version: 66.14
glider: 401
mission: 23
dive: 13
start: 4 12 118 7 59 24
data:
$ID,401
$MISSION,23
$DIVE,13
$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,45
$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,39
$R_STBD_OVSHOOT,9
$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,15
$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,14
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,2
$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
$GPS1,120418,074230,4743.6602,-12224.4316,9,0.9,15,16.3,0.3,0.0,9,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-69.0
$GPS2,120418,075906,4743.6030,-12224.5098,7,0.9,17,16.3,0.2,0.0,9,4.8
$SPEED_LIMITS,0.100,0.198
$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,173.7,2075,-24.1,-10.000,-26.74,1498
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,7,-1.75,-97.5,240,2606,1465,3406,0.0,0.0,0,11,0.00,0.00,-2.85,0.000,16390,0.000,0.000,239,2605,1958,1958,4094,0,0,0,0,0,0,26.25,25.08,26.24,8.47,44.52
$GC,12,-1.75,-97.5,239,2605,1966,4094,0.0,0.0,0,47,29.67,2.78,0.00,0.000,2820,0.136,0.035,2602,1523,1967,1967,4093,0,0,0,0,0,0,25.84,25.94,26.00,8.57,44.92
$GC,272,-1.75,-97.5,2602,1524,1977,4093,55.3,-19.0,44,280,0.00,2.88,0.00,0.000,1030,0.000,0.060,2602,2600,1978,1978,4089,0,0,0,0,0,0,26.28,26.22,26.29,8.57,44.72
$GC,338,-1.75,-97.5,2601,2600,1981,4089,67.4,-18.3,51,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2600,1980,1980,4094,0,0,0,0,0,0,26.60,26.63,26.62,8.58,43.97
$GC,448,-1.75,-97.5,2602,2600,1984,4094,84.1,-17.8,57,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2599,1985,1985,4094,0,0,0,0,0,0,26.58,26.60,26.60,8.57,44.48
$GC,590,-1.75,-97.5,2602,2599,1990,4094,109.6,-17.4,64,614,0.00,2.72,0.00,0.000,516,0.000,0.038,2602,1526,1991,1991,4094,0,0,0,0,0,0,26.55,26.31,26.57,8.58,44.13
$GC,776,-1.75,-97.5,2601,1525,1999,4094,141.1,-17.1,73,800,0.00,2.83,0.00,0.000,1030,0.000,0.059,2602,2597,1999,1999,4094,0,0,0,0,0,0,26.40,26.29,26.44,8.58,44.01
$GC,920,-1.75,-97.5,2600,2598,2005,4094,165.4,-17.5,80,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2597,2004,2004,4094,0,0,0,0,0,0,26.55,26.58,26.58,8.58,43.62
$STATE,983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,983,begin apogee
$GC,986,-0.33,0.0,2601,2602,2008,4095,177.5,-18.8,83,1002,5.15,0.00,9.18,2.102,10244,0.093,0.000,3064,2601,1849,1849,4094,0,0,0,0,0,0,26.32,25.76,24.22,8.59,43.69
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1003,begin climb
$GC,1004,1.75,97.5,3057,2598,1851,4094,183.2,0.0,86,1024,6.50,2.75,6.85,1.910,10756,0.047,0.041,3682,1531,1751,1751,4095,0,0,0,0,0,0,25.97,25.89,23.96,8.57,43.73
$GC,1094,1.82,143.4,3676,1528,1744,4095,177.0,6.9,101,1107,0.00,2.88,4.25,1.389,11270,0.000,0.053,3673,2601,1694,1694,4094,0,0,0,0,0,0,25.94,25.87,24.12,8.55,43.93
$GC,1166,1.86,170.7,3676,2602,1693,4094,171.7,8.1,109,1170,0.00,0.00,3.25,0.999,10246,0.000,0.000,3676,2599,1664,1664,4094,0,0,0,0,0,0,26.24,25.73,24.25,8.53,43.14
$GC,1226,1.87,175.9,3677,2602,1663,4094,166.0,9.6,115,1228,0.00,0.00,1.27,0.003,10246,0.000,0.000,3676,2602,1663,1663,4094,0,0,0,0,0,0,26.29,26.27,26.27,8.53,43.34
$GC,1285,1.87,175.9,3674,2602,1662,4094,159.9,10.3,121,1286,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2602,1662,1662,4094,0,0,0,0,0,0,26.39,26.40,26.40,8.53,43.50
$GC,1346,1.90,195.2,3677,2602,1661,4094,154.5,8.7,127,1354,0.00,3.03,2.88,0.744,10500,0.000,0.087,3676,3699,1634,1634,4094,0,0,0,0,0,0,26.48,25.67,24.53,8.52,44.32
$GC,1382,1.90,195.2,3676,3699,1641,4094,149.9,13.7,133,1390,0.00,2.67,0.00,0.000,3078,0.000,0.033,3677,2608,1639,1639,4094,0,0,0,0,0,0,26.27,26.25,26.28,8.52,44.05
$GC,1448,1.90,195.2,3676,2609,1639,4094,140.9,13.9,140,1449,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2609,1637,1637,4094,0,0,0,0,0,0,26.53,26.54,26.54,8.52,43.81
$GC,1508,1.90,195.2,3677,2609,1635,4094,132.6,13.5,146,1516,0.00,2.78,0.00,0.000,2564,0.000,0.041,3682,1532,1635,1635,4094,0,0,0,0,0,0,26.59,26.29,26.60,8.52,43.93
$GC,1604,1.90,195.2,3677,1533,1632,4094,121.4,11.7,162,1612,0.00,2.85,0.00,0.000,3078,0.000,0.054,3676,2615,1635,1635,4091,0,0,0,0,0,0,26.38,26.33,26.43,8.52,44.25
$GC,1670,1.90,195.2,3677,2615,1630,4091,113.3,12.3,169,1671,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2614,1630,1630,4094,0,0,0,0,0,0,26.70,26.70,26.70,8.49,44.44
$GC,1730,1.90,195.2,3676,2614,1630,4094,106.1,12.0,175,1738,0.00,2.95,0.00,0.000,2308,0.000,0.088,3677,3681,1628,1628,4095,0,0,0,0,0,0,26.72,26.36,26.74,8.52,44.52
$GC,1754,1.90,195.2,3676,3685,1629,4095,102.6,14.5,179,1762,0.00,2.65,0.00,0.000,3078,0.000,0.033,3677,2591,1627,1627,4095,0,0,0,0,0,0,26.55,26.53,26.59,8.50,44.32
$GC,1820,1.90,195.2,3676,2594,1627,4095,94.6,11.6,186,1828,0.00,2.70,0.00,0.000,2564,0.000,0.041,3677,1538,1625,1625,4093,0,0,0,0,0,0,26.77,26.44,26.77,8.51,44.44
$GC,1898,1.90,195.2,3677,1538,1623,4093,86.4,10.0,199,1906,0.00,2.75,0.00,0.000,3078,0.000,0.052,3677,2583,1620,1620,4094,0,0,0,0,0,0,26.57,26.46,26.61,8.51,44.88
$GC,1964,1.90,195.2,3676,2587,1623,4094,79.4,10.7,206,1965,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2583,1622,1622,4094,0,0,0,0,0,0,26.82,26.83,26.83,8.51,44.52
$GC,2024,1.90,195.2,3678,2584,1621,4094,72.7,11.4,212,2025,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2583,1621,1621,4095,0,0,0,0,0,0,26.84,26.85,26.84,8.51,44.52
$GC,2084,1.90,195.2,3677,2583,1620,4095,66.0,11.1,218,2085,0.00,0.00,0.00,0.000,2054,0.000,0.000,3681,2583,1619,1619,4095,0,0,0,0,0,0,26.85,26.87,26.86,8.51,44.99
$GC,2160,1.90,195.2,3678,2584,1616,4095,59.6,10.5,224,2181,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2583,1619,1619,4094,0,0,0,0,0,0,26.84,26.84,26.84,8.50,45.27
$GC,2293,1.90,195.2,3677,2583,1613,4094,45.5,10.7,231,2315,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2584,1607,1607,4094,0,0,0,0,0,0,26.77,26.79,26.78,8.50,44.84
$GC,2427,1.90,197.7,3677,2584,1609,4094,32.3,9.8,238,2449,0.00,2.65,0.00,0.000,2564,0.000,0.041,3677,1536,1610,1610,4094,0,0,0,0,0,0,26.76,26.48,26.78,8.50,44.40
$GC,2506,1.91,202.2,3678,1534,1608,4094,24.7,9.7,242,2528,0.00,2.72,0.00,0.000,3078,0.000,0.054,3677,2587,1607,1607,4095,0,0,0,0,0,0,26.57,26.44,26.60,8.50,44.25
$GC,2642,1.92,213.1,3677,2587,1605,4095,12.4,9.3,249,2663,0.00,2.67,0.00,0.000,2564,0.000,0.041,3677,1534,1604,1604,4094,0,0,0,0,0,0,26.71,26.44,26.72,8.51,44.09
$GC,2715,2.01,269.0,3677,1534,1599,4094,5.6,6.2,259,2724,0.00,2.65,3.65,0.415,11270,0.000,0.051,3676,2546,1557,1557,4094,0,0,0,0,0,0,26.51,26.42,25.75,8.50,43.85
$STATE,2780,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,0.1,0.999823
$STATE,2800,end surface coast,CONTROL_FINISHED_OK
$STATE,2800,begin surface
$SM_CCo,2841,5.40,0.536,0,0,1467,350.89
$SM_GC,4.43,35.33,0.15,5.40,0.031,0.112,0.536,240,2609,1467,-9.16,-0.50,350.89,0,0,0,0,0,0,26.55,26.48,25.76
$IRIDIUM_FIX,4808.40,-12337.82,120418,064137
$TT8_MAMPS,0.047936,0.850864
$HUMID,43.42
$INTERNAL_PRESSURE,8.38279
$TCM_TEMP,7.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.2,999.0
$SC_FREEKB,3905760
$24V_AH,23.96,0.995
$10V_AH,10.11,2.489
$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,76.650,50.050,31.325,5.400,0.000,70.750,52.652,649.936,137.000,0.000,18.501,0.000,1189.798,198.839,2400.029,62.212,0.000,594.480,0.000,391.297,0.000,1542.701,0.000
$DEVICE_MAMPS,136.170,111.690,2102.220,536.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2834.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,72.153,0.000,0.000,0.000
$MEM,312972
$DATA_FILE_SIZE,7039,268
$CAP_FILE_SIZE,93659,0
$CFSIZE,1023623168,1020051456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,084840,4743.009,-12224.644,72,0.9,87,16.3,0.0,0.0,9,4.6