version: 66.14
glider: 401
mission: 23
dive: 12
start: 4 12 118 6 54 7
data:
$ID,401
$MISSION,23
$DIVE,12
$N_DIVES,20
$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,100
$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,0.0040000002
$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,50
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,1850
$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
$GPS1,120418,063653,4744.3394,-12224.4189,8,0.9,16,16.3,0.0,0.0,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.8
$GPS2,120418,065349,4744.2754,-12224.4072,11,0.9,17,16.3,0.0,0.0,10,4.7
$SPEED_LIMITS,0.214,0.214
$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,172.2,3324,-22.2,-10.000,-25.00,1753
$D_GRID,175
$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,7,-1.63,-97.5,239,2609,1485,3404,0.0,0.0,0,11,0.00,0.00,-2.72,0.000,16390,0.000,0.000,240,2609,1965,1965,4093,0,0,0,0,0,0,26.25,25.09,26.25,8.53,45.66
$GC,12,-1.63,-97.5,240,2611,1966,4093,0.0,0.0,0,47,30.17,2.80,0.00,0.000,2564,0.136,0.034,2643,1521,1963,1963,4094,0,0,0,0,0,0,25.86,25.94,26.00,8.61,44.99
$GC,212,-1.63,-97.5,2644,1512,1973,4094,43.2,-17.7,34,220,0.00,2.90,0.00,0.000,1030,0.000,0.060,2643,2592,1973,1973,4095,0,0,0,0,0,0,26.23,26.16,26.27,8.58,44.40
$GC,278,-1.63,-97.5,2642,2597,1977,4095,55.0,-17.8,41,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2592,1976,1976,4094,0,0,0,0,0,0,26.56,26.58,26.58,8.60,44.32
$GC,338,-1.63,-97.5,2644,2593,1977,4094,65.4,-16.6,47,346,0.00,2.78,0.00,0.000,516,0.000,0.039,2643,1515,1978,1978,4094,0,0,0,0,0,0,26.61,26.30,26.63,8.58,45.31
$GC,440,-1.63,-97.5,2642,1516,1983,4094,79.0,-16.1,55,462,0.00,2.85,0.00,0.000,1030,0.000,0.060,2643,2594,1981,1981,4095,0,0,0,0,0,0,26.39,26.26,26.43,8.58,45.15
$GC,579,-1.63,-97.5,2644,2599,1987,4095,102.6,-17.6,62,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2594,1988,1988,4095,0,0,0,0,0,0,26.55,26.56,26.56,8.58,44.72
$GC,724,-1.63,-97.5,2643,2593,1993,4095,126.7,-16.6,69,748,0.00,2.78,0.00,0.000,516,0.000,0.039,2644,1508,1994,1994,4094,0,0,0,0,0,0,26.54,26.29,26.56,8.59,44.05
$GC,890,-1.63,-97.5,2644,1508,2000,4094,154.6,-17.0,77,913,0.00,2.80,0.00,0.000,1030,0.000,0.057,2643,2571,2001,2001,4094,0,0,0,0,0,0,26.36,26.29,26.42,8.57,44.09
$STATE,1013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1013,begin apogee
$GC,1016,-0.33,0.0,2643,2611,2011,4094,175.7,-17.9,83,1032,4.62,0.00,8.90,2.046,10244,0.088,0.000,3056,2610,1861,1861,4095,0,0,0,0,0,0,26.22,25.75,24.22,8.59,44.25
$STATE,1033,end apogee,CONTROL_FINISHED_OK
$STATE,1033,begin climb
$GC,1034,1.63,97.5,3058,2611,1853,4095,179.9,0.0,86,1054,6.50,2.83,6.95,1.883,10756,0.046,0.039,3676,1515,1744,1744,4091,0,0,0,0,0,0,25.97,25.87,24.01,8.56,43.73
$GC,1141,1.68,132.9,3674,1510,1744,4091,172.1,7.9,104,1150,0.00,2.90,3.60,1.143,11270,0.000,0.050,3675,2596,1708,1708,4095,0,0,0,0,0,0,25.96,25.91,24.22,8.54,43.66
$GC,1208,1.74,172.9,3676,2596,1706,4095,167.2,7.7,111,1216,0.00,3.00,3.78,1.187,10500,0.000,0.086,3677,3694,1667,1667,4094,0,0,0,0,0,0,26.28,25.43,24.30,8.54,43.42
$GC,1250,1.74,172.9,3674,3695,1665,4094,162.6,11.8,118,1258,0.00,2.75,0.00,0.000,3078,0.000,0.033,3675,2599,1666,1666,4094,0,0,0,0,0,0,26.11,26.06,26.14,8.53,43.58
$GC,1316,1.74,172.9,3675,2600,1666,4094,154.9,11.9,125,1318,0.00,0.00,1.08,0.003,10246,0.000,0.000,3675,2599,1664,1664,4094,0,0,0,0,0,0,26.39,26.39,26.36,8.52,43.73
$GC,1376,1.74,172.9,3675,2600,1664,4094,147.4,12.8,131,1384,0.00,2.80,0.00,0.000,2564,0.000,0.043,3675,1522,1662,1662,4095,0,0,0,0,0,0,26.46,26.14,26.47,8.52,43.85
$GC,1568,1.77,194.5,3675,1522,1660,4095,128.8,8.7,163,1576,0.00,2.88,2.72,0.584,11270,0.000,0.052,3673,2614,1639,1639,4094,0,0,0,0,0,0,26.39,26.32,24.84,8.53,44.17
$GC,1634,1.77,194.5,3676,2614,1638,4094,121.9,11.1,170,1635,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2614,1637,1637,4094,0,0,0,0,0,0,26.65,26.66,26.65,8.52,44.44
$GC,1694,1.77,194.5,3676,2614,1637,4094,115.6,10.3,176,1695,0.00,0.00,0.03,0.002,10246,0.000,0.000,3675,2614,1637,1637,4094,0,0,0,0,0,0,26.69,26.70,26.70,8.52,44.64
$GC,1754,1.78,200.1,3676,2614,1635,4094,109.8,9.7,182,1762,0.00,2.78,0.00,0.000,2564,0.000,0.042,3675,1531,1635,1635,4093,0,0,0,0,0,0,26.72,26.41,26.73,8.51,44.60
$GC,1808,1.80,215.0,3676,1532,1634,4093,104.8,9.1,191,1816,0.00,2.85,2.67,0.490,11270,0.000,0.054,3680,2619,1617,1617,4094,0,0,0,0,0,0,26.53,26.42,25.08,8.52,44.88
$GC,1874,1.80,215.0,3676,2619,1616,4094,98.3,10.1,198,1875,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2617,1616,1616,4094,0,0,0,0,0,0,26.74,26.76,26.76,8.51,44.60
$GC,1934,1.80,215.4,3674,2619,1616,4094,92.3,10.0,204,1935,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2619,1615,1615,4094,0,0,0,0,0,0,26.78,26.79,26.78,8.51,44.88
$GC,1994,1.82,223.9,3677,2619,1613,4094,86.6,9.5,210,2002,0.00,2.78,2.22,0.194,10756,0.000,0.042,3675,1519,1607,1607,4094,0,0,0,0,0,0,26.80,26.46,25.23,8.51,45.07
$GC,2024,1.85,246.1,3675,1522,1608,4094,84.0,8.7,215,2032,0.00,2.88,3.00,0.577,11270,0.000,0.053,3676,2622,1582,1582,4094,0,0,0,0,0,0,26.53,26.44,25.27,8.50,44.84
$GC,2090,1.85,246.1,3676,2622,1579,4094,76.9,11.3,222,2091,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2622,1580,1580,4094,0,0,0,0,0,0,26.79,26.79,26.79,8.50,44.99
$GC,2150,1.85,246.1,3675,2622,1580,4094,69.8,11.8,228,2151,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2622,1578,1578,4095,0,0,0,0,0,0,26.82,26.82,26.82,8.50,45.39
$GC,2210,1.85,246.1,3675,2622,1578,4095,62.4,12.5,234,2211,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2622,1577,1577,4094,0,0,0,0,0,0,26.84,26.85,26.84,8.50,45.15
$GC,2320,1.85,246.1,3676,2622,1573,4094,50.7,12.6,240,2342,0.00,2.78,0.00,0.000,2564,0.000,0.042,3676,1528,1573,1573,4094,0,0,0,0,0,0,26.75,26.48,26.77,8.49,45.62
$GC,2361,1.85,246.1,3675,1528,1573,4094,46.2,11.4,242,2383,0.00,2.83,0.00,0.000,3078,0.000,0.053,3675,2623,1572,1572,4091,0,0,0,0,0,0,26.58,26.42,26.58,8.51,45.51
$GC,2496,1.85,246.1,3676,2623,1568,4091,31.6,10.9,249,2519,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2623,1567,1567,4094,0,0,0,0,0,0,26.70,26.70,26.70,8.49,45.11
$GC,2631,1.85,246.1,3671,2624,1566,4094,16.2,11.3,256,2653,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2623,1564,1564,4094,0,0,0,0,0,0,26.65,26.67,26.66,8.50,44.40
$GC,2723,1.92,291.4,3675,2623,1564,4094,6.9,7.3,263,2732,0.00,2.80,3.00,0.313,10756,0.000,0.040,3675,1524,1534,1534,4094,0,0,0,0,0,0,26.71,26.17,25.70,8.49,45.11
$STATE,2794,end climb,SURFACE_DEPTH_REACHED
$STATE,2794,begin surface coast
$FINISH,0.2,0.999823
$STATE,2819,end surface coast,CONTROL_FINISHED_OK
$STATE,2819,begin surface
$SM_CCo,2861,4.50,0.472,0,0,1467,351.82
$SM_GC,4.13,35.08,2.90,4.50,0.026,0.059,0.472,239,2604,1467,-9.16,-0.41,351.82,0,0,0,0,0,0,26.52,26.39,25.74
$IRIDIUM_FIX,4808.40,-12337.82,120418,054315
$TT8_MAMPS,0.047187,0.802179
$HUMID,44.13
$INTERNAL_PRESSURE,8.38279
$TCM_TEMP,7.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.5,999.0
$SC_FREEKB,3906368
$24V_AH,24.01,0.919
$10V_AH,10.20,2.387
$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,76.375,56.725,37.950,4.500,0.000,70.332,51.197,678.383,132.500,0.000,18.341,0.000,1220.258,198.962,2409.785,60.106,0.000,584.709,0.000,406.884,0.000,1494.009,0.000
$DEVICE_MAMPS,136.170,135.405,2046.375,472.005,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2854.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.039,0.000,0.000,0.000
$MEM,312888
$DATA_FILE_SIZE,10462,279
$CAP_FILE_SIZE,94083,0
$CFSIZE,1023623168,1020198912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120418,074230,4743.660,-12224.432,9,0.9,15,16.3,0.3,0.0,9,5.0