version: 66.14
glider: 403
mission: 3
dive: 12
start: 3 22 118 5 35 47
data:
$ID,403
$MISSION,3
$DIVE,12
$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,15
$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,-50.780041
$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
$GPS1,220318,052537,4742.0938,-12225.2949,5,0.9,22,16.3,0.0,199.6,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-53.9
$GPS2,220318,053455,4742.1274,-12225.2783,8,1.0,43,16.3,0.0,32.9,8,4.2
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.031604,0.255709
$KALMAN_X,-1152.405273,-486.855713,-155.331238,477.277100,36.420746
$KALMAN_Y,-2245.092285,-876.757202,-329.019836,1125.276123,73.634827
$MHEAD_RNG_PITCHd_Wd,350.7,3519,-17.6,-10.000,-21.21,2208
$D_GRID,96
$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,-146.6,547,1794,1543,220,0.0,0.0,0,16,0.00,0.00,-4.88,0.000,16390,0.000,0.000,539,1795,2170,2170,295,0,0,0,0,0,0,26.27,24.90,26.24,8.98,27.87
$GC,17,-1.32,-146.6,540,1795,2163,295,1.2,0.0,1,47,23.40,3.25,0.00,0.000,2308,0.131,0.059,2425,2991,2164,2164,507,0,0,0,0,0,0,25.83,25.84,25.90,8.99,27.75
$GC,300,-1.32,-146.6,2425,2992,2171,507,42.4,-9.5,57,308,0.00,3.10,0.00,0.000,1030,0.000,0.044,2433,1797,2171,2171,503,0,0,0,0,0,0,26.25,26.13,26.24,8.98,27.79
$GC,336,-1.32,-146.6,2420,1802,2171,503,45.8,-9.6,64,344,0.00,3.30,0.00,0.000,516,0.000,0.076,2425,600,2172,2172,526,0,0,0,0,0,0,26.46,26.08,26.48,9.02,27.55
$GC,382,-1.32,-146.6,2426,601,2174,526,50.4,-10.2,73,389,0.00,3.05,0.00,0.000,1030,0.000,0.037,2425,1787,2173,2173,537,0,0,0,0,0,0,26.26,26.22,26.29,8.97,27.47
$GC,418,-1.32,-146.6,2424,1789,2173,537,53.2,-7.2,80,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1787,2169,2169,537,0,0,0,0,0,0,26.50,26.52,26.50,9.00,27.47
$GC,448,-1.32,-146.6,2433,1789,2175,537,55.2,-6.8,86,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1787,2170,2170,538,0,0,0,0,0,0,26.52,26.53,26.53,9.00,27.08
$GC,478,-1.32,-146.6,2427,1784,2174,538,57.4,-7.5,92,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1788,2174,2174,532,0,0,0,0,0,0,26.53,26.55,26.55,8.99,27.04
$GC,508,-1.32,-146.6,2422,1792,2175,532,59.5,-7.1,98,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1785,2174,2174,535,0,0,0,0,0,0,26.57,26.56,26.55,9.00,27.55
$GC,538,-1.32,-146.6,2422,1789,2175,535,61.5,-6.4,104,545,0.00,3.28,0.00,0.000,516,0.000,0.075,2425,599,2175,2175,547,0,0,0,0,0,0,26.56,26.22,26.58,9.00,27.39
$GC,614,-1.32,-146.6,2425,598,2178,547,67.9,-10.0,119,621,0.00,3.08,0.00,0.000,1030,0.000,0.037,2427,1811,2177,2177,555,0,0,0,0,0,0,26.39,26.32,26.43,9.02,27.04
$GC,650,-1.32,-146.6,2428,1814,2179,555,71.8,-11.0,126,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1811,2177,2177,551,0,0,0,0,0,0,26.59,26.67,26.65,9.00,26.84
$GC,680,-1.32,-146.6,2426,1812,2179,551,75.4,-11.8,132,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1812,2181,2181,543,0,0,0,0,0,0,26.61,26.63,26.64,9.00,27.71
$GC,710,-1.32,-146.6,2420,1812,2179,543,78.7,-10.6,138,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1812,2189,2189,544,0,0,0,0,0,0,26.63,26.64,26.64,9.00,27.16
$GC,740,-1.32,-146.6,2427,1812,2180,544,82.0,-11.2,144,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1814,2179,2179,541,0,0,0,0,0,0,26.63,26.65,26.65,9.00,27.27
$GC,770,-1.32,-146.6,2422,1814,2181,541,85.2,-10.2,150,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1818,2180,2180,540,0,0,0,0,0,0,26.64,26.66,26.65,9.00,26.88
$GC,800,-1.32,-146.6,2425,1812,2182,540,88.1,-9.8,156,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1811,2176,2176,536,0,0,0,0,0,0,26.65,26.67,26.66,8.99,27.24
$GC,830,-1.32,-146.6,2426,1814,2182,536,90.6,-8.4,162,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1817,2181,2181,533,0,0,0,0,0,0,26.68,26.67,26.67,8.99,27.71
$GC,860,-1.32,-146.6,2426,1813,2188,533,93.6,-10.0,168,867,0.00,3.30,0.00,0.000,516,0.000,0.073,2426,600,2182,2182,550,0,0,0,0,0,0,26.67,26.29,26.67,9.00,27.31
$STATE,885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,885,begin apogee
$GC,891,-0.31,0.0,2425,1811,2180,555,96.2,-10.2,173,913,3.53,0.00,13.70,1.112,10246,0.076,0.000,2741,1815,1996,1996,3876,0,0,0,0,0,0,26.36,25.64,25.01,9.01,27.16
$STATE,914,end apogee,CONTROL_FINISHED_OK
$STATE,914,begin climb
$GC,915,1.32,146.6,2750,1811,2000,3876,97.5,0.0,177,938,5.22,3.20,12.20,1.095,10500,0.036,0.056,3267,2987,1838,1838,4043,0,0,0,0,0,0,26.09,25.64,24.70,9.00,26.88
$GC,982,1.42,211.8,3268,2989,1839,4043,94.2,7.0,189,996,0.22,3.12,6.47,0.900,11270,0.054,0.044,3294,1802,1766,1766,4095,0,0,0,0,0,0,25.91,25.86,24.75,8.99,26.68
$GC,1025,1.48,252.5,3293,1797,1767,4095,91.2,8.1,197,1032,0.15,0.00,4.93,0.760,10246,0.065,0.000,3310,1797,1724,1724,4095,0,0,0,0,0,0,25.88,25.60,24.81,8.99,26.80
$GC,1061,1.52,280.6,3318,1797,1729,4095,88.2,8.7,204,1069,0.08,0.00,3.70,0.584,10246,0.100,0.000,3326,1798,1692,1692,4095,0,0,0,0,0,0,25.87,25.63,24.78,8.98,26.37
$GC,1097,1.52,280.6,3325,1798,1688,4095,84.2,12.0,211,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1797,1691,1691,637,0,0,0,0,0,0,26.12,26.13,26.13,8.99,27.55
$GC,1127,1.52,280.6,3325,1798,1690,637,80.1,13.6,217,1129,0.00,0.00,0.03,0.011,8198,0.000,0.000,3323,1796,1695,1695,604,0,0,0,0,0,0,26.18,26.18,26.17,8.95,27.08
$GC,1157,1.52,280.6,3320,1805,1689,604,76.6,11.0,223,1158,0.00,0.00,0.08,0.005,8198,0.000,0.000,3323,1800,1686,1686,610,0,0,0,0,0,0,26.18,26.22,26.23,8.98,26.64
$GC,1187,1.52,280.6,3326,1799,1689,610,73.0,12.4,229,1195,0.00,3.35,0.00,0.000,516,0.000,0.076,3323,594,1695,1695,579,0,0,0,0,0,0,26.24,25.88,26.27,9.02,27.35
$GC,1268,1.52,280.6,3326,595,1689,579,62.6,12.5,245,1276,0.00,3.10,0.00,0.000,1030,0.000,0.036,3332,1805,1687,1687,566,0,0,0,0,0,0,26.14,26.07,26.14,8.93,27.27
$GC,1304,1.52,280.6,3327,1805,1687,566,58.5,10.9,252,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1805,1686,1686,561,0,0,0,0,0,0,26.36,26.36,26.37,8.98,27.24
$GC,1334,1.53,289.6,3326,1806,1693,561,55.7,9.6,258,1336,0.00,0.00,0.38,0.003,8198,0.000,0.000,3326,1805,1685,1685,557,0,0,0,0,0,0,26.38,26.39,26.39,8.98,26.92
$GC,1365,1.59,326.9,3326,1805,1686,557,53.1,8.3,264,1372,0.20,0.00,4.45,0.571,10246,0.060,0.000,3348,1803,1643,1643,4095,0,0,0,0,0,0,26.16,25.92,25.19,8.99,27.12
$GC,1401,1.62,346.8,3348,1806,1644,4095,49.6,9.1,271,1408,0.00,0.00,3.33,0.409,8198,0.000,0.000,3348,1806,1618,1618,4095,0,0,0,0,0,0,26.36,25.93,25.18,9.03,27.04
$GC,1437,1.65,365.0,3348,1807,1619,4095,46.3,9.2,278,1444,0.17,0.00,2.92,0.326,10246,0.065,0.000,3371,1806,1602,1602,4095,0,0,0,0,0,0,26.13,25.93,25.25,9.01,27.75
$GC,1473,1.65,365.0,3370,1806,1602,4095,42.2,11.7,285,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1806,1601,1601,638,0,0,0,0,0,0,26.38,26.39,26.39,8.98,26.64
$GC,1503,1.65,365.0,3371,1807,1600,638,38.5,12.5,291,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1805,1600,1600,617,0,0,0,0,0,0,26.41,26.45,26.41,8.98,26.96
$GC,1533,1.65,365.0,3370,1806,1600,617,34.8,12.2,297,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1806,1599,1599,602,0,0,0,0,0,0,26.42,26.44,26.44,8.98,27.31
$GC,1563,1.65,365.0,3371,1807,1599,602,31.1,12.5,303,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1805,1598,1598,603,0,0,0,0,0,0,26.45,26.46,26.47,8.98,27.35
$GC,1593,1.65,365.0,3371,1806,1597,603,27.3,13.0,309,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1805,1594,1594,587,0,0,0,0,0,0,26.46,26.48,26.48,8.98,26.96
$GC,1623,1.65,365.0,3371,1807,1597,587,23.5,12.7,315,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1806,1596,1596,580,0,0,0,0,0,0,26.48,26.50,26.50,8.98,27.00
$GC,1654,1.65,365.0,3371,1806,1596,580,19.9,11.9,321,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1811,1595,1595,572,0,0,0,0,0,0,26.45,26.46,26.46,8.98,27.04
$GC,1688,1.65,365.0,3371,1807,1595,572,15.3,13.0,328,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1805,1594,1594,560,0,0,0,0,0,0,26.51,26.53,26.53,8.98,27.04
$GC,1718,1.65,365.0,3370,1806,1595,560,11.7,11.9,334,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1803,1593,1593,556,0,0,0,0,0,0,26.53,26.55,26.54,8.98,27.04
$GC,1748,1.65,365.0,3370,1805,1594,556,8.3,11.2,340,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1806,1592,1592,549,0,0,0,0,0,0,26.55,26.56,26.55,8.98,27.43
$GC,1778,1.65,365.0,3371,1807,1592,549,4.9,11.1,346,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1805,1591,1591,548,0,0,0,0,0,0,26.57,26.57,26.57,8.98,27.79
$STATE,1808,end climb,SURFACE_DEPTH_REACHED
$STATE,1808,begin surface coast
$FINISH,0.1,0.999181
$STATE,1823,end surface coast,CONTROL_FINISHED_OK
$STATE,1823,begin surface
$SM_CCo,1916,0.00,0.000,0,0,1590,373.98
$SM_GC,1.26,28.88,0.00,0.00,0.028,0.000,0.000,539,1805,1590,-7.24,0.27,373.98,0,0,0,0,0,0,26.32,26.60,26.36
$IRIDIUM_FIX,4808.40,-12337.82,220318,044649
$TT8_MAMPS,0.047187,0.784952
$HUMID,27.12
$INTERNAL_PRESSURE,8.85786
$TCM_TEMP,10.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,7.0
$SC_FREEKB,3903968
$24V_AH,24.70,2.266
$10V_AH,10.32,2.978
$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,61.850,38.250,52.175,0.000,0.000,25.245,17.467,385.080,0.500,0.000,45.013,0.000,1003.728,184.109,1252.232,42.872,33.424,485.868,0.000,513.914,0.000,6.088,0.000
$DEVICE_MAMPS,130.815,75.735,1112.310,0.000,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1841.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.427,0.000,0.000,0.000
$MEM,312968
$DATA_FILE_SIZE,10484,355
$CAP_FILE_SIZE,68473,0
$CFSIZE,1023623168,1019985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220318,060826,4742.440,-12225.144,6,0.9,20,16.3,0.0,0.0,8,6.0