version: 66.14
glider: 401
mission: 23
dive: 9
start: 4 12 118 3 34 56
data:
$ID,401
$MISSION,23
$DIVE,9
$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,3150
$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,45
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,1880
$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
$GPS1,120418,031846,4745.0405,-12224.3193,25,1.3,70,16.3,0.3,11.0,7,2.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-56.8
$GPS2,120418,033437,4745.2290,-12224.3115,6,1.3,52,16.3,0.4,348.4,7,3.0
$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,170.6,5091,-20.9,-10.000,-23.50,2227
$D_GRID,191
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6,-2.12,-146.3,244,2600,247,3405,0.0,0.0,0,20,0.00,0.00,-10.93,0.000,16390,0.000,0.000,248,2600,2051,2051,4094,0,0,0,0,0,0,26.32,25.14,26.34,8.28,46.29
$GC,21,-2.12,-146.3,240,2596,2050,4094,1.3,0.0,1,55,28.15,0.00,0.00,0.000,2310,0.138,0.000,2466,2600,2050,2050,4095,0,0,0,0,0,0,25.90,26.13,26.08,8.56,46.29
$GC,114,-2.12,-146.3,2461,2600,2058,4095,33.6,-29.7,11,114,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2600,2058,2058,4094,0,0,0,0,0,0,26.43,26.44,26.44,8.60,45.82
$GC,174,-2.12,-146.3,2461,2600,2059,4094,49.9,-27.0,17,181,0.00,3.00,0.00,0.000,516,0.000,0.041,2462,1445,2068,2068,4094,0,0,0,0,0,0,26.51,26.18,26.52,8.60,45.47
$GC,264,-2.12,-146.3,2459,1444,2069,4094,72.1,-24.8,32,272,0.00,3.08,0.00,0.000,1030,0.000,0.061,2460,2587,2068,2068,4094,0,0,0,0,0,0,26.33,26.25,26.34,8.60,45.51
$GC,330,-2.12,-146.3,2459,2591,2073,4094,89.4,-26.8,39,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2591,2071,2071,4094,0,0,0,0,0,0,26.63,26.65,26.67,8.60,45.47
$GC,390,-2.12,-146.3,2460,2592,2075,4094,105.3,-26.5,45,398,0.00,2.97,0.00,0.000,516,0.000,0.042,2461,1445,2074,2074,4091,0,0,0,0,0,0,26.67,26.36,26.70,8.60,46.33
$GC,516,-2.12,-146.3,2461,1445,2081,4091,137.8,-26.2,66,524,0.00,3.03,0.00,0.000,1030,0.000,0.063,2460,2578,2077,2077,4093,0,0,0,0,0,0,26.45,26.39,26.51,8.61,45.70
$GC,582,-2.12,-146.3,2461,2579,2086,4093,155.5,-26.2,73,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2578,2086,2086,4094,0,0,0,0,0,0,26.78,26.79,26.79,8.61,45.70
$GC,642,-2.12,-146.3,2460,2578,2090,4094,170.6,-24.8,79,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2578,2094,2094,4094,0,0,0,0,0,0,26.80,26.82,26.82,8.61,46.02
$STATE,681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,681,begin apogee
$GC,683,-0.45,0.0,2461,2607,2092,4094,181.1,-26.2,83,704,6.15,0.00,11.65,2.209,10244,0.103,0.000,2993,2606,1882,1882,4094,0,0,0,0,0,0,26.44,25.79,24.28,8.61,45.78
$STATE,705,end apogee,CONTROL_FINISHED_OK
$STATE,705,begin climb
$GC,706,2.12,146.3,2994,2607,1882,4094,185.4,0.0,85,731,7.43,3.33,9.40,2.101,10500,0.065,0.099,3673,3776,1719,1719,4089,0,0,0,0,0,0,25.97,25.86,23.92,8.57,46.53
$GC,842,2.12,146.3,3672,3781,1721,4089,171.9,11.1,108,850,0.00,2.92,0.00,0.000,3078,0.000,0.033,3673,2592,1719,1719,4094,0,0,0,0,0,0,26.09,26.08,26.12,8.55,46.45
$GC,908,2.18,185.3,3672,2597,1721,4094,166.3,8.2,115,914,0.00,0.00,4.35,1.001,10246,0.000,0.000,3673,2597,1684,1684,4094,0,0,0,0,0,0,26.39,25.85,24.59,8.54,45.70
$GC,968,2.21,202.5,3673,2597,1684,4094,160.9,9.2,121,972,0.00,0.00,3.08,0.772,10246,0.000,0.000,3672,2595,1659,1659,4089,0,0,0,0,0,0,26.39,25.91,24.53,8.54,45.94
$GC,1028,2.27,243.9,3674,2596,1661,4089,156.1,8.1,127,1033,0.00,0.00,4.00,1.198,10246,0.000,0.000,3673,2597,1616,1616,4093,0,0,0,0,0,0,26.44,25.89,24.51,8.54,45.78
$GC,1088,2.30,262.8,3679,2597,1618,4093,150.8,9.1,133,1092,0.00,0.00,2.92,0.749,10246,0.000,0.000,3673,2596,1590,1590,4094,0,0,0,0,0,0,26.42,25.94,24.56,8.55,45.70
$GC,1148,2.32,281.2,3674,2597,1592,4094,145.3,9.2,139,1157,0.00,2.97,2.60,0.538,10756,0.000,0.047,3672,1447,1577,1577,4095,0,0,0,0,0,0,26.46,25.70,24.58,8.52,45.98
$GC,1220,2.37,311.9,3674,1447,1576,4095,139.3,8.6,151,1229,0.00,3.03,3.30,0.888,11270,0.000,0.054,3673,2586,1544,1544,4095,0,0,0,0,0,0,26.24,26.17,24.68,8.51,46.53
$GC,1286,2.39,323.1,3672,2586,1546,4095,133.1,9.5,158,1290,0.00,0.00,2.67,0.557,10246,0.000,0.000,3673,2583,1529,1529,4094,0,0,0,0,0,0,26.51,26.05,24.71,8.51,46.06
$GC,1346,2.39,323.1,3674,2586,1527,4094,126.8,10.9,164,1354,0.00,3.33,0.00,0.000,2308,0.000,0.090,3668,3775,1528,1528,4091,0,0,0,0,0,0,26.53,26.17,26.54,8.50,46.02
$GC,1382,2.39,323.1,3673,3776,1528,4091,121.4,16.4,170,1390,0.00,2.92,0.00,0.000,3078,0.000,0.033,3672,2584,1525,1525,4094,0,0,0,0,0,0,26.38,26.36,26.38,8.50,45.90
$GC,1448,2.39,323.1,3673,2583,1523,4094,112.9,12.2,177,1449,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2583,1524,1524,4094,0,0,0,0,0,0,26.62,26.63,26.63,8.50,45.90
$GC,1508,2.39,323.1,3674,2583,1522,4094,105.6,12.2,183,1516,0.00,2.95,0.00,0.000,2564,0.000,0.047,3673,1446,1521,1521,4093,0,0,0,0,0,0,26.67,26.32,26.67,8.50,46.73
$GC,1544,2.39,323.1,3674,1447,1521,4093,101.1,12.4,189,1552,0.00,3.00,0.00,0.000,3078,0.000,0.054,3673,2584,1522,1522,4091,0,0,0,0,0,0,26.41,26.34,26.45,8.50,46.33
$GC,1610,2.39,323.1,3673,2585,1520,4091,92.5,13.1,196,1611,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2585,1519,1519,4094,0,0,0,0,0,0,26.72,26.73,26.73,8.50,46.37
$GC,1670,2.39,323.1,3672,2585,1518,4094,84.4,13.7,202,1678,0.00,2.97,0.00,0.000,2564,0.000,0.047,3673,1443,1516,1516,4094,0,0,0,0,0,0,26.76,26.41,26.77,8.50,46.25
$GC,1712,2.39,323.1,3674,1444,1515,4094,79.3,11.8,209,1720,0.00,2.95,0.00,0.000,3078,0.000,0.053,3674,2569,1516,1516,4094,0,0,0,0,0,0,26.49,26.44,26.53,8.50,45.94
$GC,1778,2.39,323.1,3674,2570,1513,4094,71.1,12.7,216,1779,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2570,1513,1513,4094,0,0,0,0,0,0,26.80,26.81,26.81,8.50,45.82
$GC,1838,2.39,323.1,3673,2570,1513,4094,62.9,13.7,222,1839,0.00,0.00,0.00,0.000,2054,0.000,0.000,3673,2570,1512,1512,4094,0,0,0,0,0,0,26.82,26.84,26.83,8.49,46.22
$GC,1898,2.39,323.1,3674,2570,1509,4094,54.9,13.2,228,1899,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2570,1509,1509,4094,0,0,0,0,0,0,26.84,26.85,26.85,8.49,46.33
$GC,1958,2.39,323.1,3674,2568,1506,4094,47.2,12.8,234,1966,0.00,3.35,0.00,0.000,2308,0.000,0.090,3674,3780,1507,1507,4095,0,0,0,0,0,0,26.86,26.48,26.87,8.49,46.53
$GC,1994,2.39,323.1,3673,3785,1507,4095,41.1,18.0,240,2002,0.00,2.95,0.00,0.000,3078,0.000,0.034,3672,2566,1505,1505,4093,0,0,0,0,0,0,26.67,26.67,26.70,8.49,47.04
$GC,2060,2.39,323.1,3674,2565,1500,4093,32.4,12.3,247,2068,0.00,2.88,0.00,0.000,2564,0.000,0.047,3668,1446,1503,1503,4095,0,0,0,0,0,0,26.89,26.55,26.90,8.49,46.33
$GC,2102,2.39,323.1,3674,1447,1502,4095,27.6,10.9,254,2110,0.00,2.88,0.00,0.000,3078,0.000,0.053,3673,2548,1502,1502,4095,0,0,0,0,0,0,26.62,26.55,26.64,8.49,46.22
$GC,2168,2.39,323.1,3674,2549,1500,4095,20.3,11.2,261,2169,0.00,0.00,0.00,0.000,2054,0.000,0.000,3673,2549,1500,1500,4094,0,0,0,0,0,0,26.94,26.92,26.92,8.49,46.25
$GC,2228,2.41,337.2,3674,2548,1496,4094,14.2,9.3,267,2229,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2548,1499,1499,4094,0,0,0,0,0,0,26.93,26.94,26.94,8.49,46.18
$GC,2288,2.43,354.6,3672,2548,1498,4094,8.7,9.2,273,2296,0.00,2.83,0.00,0.000,2564,0.000,0.044,3673,1451,1496,1496,4092,0,0,0,0,0,0,26.94,26.60,26.94,8.49,46.77
$STATE,2353,end climb,SURFACE_DEPTH_REACHED
$STATE,2353,begin surface coast
$FINISH,0.9,0.999823
$STATE,2366,end surface coast,CONTROL_FINISHED_OK
$STATE,2366,begin surface
$SM_CCo,2468,0.00,0.000,0,0,1494,356.43
$SM_GC,2.62,34.83,3.03,0.00,0.028,0.052,0.000,239,2602,1494,-9.08,-0.82,356.43,0,0,0,0,0,0,26.72,26.62,26.74
$IRIDIUM_FIX,4808.40,-12337.82,120418,022501
$TT8_MAMPS,0.047936,0.38948
$HUMID,45.98
$INTERNAL_PRESSURE,8.40232
$TCM_TEMP,7.80
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.1,9.5
$ALTIM_BOTTOM_PING,92.0,9.7
$SC_FREEKB,3908256
$24V_AH,23.92,0.684
$10V_AH,10.49,2.114
$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,76.550,60.425,43.975,0.000,0.000,23.722,20.817,754.211,7.000,0.000,53.871,0.000,1643.481,240.115,1495.102,49.816,0.000,492.855,0.000,416.718,0.000,12.675,0.000
$DEVICE_MAMPS,137.700,154.530,2208.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2395.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,67.501,0.000,0.000,0.000
$MEM,312888
$DATA_FILE_SIZE,10501,286
$CAP_FILE_SIZE,67127,0
$CFSIZE,1023623168,1020657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,041700,4745.007,-12224.330,5,1.0,34,16.3,0.0,56.2,9,4.8