version: 66.14
glider: 401
mission: 23
dive: 7
start: 4 12 118 1 20 34
data:
$ID,401
$MISSION,23
$DIVE,7
$N_DIVES,10
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,74692
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$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,3122
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$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,54
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,1920
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,1
$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
$GPS1,120418,011201,4744.8057,-12224.1094,5,1.0,14,16.3,0.4,342.0,9,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.4
$GPS2,120418,012016,4744.8999,-12224.1592,6,1.0,15,16.3,0.0,340.1,9,4.8
$SPEED_LIMITS,0.214,0.230
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-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,173.9,4516,-20.9,-10.000,-23.50,2227
$D_GRID,177
$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,-2.12,-146.3,239,2612,1376,3402,0.0,0.0,0,12,0.00,0.00,-4.20,0.000,16390,0.000,0.000,238,2613,2085,2085,4095,0,0,0,0,0,0,26.72,25.38,26.72,8.48,47.44
$GC,14,-2.12,-146.3,238,2617,2086,4095,0.0,0.0,0,46,27.27,0.00,0.00,0.000,2310,0.137,0.000,2433,2613,2088,2088,4091,1,0,0,0,0,0,26.24,26.44,26.39,8.62,47.95
$GC,105,-2.12,-146.3,2433,2613,2092,4091,31.4,-29.1,10,112,0.00,3.10,0.00,0.000,516,0.000,0.050,2433,1430,2093,2093,4094,0,0,0,0,0,0,26.70,26.34,26.72,8.62,46.85
$GC,177,-2.12,-146.3,2433,1433,2096,4094,50.2,-24.6,22,185,0.00,2.97,0.00,0.000,1030,0.000,0.058,2433,2553,2096,2096,4095,0,0,0,0,0,0,26.46,26.39,26.48,8.62,46.96
$GC,243,-2.12,-146.3,2432,2554,2102,4095,68.2,-28.0,29,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2554,2100,2100,4094,0,0,0,0,0,0,26.80,26.80,26.79,8.62,47.28
$GC,303,-2.12,-146.3,2433,2554,2104,4094,85.3,-28.9,35,310,0.00,2.92,0.00,0.000,516,0.000,0.050,2433,1431,2116,2116,4094,0,0,0,0,0,0,26.81,26.45,26.82,8.61,46.88
$GC,423,-2.12,-146.3,2433,1435,2113,4094,118.6,-27.5,55,430,0.00,2.92,0.00,0.000,1030,0.000,0.059,2433,2538,2112,2112,4094,0,0,0,0,0,0,26.56,26.49,26.60,8.62,47.00
$GC,489,-2.12,-146.3,2433,2539,2118,4094,137.2,-28.3,62,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2540,2116,2116,4094,0,0,0,0,0,0,26.87,26.89,26.89,8.62,47.04
$GC,549,-2.12,-146.3,2432,2539,2121,4094,153.2,-25.9,68,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2540,2120,2120,4094,0,0,0,0,0,0,26.89,26.91,26.91,8.63,47.24
$GC,609,-2.12,-146.3,2432,2540,2125,4094,169.1,-26.8,74,616,0.00,2.88,0.00,0.000,516,0.000,0.047,2433,1434,2134,2134,4094,0,0,0,0,0,0,26.91,26.55,26.92,8.62,47.04
$STATE,638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,638,begin apogee
$GC,643,-0.45,0.0,2438,2602,2124,4091,177.7,-28.5,79,662,6.12,0.00,11.38,2.178,10244,0.106,0.000,2966,2603,1921,1921,4094,0,0,0,0,0,0,26.51,25.89,24.34,8.62,47.67
$STATE,663,end apogee,CONTROL_FINISHED_OK
$STATE,663,begin climb
$GC,664,2.12,146.3,2965,2603,1923,4094,182.4,0.0,81,689,7.72,3.33,9.30,2.067,10500,0.067,0.097,3674,3788,1771,1771,4094,0,0,0,0,0,0,26.08,25.96,24.03,8.59,47.32
$GC,794,2.20,202.0,3673,3789,1762,4094,172.9,7.4,103,808,0.00,3.00,4.78,1.463,11270,0.000,0.034,3678,2592,1701,1701,4094,0,0,0,0,0,0,26.13,26.11,24.26,8.56,47.08
$GC,867,2.23,218.4,3673,2593,1702,4094,167.1,9.2,111,870,0.00,0.00,2.42,0.444,10246,0.000,0.000,3674,2592,1690,1690,4094,0,0,0,0,0,0,26.34,25.86,24.37,8.55,46.49
$GC,926,2.23,218.4,3672,2592,1690,4094,160.6,11.0,117,928,0.00,0.00,0.52,0.002,10246,0.000,0.000,3674,2592,1698,1698,4094,0,0,0,0,0,0,26.44,26.43,26.43,8.54,46.81
$GC,986,2.23,218.4,3673,2592,1688,4094,154.3,10.5,123,990,0.00,0.00,2.20,0.223,10246,0.000,0.000,3673,2592,1682,1682,4093,0,0,0,0,0,0,26.52,26.04,24.62,8.54,46.81
$GC,1046,2.23,218.4,3675,2591,1681,4093,148.2,10.1,129,1047,0.00,0.00,0.00,0.000,2054,0.000,0.000,3673,2589,1681,1681,4094,0,0,0,0,0,0,26.57,26.58,26.58,8.54,47.12
$GC,1106,2.23,218.4,3671,2592,1681,4094,142.1,10.3,135,1107,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2592,1679,1679,4094,0,0,0,0,0,0,26.63,26.64,26.64,8.54,47.16
$GC,1166,2.23,218.4,3673,2592,1679,4094,135.9,10.3,141,1174,0.00,3.05,0.00,0.000,2564,0.000,0.056,3673,1438,1671,1671,4095,0,0,0,0,0,0,26.68,26.32,26.69,8.54,47.71
$GC,1232,2.27,244.2,3674,1438,1676,4095,129.8,8.8,152,1241,0.00,3.03,2.78,0.591,11270,0.000,0.054,3674,2590,1658,1658,4094,0,0,0,0,0,0,26.45,26.38,24.87,8.54,47.08
$GC,1298,2.29,259.4,3674,2590,1656,4094,123.8,9.3,159,1302,0.00,0.00,2.67,0.535,10246,0.000,0.000,3673,2590,1640,1640,4094,0,0,0,0,0,0,26.72,26.25,24.91,8.53,47.04
$GC,1358,2.29,261.9,3674,2590,1638,4094,117.9,9.9,165,1360,0.00,0.00,0.25,0.002,10246,0.000,0.000,3674,2590,1639,1639,4094,0,0,0,0,0,0,26.73,26.73,26.73,8.53,46.92
$GC,1418,2.29,261.9,3674,2588,1637,4094,111.6,10.7,171,1419,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2590,1637,1637,4094,0,0,0,0,0,0,26.77,26.77,26.77,8.53,47.20
$GC,1478,2.29,261.9,3673,2590,1636,4094,105.0,11.1,177,1486,0.00,3.03,0.00,0.000,2564,0.000,0.054,3673,1436,1634,1634,4094,0,0,0,0,0,0,26.79,26.44,26.80,8.52,47.24
$GC,1508,2.30,266.0,3673,1437,1636,4094,101.9,9.8,182,1517,0.00,3.05,0.25,0.003,11270,0.000,0.053,3671,2602,1634,1634,4094,0,0,0,0,0,0,26.53,26.47,26.56,8.52,47.12
$GC,1574,2.31,269.1,3679,2603,1633,4094,95.4,9.9,189,1578,0.00,0.00,2.22,0.200,10246,0.000,0.000,3673,2599,1626,1626,4092,0,0,0,0,0,0,26.84,26.37,25.18,8.53,46.92
$GC,1634,2.32,277.4,3673,2603,1627,4092,89.6,9.6,195,1643,0.00,3.03,2.33,0.260,10756,0.000,0.053,3673,1432,1617,1617,4091,0,0,0,0,0,0,26.84,26.44,25.20,8.52,47.87
$GC,1694,2.35,297.4,3673,1433,1618,4091,84.1,9.1,205,1703,0.00,3.03,2.65,0.428,11270,0.000,0.053,3675,2590,1599,1599,4094,0,0,0,0,0,0,26.57,26.51,25.26,8.52,47.04
$GC,1760,2.35,297.4,3672,2590,1599,4094,77.4,10.6,212,1761,0.00,0.00,0.00,0.000,2054,0.000,0.000,3673,2590,1597,1597,4094,0,0,0,0,0,0,26.85,26.86,26.86,8.52,47.16
$GC,1820,2.35,297.4,3671,2590,1596,4094,70.8,10.9,218,1821,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2590,1596,1596,4094,0,0,0,0,0,0,26.87,26.88,26.88,8.51,47.08
$GC,1880,2.35,297.4,3673,2590,1596,4094,64.3,10.7,224,1888,0.00,3.00,0.00,0.000,2564,0.000,0.051,3681,1440,1594,1594,4095,0,0,0,0,0,0,26.89,26.54,26.90,8.51,47.28
$GC,1910,2.35,297.4,3673,1441,1596,4095,61.2,10.1,229,1918,0.00,2.97,0.00,0.000,3078,0.000,0.053,3673,2582,1593,1593,4094,0,0,0,0,0,0,26.62,26.55,26.65,8.51,47.04
$GC,1976,2.35,297.4,3673,2582,1594,4094,53.7,11.8,236,1977,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2582,1592,1592,4094,0,0,0,0,0,0,26.91,26.93,26.91,8.51,47.16
$GC,2036,2.35,297.4,3673,2582,1592,4094,46.4,11.9,242,2044,0.00,3.28,0.00,0.000,2308,0.000,0.088,3673,3778,1590,1590,4094,0,0,0,0,0,0,26.94,26.52,26.94,8.51,46.96
$GC,2066,2.35,297.4,3674,3779,1588,4094,42.0,15.2,247,2075,0.00,2.90,0.00,0.000,3078,0.000,0.034,3674,2582,1599,1599,4094,0,0,0,0,0,0,26.74,26.71,26.75,8.49,47.00
$GC,2132,2.35,297.4,3673,2584,1589,4094,34.5,10.5,254,2140,0.00,2.95,0.00,0.000,2564,0.000,0.050,3674,1443,1587,1587,4088,0,0,0,0,0,0,26.95,26.60,26.96,8.51,47.36
$GC,2144,2.35,298.4,3680,1443,1588,4088,33.3,10.0,256,2152,0.00,2.97,0.00,0.000,3078,0.000,0.055,3673,2581,1583,1583,4094,0,0,0,0,0,0,26.66,26.60,26.67,8.51,46.73
$GC,2210,2.35,298.4,3673,2582,1586,4094,26.3,10.8,263,2211,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2581,1585,1585,4094,0,0,0,0,0,0,26.96,26.97,26.97,8.51,47.00
$GC,2271,2.35,298.4,3673,2581,1584,4094,19.7,10.6,269,2272,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2581,1583,1583,4094,0,0,0,0,0,0,26.91,26.92,26.91,8.51,47.24
$GC,2330,2.36,308.2,3675,2581,1581,4094,14.0,9.6,275,2331,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2581,1581,1581,4094,0,0,0,0,0,0,26.98,26.99,26.99,8.51,47.12
$GC,2390,2.46,371.8,3673,2581,1581,4094,9.9,7.1,281,2399,0.00,2.97,4.32,0.510,10756,0.000,0.050,3673,1439,1518,1518,4094,0,0,0,0,0,0,27.00,26.63,25.87,8.51,47.04
$GC,2433,2.46,372.0,3673,1441,1518,4094,6.0,10.0,288,2441,0.00,2.92,0.03,0.000,11270,0.000,0.051,3674,2568,1515,1515,4094,0,0,0,0,0,0,26.69,26.66,26.71,8.49,47.48
$STATE,2478,end climb,SURFACE_DEPTH_REACHED
$STATE,2478,begin surface coast
$FINISH,0.1,0.999823
$STATE,2498,end surface coast,CONTROL_FINISHED_OK
$STATE,2498,begin surface
$SM_CCo,2597,0.00,0.000,0,0,1514,374.90
$SM_GC,2.39,34.65,0.10,0.00,0.026,0.137,0.000,239,2604,1514,-8.99,-0.59,374.90,0,0,0,0,0,0,26.73,26.66,26.77
$IRIDIUM_FIX,4808.40,-12337.82,120418,010741
$TT8_MAMPS,0.045689,0.392476
$HUMID,46.49
$INTERNAL_PRESSURE,8.38279
$TCM_TEMP,8.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,9.4
$ALTIM_BOTTOM_PING,90.5,9.6
$SC_FREEKB,3909440
$24V_AH,24.03,0.527
$10V_AH,10.47,1.969
$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,75.775,66.525,48.100,0.000,0.000,0.000,0.000,0.000,0.750,0.000,16.972,0.000,1746.782,241.234,651.266,16.780,0.000,502.184,0.000,428.228,0.000,7.180,0.000
$DEVICE_MAMPS,136.935,136.935,2177.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2491.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,67.279,0.000,0.000,0.000
$MEM,312872
$DATA_FILE_SIZE,10511,295
$CAP_FILE_SIZE,81087,0
$CFSIZE,1023623168,1020919808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,120418,020504,4744.788,-12224.188,5,1.2,51,16.3,0.4,26.0,8,7.1