version: 66.14
glider: 401
mission: 23
dive: 11
start: 4 12 118 5 47 44
data:
$ID,401
$MISSION,23
$DIVE,11
$N_DIVES,20
$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,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,54
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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,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,30
$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,3
$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
$GPS1,120418,053938,4744.8618,-12224.4746,8,0.9,12,16.3,0.0,0.0,9,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-58.1
$GPS2,120418,054725,4744.8643,-12224.5166,6,0.9,49,16.3,0.2,309.0,9,3.0
$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,168.3,4393,-20.9,-10.000,-23.50,2227
$D_GRID,185
$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,-1.61,-146.3,240,2604,248,3403,0.0,0.0,0,20,0.00,0.00,-10.88,0.000,16390,0.000,0.000,240,2604,2049,2049,4094,0,0,0,0,0,0,26.63,25.45,26.66,8.27,44.80
$GC,21,-1.61,-146.3,236,2604,2048,4094,1.4,0.0,1,56,29.65,2.92,0.00,0.000,2564,0.136,0.040,2643,1444,2048,2048,4095,0,0,0,0,0,0,26.18,26.27,26.29,8.59,46.14
$GC,264,-1.61,-146.3,2642,1444,2062,4095,55.6,-18.5,42,272,0.00,3.08,0.00,0.000,1030,0.000,0.061,2643,2606,2061,2061,4092,0,0,0,0,0,0,26.46,26.38,26.49,8.63,45.19
$GC,330,-1.61,-146.3,2642,2598,2065,4092,67.6,-19.5,49,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2598,2061,2061,4094,0,0,0,0,0,0,26.79,26.77,26.77,8.60,45.47
$GC,439,-1.61,-146.3,2644,2598,2068,4094,84.9,-18.7,55,461,0.00,2.95,0.00,0.000,516,0.000,0.040,2643,1442,2066,2066,4094,0,0,0,0,0,0,26.69,26.42,26.70,8.59,45.47
$GC,562,-1.61,-146.3,2644,1442,2072,4094,106.5,-17.2,61,586,0.00,3.03,0.00,0.000,1030,0.000,0.060,2643,2589,2074,2074,4094,0,0,0,0,0,0,26.48,26.35,26.51,8.60,45.23
$GC,709,-1.61,-146.3,2644,2590,2079,4094,133.5,-19.2,68,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2596,2081,2081,4094,0,0,0,0,0,0,26.61,26.63,26.63,8.60,44.80
$GC,854,-1.61,-146.3,2644,2590,2086,4094,160.8,-18.4,75,877,0.00,2.95,0.00,0.000,516,0.000,0.041,2643,1442,2087,2087,4094,0,0,0,0,0,0,26.59,26.34,26.60,8.60,44.56
$STATE,978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,978,begin apogee
$GC,983,-0.33,0.0,2643,2608,2085,4094,182.0,-16.0,81,1004,4.62,0.00,11.68,2.228,10244,0.087,0.000,3057,2607,1879,1879,4095,0,0,0,0,0,0,26.29,25.29,24.11,8.66,44.44
$STATE,1005,end apogee,CONTROL_FINISHED_OK
$STATE,1005,begin climb
$GC,1006,1.61,146.3,3059,2608,1878,4095,187.6,0.0,85,1026,6.50,0.00,9.20,2.106,11270,0.044,0.000,3674,2604,1730,1730,4094,0,0,0,0,0,0,25.86,26.01,23.77,8.57,44.25
$GC,1079,1.62,151.9,3673,2608,1723,4094,181.3,9.7,94,1088,0.00,3.05,2.30,0.353,8708,0.000,0.044,3673,1444,1714,1714,4094,0,0,0,0,0,0,26.01,25.61,24.07,8.54,43.73
$GC,1133,1.66,175.7,3670,1447,1715,4094,176.6,8.9,103,1142,0.00,3.08,3.03,0.867,11270,0.000,0.051,3673,2597,1690,1690,4095,0,0,0,0,0,0,25.91,25.85,24.20,8.54,44.17
$GC,1199,1.66,175.7,3673,2595,1690,4095,169.4,11.3,110,1200,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2595,1689,1689,4094,0,0,0,0,0,0,26.27,26.27,26.27,8.53,43.81
$GC,1259,1.66,175.7,3674,2595,1687,4094,163.0,10.3,116,1260,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2591,1685,1685,4092,0,0,0,0,0,0,26.38,26.39,26.38,8.54,44.52
$GC,1319,1.66,175.7,3674,2595,1686,4092,156.7,10.6,122,1320,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2595,1686,1686,4095,0,0,0,0,0,0,26.46,26.47,26.46,8.53,44.72
$GC,1379,1.66,175.7,3674,2596,1684,4095,150.6,10.2,128,1380,0.00,0.00,0.00,0.000,2054,0.000,0.000,3673,2595,1685,1685,4094,0,0,0,0,0,0,26.53,26.54,26.53,8.53,45.31
$GC,1439,1.73,223.6,3674,2596,1683,4094,145.6,7.8,134,1448,0.00,2.95,3.92,1.129,10756,0.000,0.044,3673,1449,1638,1638,4093,0,0,0,0,0,0,26.59,26.10,24.68,8.53,45.11
$GC,1536,1.76,245.8,3674,1449,1636,4093,137.5,9.0,150,1544,0.00,3.00,2.90,0.700,11270,0.000,0.051,3674,2588,1614,1614,4094,0,0,0,0,0,0,26.34,26.25,24.78,8.52,44.76
$GC,1602,1.76,245.8,3674,2589,1613,4094,130.5,10.9,157,1603,0.00,0.00,0.03,0.003,10246,0.000,0.000,3674,2588,1613,1613,4094,0,0,0,0,0,0,26.59,26.60,26.60,8.52,44.76
$GC,1662,1.76,245.8,3674,2589,1611,4094,123.3,12.1,163,1670,0.00,2.95,0.00,0.000,2564,0.000,0.044,3673,1455,1611,1611,4090,0,0,0,0,0,0,26.64,26.31,26.65,8.52,44.84
$GC,1716,1.76,245.8,3674,1450,1610,4090,117.4,10.6,172,1724,0.00,2.97,0.03,0.002,11270,0.000,0.051,3671,2580,1605,1605,4095,0,0,0,0,0,0,26.41,26.34,26.44,8.52,45.11
$GC,1782,1.76,245.8,3674,2581,1607,4095,109.9,11.7,179,1783,0.00,0.00,0.00,0.000,2054,0.000,0.000,3680,2581,1608,1608,4094,0,0,0,0,0,0,26.72,26.72,26.72,8.53,45.39
$GC,1842,1.76,245.8,3673,2581,1608,4094,102.9,11.4,185,1843,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2581,1606,1606,4092,0,0,0,0,0,0,26.74,26.75,26.75,8.49,45.11
$GC,1902,1.76,245.8,3674,2581,1604,4092,96.1,11.3,191,1902,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2581,1607,1607,4091,0,0,0,0,0,0,26.77,26.79,26.78,8.51,45.19
$GC,1962,1.76,245.8,3673,2582,1608,4091,89.3,11.3,197,1962,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2580,1603,1603,4094,0,0,0,0,0,0,26.80,26.81,26.81,8.51,45.35
$GC,2022,1.76,245.8,3674,2581,1601,4094,82.4,11.6,203,2023,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2581,1601,1601,4094,0,0,0,0,0,0,26.83,26.84,26.84,8.52,46.22
$GC,2082,1.76,245.8,3677,2581,1600,4094,75.4,11.5,209,2090,0.00,2.92,0.00,0.000,2564,0.000,0.044,3674,1448,1607,1607,4094,0,0,0,0,0,0,26.85,26.51,26.85,8.51,45.58
$GC,2124,1.76,245.8,3674,1448,1598,4094,70.6,11.7,216,2132,0.00,2.97,0.00,0.000,3078,0.000,0.053,3673,2593,1598,1598,4095,0,0,0,0,0,0,26.62,26.54,26.65,8.51,45.82
$GC,2190,1.76,245.8,3675,2587,1596,4095,62.2,12.9,223,2191,0.00,0.00,0.00,0.000,2054,0.000,0.000,3678,2587,1596,1596,4094,0,0,0,0,0,0,26.87,26.89,26.88,8.50,45.70
$GC,2300,1.76,245.8,3674,2587,1593,4094,51.5,11.0,229,2321,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2586,1593,1593,4094,0,0,0,0,0,0,26.79,26.80,26.79,8.50,45.74
$GC,2434,1.76,245.8,3673,2587,1591,4094,37.2,10.8,236,2455,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2587,1589,1589,4094,0,0,0,0,0,0,26.73,26.73,26.74,8.50,45.31
$GC,2569,1.76,245.8,3674,2587,1585,4094,21.3,11.7,243,2591,0.00,2.92,0.00,0.000,2564,0.000,0.044,3673,1443,1585,1585,4095,0,0,0,0,0,0,26.70,26.42,26.70,8.50,45.11
$GC,2630,1.76,245.8,3674,1443,1583,4095,15.3,10.4,246,2652,0.00,2.95,0.00,0.000,3078,0.000,0.052,3681,2581,1583,1583,4094,0,0,0,0,0,0,26.52,26.38,26.53,8.50,45.55
$GC,2714,1.87,314.1,3673,2581,1583,4094,7.2,6.9,253,2719,0.00,0.00,3.70,0.418,10246,0.000,0.000,3676,2581,1528,1528,4094,0,0,0,0,0,0,26.73,26.37,25.71,8.50,45.07
$GC,2774,1.94,360.7,3673,2581,1536,4094,2.6,7.9,259,2782,0.00,3.25,3.83,0.409,10500,0.000,0.090,3674,3777,1485,1485,4089,0,0,0,0,0,0,26.74,26.21,25.77,8.50,44.40
$STATE,2785,end climb,SURFACE_DEPTH_REACHED
$STATE,2785,begin surface coast
$FINISH,0.2,0.999823
$STATE,2809,end surface coast,CONTROL_FINISHED_OK
$STATE,2809,begin surface
$SM_CCo,2911,0.00,0.000,0,0,1484,365.67
$SM_GC,1.62,35.05,2.92,0.00,0.026,0.037,0.000,239,2621,1484,-9.16,2.37,365.67,0,0,0,0,0,0,26.50,26.48,26.53
$IRIDIUM_FIX,4808.40,-12337.82,120418,053521
$TT8_MAMPS,0.046438,0.842625
$HUMID,44.25
$INTERNAL_PRESSURE,8.38279
$TCM_TEMP,7.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,27.9,999.0
$SC_FREEKB,3907008
$24V_AH,23.77,0.842
$10V_AH,10.17,2.286
$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,75.825,54.025,40.600,0.000,0.000,0.000,0.000,0.000,130.250,0.000,50.990,0.000,1211.922,200.695,1568.292,24.030,0.000,575.860,0.000,385.903,0.000,1465.004,0.000
$DEVICE_MAMPS,136.170,89.505,2227.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2803.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.004,0.000,0.000,0.000
$MEM,312992
$DATA_FILE_SIZE,7039,265
$CAP_FILE_SIZE,106210,0
$CFSIZE,1023623168,1020329984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,063653,4744.339,-12224.419,8,0.9,16,16.3,0.0,0.0,10,4.8