,26.65,26.68,8.84,29.83
$GC,2379,1.61,174.3,3371,348,1792,4095,59.0,12.8,237,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,348,1790,1790,4094,0,0,0,0,0,0,26.68,26.72,26.67,8.81,29.95
$GC,2438,1.61,174.3,3372,348,1789,4094,51.4,12.6,243,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,347,1789,1789,4095,0,0,0,0,0,0,26.70,26.72,26.71,8.79,29.99
$GC,2498,1.61,174.3,3372,348,1787,4095,44.2,11.9,249,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,348,1787,1787,4091,0,0,0,0,0,0,26.73,26.73,26.77,8.76,30.03
$GC,2558,1.61,174.3,3370,348,1787,4091,37.1,11.8,255,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,348,1783,1783,4095,0,0,0,0,0,0,26.72,26.77,26.74,8.81,30.15
$GC,2618,1.61,174.3,3372,348,1783,4095,30.2,11.7,261,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,345,1779,1779,4092,0,0,0,0,0,0,26.74,26.74,26.75,8.81,29.99
$GC,2679,1.61,174.3,3378,349,1784,4092,22.8,12.7,267,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,348,1782,1782,4095,0,0,0,0,0,0,26.79,26.77,26.78,8.84,29.87
$GC,2738,1.61,174.3,3371,348,1782,4095,16.3,10.2,273,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,347,1780,1780,4095,0,0,0,0,0,0,26.77,26.78,26.77,8.80,30.27
$GC,2798,1.61,174.3,3372,348,1778,4095,10.2,10.2,279,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,348,1778,1778,4094,0,0,0,0,0,0,26.77,26.79,26.79,8.80,30.07
$GC,2859,1.67,212.6,3370,348,1779,4094,5.0,8.5,285,2863,0.17,0.00,2.72,0.196,10246,0.060,0.000,3395,348,1762,1762,4095,0,0,0,0,0,0,26.55,26.37,25.79,8.79,30.03
$STATE,2908,end climb,SURFACE_DEPTH_REACHED
$STATE,2908,begin surface coast
$STATE,2938,end surface coast,CONTROL_FINISHED_OK
$STATE,2938,begin surface
$SM_CCo,2972,12.15,0.534,0,0,1592,370.28
$SM_GC,3.36,29.42,0.00,12.15,0.035,0.000,0.534,526,348,1592,-7.35,-0.09,370.28,0,0,0,0,0,0,26.49,26.80,25.71
$IRIDIUM_FIX,4808.40,-12337.82,120418,113038
$TT8_MAMPS,0.047187,0.505575
$HUMID,29.99
$INTERNAL_PRESSURE,8.65277
$TCM_TEMP,10.40
$XPDR_PINGS,13
$ALTIM_TOP_PING,14.3,13.8
$ALTIM_BOTTOM_PING,134.2,60.1
$SC_FREEKB,3901760
$24V_AH,24.21,3.877
$10V_AH,10.51,5.198
$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,64.100,4.350,34.700,12.150,0.000,24.216,18.987,470.928,4.500,0.000,26.940,0.000,2288.913,131.202,1162.603,50.741,33.435,380.428,0.000,426.784,0.000,17.489,0.000
$DEVICE_MAMPS,142.290,62.730,1597.320,533.970,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2972.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.922,0.000,0.000,0.000
$MEM,312944
$DATA_FILE_SIZE,10488,293
$CAP_FILE_SIZE,67346,0
$CFSIZE,1023623168,1019297792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120418,133516,4744.218,-12224.453,14,1.0,33,16.3,0.4,38.4,9,5.9