version: 66.14
glider: 403
mission: 3
dive: 11
start: 3 22 118 4 55 41
data:
$ID,403
$MISSION,3
$DIVE,11
$N_DIVES,20
$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,50
$T_MISSION,70
$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,150
$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,520
$PITCH_MAX,3845
$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,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,28
$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,-50.780041
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$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,97
$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
$GPS1,220318,044519,4741.8447,-12225.3516,7,1.2,47,16.3,0.0,27.3,7,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-50.9
$GPS2,220318,045449,4741.8486,-12225.3682,12,0.9,40,16.3,0.0,284.6,8,5.1
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.048345,0.253080
$KALMAN_X,-1160.556274,-516.716736,-149.025162,398.309357,-11.895477
$KALMAN_Y,-2304.261475,-937.220032,-320.137482,723.599609,-38.355103
$MHEAD_RNG_PITCHd_Wd,354.5,4047,-17.6,-10.000,-21.21,2208
$D_GRID,75
$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,-1.32,-146.6,538,1801,1431,210,0.0,0.0,0,16,0.00,0.00,-5.70,0.000,16390,0.000,0.000,537,1801,2157,2157,282,0,0,0,0,0,0,26.23,24.89,26.25,9.00,28.02
$GC,17,-1.32,-146.6,538,1798,2158,282,1.1,0.0,1,47,23.45,3.17,0.00,0.000,2308,0.131,0.052,2427,2998,2159,2159,501,0,0,0,0,0,0,25.82,25.84,25.90,8.94,27.71
$GC,161,-1.32,-146.6,2421,2990,2162,501,16.8,-7.6,29,168,0.00,3.15,0.00,0.000,1030,0.000,0.044,2433,1781,2160,2160,512,0,0,0,0,0,0,26.13,26.03,26.15,9.00,27.94
$GC,197,-1.32,-146.6,2427,1783,2162,512,19.2,-6.1,36,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1782,2162,2162,509,0,0,0,0,0,0,26.35,26.37,26.38,9.00,27.16
$GC,227,-1.32,-146.6,2427,1783,2163,509,20.7,-4.9,42,234,0.00,3.28,0.00,0.000,516,0.000,0.076,2430,599,2155,2155,529,0,0,0,0,0,0,26.39,26.01,26.42,9.01,27.24
$GC,263,-1.32,-146.6,2428,600,2159,529,23.1,-7.6,49,270,0.00,3.10,0.00,0.000,1030,0.000,0.036,2427,1811,2163,2163,544,0,0,0,0,0,0,26.21,26.14,26.24,9.00,28.22
$GC,299,-1.32,-146.6,2428,1813,2164,544,25.4,-6.3,56,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1812,2162,2162,541,0,0,0,0,0,0,26.44,26.45,26.45,9.00,27.31
$GC,329,-1.32,-146.6,2427,1812,2164,541,27.4,-6.8,62,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1809,2159,2159,537,0,0,0,0,0,0,26.46,26.47,26.47,8.98,27.24
$GC,359,-1.32,-146.6,2427,1813,2165,537,29.6,-7.6,68,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1812,2164,2164,534,0,0,0,0,0,0,26.48,26.49,26.48,9.00,27.83
$GC,389,-1.32,-146.6,2427,1812,2166,534,32.1,-8.7,74,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1812,2162,2162,530,0,0,0,0,0,0,26.50,26.51,26.51,9.00,27.24
$GC,419,-1.32,-146.6,2422,1810,2166,530,34.9,-9.7,80,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1812,2165,2165,527,0,0,0,0,0,0,26.51,26.53,26.52,9.00,26.84
$GC,448,-1.32,-146.6,2436,1813,2167,527,38.2,-11.1,86,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1812,2166,2166,525,0,0,0,0,0,0,26.51,26.54,26.53,9.04,26.96
$GC,479,-1.32,-146.6,2429,1810,2167,525,41.2,-10.0,92,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1811,2166,2166,522,0,0,0,0,0,0,26.53,26.55,26.55,9.00,27.55
$GC,509,-1.32,-146.6,2427,1812,2165,522,43.8,-8.8,98,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1811,2163,2163,519,0,0,0,0,0,0,26.55,26.57,26.56,9.00,27.35
$GC,539,-1.32,-146.6,2428,1814,2169,519,46.4,-8.4,104,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1812,2167,2167,511,0,0,0,0,0,0,26.56,26.58,26.58,9.00,27.12
$GC,569,-1.32,-146.6,2432,1812,2167,511,48.9,-8.4,110,576,0.00,3.12,0.00,0.000,260,0.000,0.057,2427,2990,2168,2168,536,0,0,0,0,0,0,26.57,26.21,26.59,9.00,27.71
$GC,599,-1.32,-146.6,2423,2991,2170,536,51.7,-9.6,116,607,0.00,3.10,0.00,0.000,1030,0.000,0.044,2426,1788,2168,2168,555,0,0,0,0,0,0,26.36,26.27,26.39,9.00,27.35
$GC,635,-1.32,-146.6,2426,1791,2171,555,55.0,-8.8,123,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1790,2168,2168,548,0,0,0,0,0,0,26.60,26.65,26.61,8.99,26.84
$GC,665,-1.32,-146.6,2426,1794,2171,548,57.5,-8.5,129,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1791,2165,2165,550,0,0,0,0,0,0,26.65,26.63,26.61,9.00,27.71
$GC,695,-1.32,-146.6,2427,1792,2171,550,60.0,-7.8,135,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1791,2169,2169,539,0,0,0,0,0,0,26.62,26.64,26.63,8.98,26.96
$GC,726,-1.32,-146.6,2427,1793,2167,539,62.1,-6.8,141,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1790,2167,2167,538,0,0,0,0,0,0,26.63,26.67,26.64,9.02,27.31
$GC,755,-1.32,-146.6,2427,1792,2172,538,64.3,-7.8,147,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1792,2171,2171,533,0,0,0,0,0,0,26.63,26.65,26.65,9.00,27.67
$GC,785,-1.32,-146.6,2427,1791,2173,533,67.1,-9.8,153,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1791,2171,2171,530,0,0,0,0,0,0,26.64,26.65,26.65,9.00,27.00
$GC,815,-1.32,-146.6,2427,1792,2175,530,69.7,-8.6,159,823,0.00,3.17,0.00,0.000,260,0.000,0.055,2428,2985,2169,2169,545,0,0,0,0,0,0,26.69,26.29,26.67,9.00,27.20
$GC,851,-1.32,-146.6,2427,2994,2172,545,72.7,-8.3,166,859,0.00,3.10,0.00,0.000,1030,0.000,0.043,2425,1790,2174,2174,564,0,0,0,0,0,0,26.46,26.34,26.46,9.00,27.27
$STATE,886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,886,begin apogee
$GC,889,-0.31,0.0,2427,1787,2175,562,75.2,-6.7,173,912,3.42,0.00,13.07,0.976,10246,0.072,0.000,2744,1787,1998,1998,3830,0,0,0,0,0,0,26.31,25.93,25.11,8.98,27.08
$STATE,913,end apogee,CONTROL_FINISHED_OK
$STATE,913,begin climb
$GC,914,1.32,146.6,2745,1789,1999,3830,75.8,0.0,177,935,5.32,0.00,11.77,0.965,10246,0.042,0.000,3265,1785,1845,1845,4085,0,0,0,0,0,0,26.15,25.72,24.92,9.00,27.08
$GC,964,1.47,243.9,3272,1793,1845,4085,73.3,5.5,186,977,0.28,0.00,8.73,0.884,10246,0.049,0.000,3298,1788,1733,1733,4095,0,0,0,0,0,0,25.95,25.60,24.79,9.00,26.92
$GC,1006,1.54,291.1,3304,1786,1731,4095,70.4,7.8,194,1014,0.30,0.00,5.07,0.689,10246,0.045,0.000,3331,1788,1682,1682,4095,0,0,0,0,0,0,25.91,25.62,24.87,9.03,27.27
$GC,1042,1.54,296.8,3331,1785,1683,4095,67.0,9.7,201,1050,0.00,3.25,0.70,0.004,8452,0.000,0.057,3331,2991,1682,1682,615,0,0,0,0,0,0,26.08,25.77,26.11,9.01,27.00
$GC,1084,1.54,296.8,3333,2993,1675,615,62.3,11.7,209,1091,0.00,3.15,0.55,0.004,9222,0.000,0.044,3334,1803,1681,1681,596,0,0,0,0,0,0,25.93,25.88,25.96,8.99,26.76
$GC,1120,1.55,303.4,3331,1801,1677,596,58.8,9.7,216,1128,0.00,3.40,2.78,0.311,8708,0.000,0.076,3332,588,1662,1662,4095,0,0,0,0,0,0,26.20,25.60,25.00,8.97,27.59
$GC,1157,1.55,303.4,3329,585,1666,4095,54.6,11.3,223,1164,0.00,3.15,0.00,0.000,1030,0.000,0.037,3337,1810,1670,1670,619,0,0,0,0,0,0,26.06,25.99,26.07,8.98,27.08
$GC,1193,1.56,309.9,3332,1810,1667,619,50.9,9.7,230,1199,0.00,0.00,0.50,0.005,8198,0.000,0.000,3332,1813,1659,1659,596,0,0,0,0,0,0,26.29,26.29,26.29,8.99,26.76
$GC,1228,1.62,344.9,3326,1806,1673,596,48.0,8.4,237,1241,0.20,3.17,4.68,0.566,10500,0.057,0.057,3356,2989,1620,1620,4095,0,0,0,0,0,0,26.11,25.89,25.13,8.98,26.68
$GC,1260,1.62,347.5,3355,2990,1620,4095,45.0,9.9,243,1267,0.00,3.12,0.00,0.000,1030,0.000,0.044,3355,1799,1619,1619,632,0,0,0,0,0,0,26.08,25.98,26.10,8.98,26.72
$GC,1296,1.66,374.0,3355,1796,1613,632,41.7,8.8,250,1303,0.00,0.00,3.78,0.453,8710,0.000,0.000,3355,1796,1588,1588,4095,0,0,0,0,0,0,26.33,25.89,25.19,8.98,27.04
$GC,1332,1.72,414.0,3355,1797,1588,4095,38.8,8.1,257,1346,0.32,3.35,3.78,0.442,10756,0.046,0.075,3399,597,1556,1556,4095,0,0,0,0,0,0,26.10,25.92,25.17,8.98,26.49
$GC,1354,1.72,414.0,3396,596,1558,4095,36.3,11.2,261,1362,0.00,3.12,2.17,0.097,9222,0.000,0.037,3392,1800,1551,1551,4095,0,0,0,0,0,0,26.08,26.05,25.17,8.97,27.59
$GC,1391,1.72,414.0,3389,1796,1552,4095,32.0,11.5,268,1392,0.00,0.00,0.30,0.002,8198,0.000,0.000,3391,1796,1549,1549,635,0,0,0,0,0,0,26.32,26.33,26.34,8.98,27.20
$GC,1421,1.72,414.0,3396,1795,1547,635,28.3,12.9,274,1422,0.00,0.00,0.40,0.004,8198,0.000,0.000,3391,1794,1549,1549,610,0,0,0,0,0,0,26.36,26.36,26.36,8.93,27.47
$GC,1451,1.72,414.0,3392,1800,1557,610,24.7,12.5,280,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1800,1554,1554,606,0,0,0,0,0,0,26.38,26.39,26.39,9.00,26.72
$GC,1481,1.72,414.0,3393,1807,1550,606,21.2,11.2,286,1482,0.00,0.00,0.52,0.003,8198,0.000,0.000,3392,1805,1548,1548,589,0,0,0,0,0,0,26.41,26.41,26.41,9.00,26.92
$GC,1511,1.72,414.0,3397,1800,1558,589,17.8,11.2,292,1518,0.00,3.15,0.00,0.000,260,0.000,0.055,3389,2990,1552,1552,570,0,0,0,0,0,0,26.43,26.10,26.46,8.98,26.84
$GC,1562,1.72,414.0,3392,2995,1546,570,11.8,12.2,302,1569,0.00,3.12,0.00,0.000,1030,0.000,0.045,3392,1796,1541,1541,554,0,0,0,0,0,0,26.25,26.15,26.27,8.98,27.00
$GC,1598,1.72,414.0,3391,1793,1546,554,7.4,11.9,309,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1796,1549,1549,550,0,0,0,0,0,0,26.48,26.48,26.48,8.98,27.12
$GC,1628,1.72,414.0,3391,1795,1544,550,3.9,11.7,315,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1795,1543,1543,546,0,0,0,0,0,0,26.49,26.51,26.51,8.96,27.79
$STATE,1642,end climb,SURFACE_DEPTH_REACHED
$STATE,1642,begin surface coast
$FINISH,0.1,0.999181
$STATE,1657,end surface coast,CONTROL_FINISHED_OK
$STATE,1657,begin surface
$SM_CCo,1751,0.00,0.000,0,0,1542,419.22
$SM_GC,0.93,29.08,0.00,0.00,0.026,0.000,0.000,539,1796,1542,-7.24,-0.23,419.22,0,0,0,0,0,0,26.25,26.52,26.30
$IRIDIUM_FIX,4808.40,-12337.82,220318,041033
$TT8_MAMPS,0.046438,0.626164
$HUMID,26.80
$INTERNAL_PRESSURE,8.86762
$TCM_TEMP,10.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,6.8
$SC_FREEKB,3904480
$24V_AH,24.79,2.227
$10V_AH,10.52,2.923
$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,62.375,57.200,58.800,0.000,0.000,25.063,22.502,399.446,0.500,0.000,41.387,0.000,856.078,221.079,1210.033,43.915,33.427,510.779,0.000,465.867,0.000,6.089,0.000
$DEVICE_MAMPS,130.815,76.500,976.140,0.000,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1675.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.531,0.000,0.000,0.000
$MEM,312992
$DATA_FILE_SIZE,10493,321
$CAP_FILE_SIZE,71488,0
$CFSIZE,1023623168,1020100608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,220318,052537,4742.094,-12225.295,5,0.9,22,16.3,0.0,199.6,8,6.0