version: 66.14
glider: 401
mission: 23
dive: 19
start: 4 12 118 14 1 37
data:
$ID,401
$MISSION,23
$DIVE,19
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$D_ABORT,200
$D_NO_BLEED,200
$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,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,74692
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040000002
$HD_B,0.012
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$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,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,45
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,1800
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,4
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.021927
$PRESSURE_SLOPE,2.5699999e-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,120
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,2991.02
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,120418,134130,4743.3320,-12224.6104,5,0.8,23,16.3,0.2,25.5,11,5.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.0
$GPS2,120418,140119,4743.5430,-12224.4297,7,0.9,17,16.3,0.5,30.7,9,4.7
$SPEED_LIMITS,0.275,0.329
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,315.1,964,-16.6,-10.000,-19.85,3039
$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,7,-1.40,-198.4,241,2600,1224,3405,0.0,0.0,0,13,0.00,0.00,-4.85,0.000,16390,0.000,0.000,245,2604,2026,2026,4093,0,0,0,0,0,0,26.25,25.16,26.27,8.51,44.44
$GC,14,-1.40,-198.4,240,2610,2022,4093,0.0,0.0,0,50,31.20,0.00,0.00,0.000,2054,0.133,0.000,2709,2599,2027,2027,4094,0,0,0,0,0,0,25.87,25.99,25.95,8.59,45.51
$GC,109,-1.40,-198.4,2709,2600,2030,4094,24.7,-17.5,10,109,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2030,2030,4094,0,0,0,0,0,0,26.34,26.36,26.36,8.58,44.13
$GC,169,-1.40,-198.4,2708,2600,2042,4094,34.7,-16.9,16,169,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2032,2032,4094,0,0,0,0,0,0,26.42,26.45,26.44,8.58,43.85
$GC,229,-1.40,-198.4,2708,2600,2036,4094,45.4,-17.4,22,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2035,2035,4094,0,0,0,0,0,0,26.50,26.51,26.51,8.58,43.77
$GC,289,-1.40,-198.4,2710,2600,2036,4094,54.4,-14.7,28,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2037,2037,4094,0,0,0,0,0,0,26.55,26.57,26.57,8.58,43.97
$GC,349,-1.40,-198.4,2709,2600,2039,4094,63.9,-15.9,34,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2601,2031,2031,4095,0,0,0,0,0,0,26.60,26.62,26.63,8.58,44.92
$GC,409,-1.40,-198.4,2709,2598,2041,4095,73.3,-15.9,40,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2041,2041,4094,0,0,0,0,0,0,26.64,26.66,26.65,8.59,44.13
$GC,469,-1.40,-198.4,2708,2600,2043,4094,83.0,-16.0,46,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2043,2043,4094,0,0,0,0,0,0,26.68,26.68,26.70,8.59,44.21
$GC,529,-1.40,-198.4,2708,2601,2046,4094,92.7,-16.3,52,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2600,2046,2046,4094,0,0,0,0,0,0,26.72,26.75,26.73,8.58,45.03
$GC,589,-1.40,-198.4,2708,2601,2049,4094,102.6,-16.5,58,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2048,2048,4094,0,0,0,0,0,0,26.74,26.75,26.76,8.59,45.11
$GC,649,-1.40,-198.4,2709,2597,2050,4094,112.4,-16.4,64,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2050,2050,4094,0,0,0,0,0,0,26.79,26.79,26.79,8.58,44.44
$GC,709,-1.40,-198.4,2709,2600,2052,4094,122.0,-16.1,70,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2606,2052,2052,4094,0,0,0,0,0,0,26.78,26.79,26.79,8.59,44.56
$GC,769,-1.40,-198.4,2709,2600,2054,4094,132.1,-17.1,76,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2055,2055,4094,0,0,0,0,0,0,26.82,26.82,26.82,8.59,44.56
$GC,829,-1.40,-198.4,2708,2600,2059,4094,142.3,-17.1,82,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2057,2057,4095,0,0,0,0,0,0,26.84,26.85,26.84,8.59,45.35
$GC,889,-1.40,-198.4,2710,2600,2059,4095,152.7,-17.0,88,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2059,2059,4094,0,0,0,0,0,0,26.85,26.86,26.86,8.59,44.88
$GC,949,-1.40,-198.4,2710,2600,2062,4094,162.6,-16.4,94,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2600,2062,2062,4094,0,0,0,0,0,0,26.87,26.89,26.90,8.59,45.19
$GC,1009,-1.40,-198.4,2708,2600,2066,4094,172.4,-16.2,100,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2600,2064,2064,4094,0,0,0,0,0,0,26.89,26.90,26.90,8.58,44.64
$STATE,1028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1028,begin apogee
$GC,1030,-0.33,0.0,2708,2600,2067,4094,175.4,-15.6,102,1051,3.90,0.00,14.00,2.232,10246,0.080,0.000,3060,2600,1800,1800,4091,0,0,0,0,0,0,26.56,25.80,24.39,8.62,45.15
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1053,1.40,198.4,3060,2600,1802,4091,177.2,0.0,104,1072,5.80,0.00,11.95,2.157,10246,0.048,0.000,3604,2600,1580,1580,4094,0,0,0,0,0,0,25.97,25.28,23.91,8.55,44.95
$GC,1129,1.40,198.4,3603,2601,1584,4094,170.7,10.8,112,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2600,1583,1583,4094,0,0,0,0,0,0,25.98,26.01,26.00,8.51,44.76
$GC,1189,1.40,198.4,3603,2600,1583,4094,164.3,10.5,118,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2600,1582,1582,4094,0,0,0,0,0,0,26.17,26.18,26.18,8.50,45.19
$GC,1249,1.40,198.4,3603,2600,1582,4094,158.1,10.3,124,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2600,1580,1580,4094,0,0,0,0,0,0,26.29,26.31,26.30,8.51,44.40
$GC,1309,1.40,198.5,3605,2600,1581,4094,152.1,10.0,130,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2600,1579,1579,4094,0,0,0,0,0,0,26.39,26.40,26.41,8.50,45.27
$GC,1369,1.40,198.5,3605,2600,1577,4094,145.7,10.6,136,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2606,1577,1577,4094,0,0,0,0,0,0,26.46,26.48,26.47,8.51,44.72
$GC,1429,1.43,215.1,3603,2600,1577,4094,139.9,9.4,142,1432,0.00,0.00,2.40,0.383,8198,0.000,0.000,3604,2598,1566,1566,4094,0,0,0,0,0,0,26.52,26.08,24.81,8.50,45.23
$GC,1489,1.44,220.0,3605,2600,1565,4094,134.0,9.8,148,1491,0.00,0.00,1.35,0.003,8198,0.000,0.000,3604,2600,1564,1564,4094,0,0,0,0,0,0,26.55,26.54,26.54,8.50,45.11
$GC,1549,1.44,223.1,3605,2600,1564,4094,128.1,9.9,154,1552,0.00,0.00,2.25,0.253,8198,0.000,0.000,3604,2600,1558,1558,4095,0,0,0,0,0,0,26.60,26.17,24.93,8.49,44.99
$GC,1609,1.46,233.2,3603,2600,1557,4095,122.2,9.7,160,1613,0.12,0.00,2.38,0.341,10246,0.071,0.000,3627,2596,1545,1545,4094,0,0,0,0,0,0,26.44,26.20,25.00,8.49,45.03
$GC,1669,1.46,233.2,3626,2600,1547,4094,115.9,10.7,166,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1544,1544,4093,0,0,0,0,0,0,26.66,26.67,26.67,8.49,45.07
$GC,1729,1.46,233.2,3627,2600,1545,4093,109.4,10.8,172,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1543,1543,4095,0,0,0,0,0,0,26.69,26.70,26.70,8.47,44.80
$GC,1789,1.46,233.2,3626,2600,1543,4095,102.8,10.9,178,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1542,1542,4095,0,0,0,0,0,0,26.72,26.74,26.73,8.49,45.43
$GC,1849,1.46,233.2,3626,2600,1542,4095,95.9,11.7,184,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1539,1539,4094,0,0,0,0,0,0,26.75,26.77,26.75,8.50,45.03
$GC,1909,1.46,233.2,3627,2600,1540,4094,88.7,12.0,190,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1538,1538,4094,0,0,0,0,0,0,26.78,26.79,26.79,8.49,44.95
$GC,1969,1.46,233.2,3628,2600,1536,4094,81.6,11.7,196,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1536,1536,4091,0,0,0,0,0,0,26.80,26.82,26.82,8.48,45.27
$GC,2029,1.46,233.2,3627,2600,1534,4091,74.7,11.5,202,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1534,1534,4094,0,0,0,0,0,0,26.82,26.84,26.83,8.48,45.35
$GC,2089,1.46,233.2,3626,2600,1534,4094,68.1,10.9,208,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1533,1533,4094,0,0,0,0,0,0,26.84,26.86,26.85,8.48,45.15
$GC,2149,1.46,233.2,3628,2600,1531,4094,61.4,11.2,214,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2599,1531,1531,4094,0,0,0,0,0,0,26.86,26.88,26.87,8.48,45.31
$GC,2209,1.46,233.2,3628,2600,1529,4094,54.8,10.9,220,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1529,1529,4094,0,0,0,0,0,0,26.88,26.90,26.89,8.48,45.62
$GC,2269,1.46,233.2,3626,2600,1530,4094,48.3,10.9,226,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1528,1528,4094,0,0,0,0,0,0,26.89,26.91,26.91,8.48,45.19
$GC,2329,1.46,233.2,3626,2600,1527,4094,42.1,10.3,232,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1526,1526,4094,0,0,0,0,0,0,26.91,26.92,26.92,8.48,45.51
$GC,2389,1.46,233.2,3628,2600,1525,4094,36.1,10.0,238,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1522,1522,4093,0,0,0,0,0,0,26.92,26.94,26.94,8.48,45.66
$GC,2449,1.46,233.2,3629,2600,1523,4093,29.9,10.7,244,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1523,1523,4094,0,0,0,0,0,0,26.94,26.95,26.95,8.48,45.86
$GC,2509,1.46,233.2,3628,2600,1522,4094,23.5,10.7,250,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,3628,2600,1521,1521,4094,0,0,0,0,0,0,26.95,26.96,26.96,8.48,45.94
$GC,2569,1.46,233.2,3628,2598,1519,4094,17.0,10.7,256,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1519,1519,4094,0,0,0,0,0,0,26.96,26.97,26.96,8.48,45.82
$GC,2629,1.46,233.2,3629,2600,1520,4094,10.6,10.8,262,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1518,1518,4094,0,0,0,0,0,0,26.96,26.98,26.98,8.48,45.51
$GC,2689,1.46,233.2,3626,2600,1519,4094,4.4,10.2,268,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2600,1516,1516,4094,0,0,0,0,0,0,26.98,26.99,26.99,8.48,45.43
$STATE,2718,end climb,SURFACE_DEPTH_REACHED
$STATE,2718,begin surface coast
$FINISH,0.9,0.999823
$STATE,2738,end surface coast,CONTROL_FINISHED_OK
$STATE,2738,begin surface
$SM_CCo,2778,5.70,0.537,0,0,1417,350.89
$SM_GC,3.51,34.80,0.00,5.70,0.034,0.000,0.537,240,2600,1417,-9.16,0.00,350.89,0,0,0,0,0,0,26.76,27.00,26.01
$IRIDIUM_FIX,4808.40,-12337.82,120418,134459
$TT8_MAMPS,0.047936,0.311584
$HUMID,45.07
$INTERNAL_PRESSURE,8.36325
$TCM_TEMP,7.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,15.0,14.4
$ALTIM_BOTTOM_PING,120.3,70.3
$SC_FREEKB,3902208
$24V_AH,23.91,1.439
$10V_AH,10.64,2.958
$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,75.825,0.000,34.325,5.700,0.000,138.703,90.732,636.116,1.000,0.000,18.657,0.000,2251.196,138.014,1529.924,56.168,0.000,371.281,0.000,398.259,0.000,18.184,0.000
$DEVICE_MAMPS,133.110,0.000,2232.270,537.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2767.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,66.617,0.000,0.000,0.000
$MEM,312884
$DATA_FILE_SIZE,7036,273
$CAP_FILE_SIZE,72484,0
$CFSIZE,1023623168,1019281408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,144911,4743.782,-12224.189,8,0.9,55,16.3,0.5,28.4,8,5.4