version: 66.14
glider: 401
mission: 23
dive: 16
start: 4 12 118 10 57 16
data:
$ID,401
$MISSION,23
$DIVE,16
$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,12
$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
$GPS1,120418,104827,4742.4116,-12225.2031,8,0.9,13,16.3,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-56.6
$GPS2,120418,105658,4742.4668,-12225.2676,7,0.9,16,16.3,0.0,0.0,9,4.8
$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,67.7,586,-29.2,-10.000,-31.55,1025
$D_GRID,180
$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,-2.05,-66.8,240,2605,191,3404,0.0,0.0,0,20,0.00,0.00,-10.60,0.000,16390,0.000,0.000,244,2610,1929,1929,4094,0,0,0,0,0,0,26.36,25.29,26.40,8.26,44.88
$GC,21,-2.05,-66.8,239,2606,1929,4094,1.3,0.0,1,56,28.58,0.00,0.00,0.000,2310,0.138,0.000,2504,2606,1932,1932,4094,1,0,0,0,0,0,25.96,26.15,26.12,8.57,45.82
$GC,114,-2.05,-66.8,2505,2606,1936,4094,24.5,-20.4,11,114,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2606,1936,1936,4094,0,0,0,0,0,0,26.44,26.46,26.46,8.57,44.99
$GC,174,-2.05,-66.8,2504,2606,1940,4094,36.8,-20.5,17,174,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2606,1939,1939,4095,0,0,0,0,0,0,26.52,26.53,26.53,8.57,44.64
$GC,234,-2.05,-66.8,2505,2606,1941,4095,48.8,-19.7,23,234,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2606,1942,1942,4095,0,0,0,0,0,0,26.58,26.59,26.59,8.57,45.11
$GC,294,-2.05,-66.8,2504,2606,1946,4095,61.0,-20.7,29,302,0.00,2.78,0.00,0.000,516,0.000,0.038,2504,1527,1938,1938,4094,0,0,0,0,0,0,26.63,26.34,26.64,8.57,45.07
$GC,413,-2.05,-66.8,2505,1527,1949,4094,81.1,-19.1,40,435,0.00,2.83,0.00,0.000,1030,0.000,0.059,2504,2600,1947,1947,4094,0,0,0,0,0,0,26.41,26.34,26.46,8.57,45.47
$GC,554,-2.05,-66.8,2503,2600,1957,4094,107.3,-18.6,47,578,0.00,2.75,0.00,0.000,516,0.000,0.039,2505,1519,1957,1957,4090,0,0,0,0,0,0,26.60,26.36,26.61,8.57,44.95
$GC,661,-2.05,-66.8,2504,1518,1965,4090,128.6,-20.1,52,685,0.00,2.80,0.00,0.000,1030,0.000,0.060,2505,2581,1962,1962,4094,0,0,0,0,0,0,26.44,26.34,26.46,8.58,44.99
$GC,805,-2.05,-66.8,2504,2581,1970,4094,160.6,-20.5,59,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2581,1970,1970,4095,0,0,0,0,0,0,26.59,26.61,26.60,8.58,44.32
$STATE,908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,908,begin apogee
$GC,911,-0.33,0.0,2506,2607,1969,4095,180.5,-19.3,64,927,6.30,0.00,7.50,1.951,10244,0.099,0.000,3052,2606,1851,1851,4094,0,0,0,0,0,0,26.30,25.90,24.44,8.58,44.09
$STATE,928,end apogee,CONTROL_FINISHED_OK
$STATE,928,begin climb
$GC,929,2.05,66.8,3056,2607,1853,4094,186.2,0.0,67,944,6.53,0.00,5.30,1.665,11270,0.044,0.000,3679,2607,1778,1778,4094,0,0,0,0,0,0,26.09,26.25,24.27,8.57,43.54
$GC,998,2.10,102.7,3678,2606,1778,4094,182.5,6.4,75,1002,0.00,0.00,3.65,1.197,10246,0.000,0.000,3682,2609,1741,1741,4091,0,0,0,0,0,0,26.28,25.78,24.32,8.56,43.38
$GC,1057,2.18,154.7,3677,2607,1743,4091,179.6,4.8,81,1066,0.00,3.03,4.47,1.434,10500,0.000,0.086,3677,3695,1686,1686,4094,0,0,0,0,0,0,26.31,25.80,24.33,8.54,43.54
$GC,1220,2.18,154.7,3678,3695,1683,4094,161.4,12.8,108,1228,0.00,2.72,0.00,0.000,3078,0.000,0.033,3677,2604,1683,1683,4094,0,0,0,0,0,0,26.29,26.25,26.30,8.53,43.93
$GC,1286,2.18,154.7,3678,2596,1681,4094,154.7,10.0,115,1287,0.00,0.00,0.00,0.000,2054,0.000,0.000,3678,2596,1681,1681,4094,0,0,0,0,0,0,26.53,26.53,26.52,8.53,44.68
$GC,1346,2.19,161.9,3678,2596,1679,4094,148.6,9.3,121,1349,0.00,0.00,2.15,0.175,10246,0.000,0.000,3674,2595,1675,1675,4094,0,0,0,0,0,0,26.58,26.15,24.79,8.53,44.05
$GC,1406,2.22,181.0,3677,2596,1675,4094,143.4,8.1,127,1410,0.00,0.00,2.85,0.670,10246,0.000,0.000,3677,2596,1655,1655,4094,0,0,0,0,0,0,26.63,26.14,24.86,8.53,44.13
$GC,1466,2.26,207.4,3677,2596,1655,4094,139.0,7.4,133,1470,0.00,0.00,3.12,0.802,10246,0.000,0.000,3677,2596,1627,1627,4094,0,0,0,0,0,0,26.63,26.15,24.89,8.52,44.52
$GC,1526,2.28,224.1,3678,2596,1626,4094,134.3,8.3,139,1530,0.00,0.00,2.90,0.676,10246,0.000,0.000,3677,2595,1605,1605,4093,0,0,0,0,0,0,26.62,26.16,24.91,8.51,44.36
$GC,1586,2.28,224.1,3677,2596,1605,4093,128.0,10.7,145,1587,0.00,0.00,0.00,0.000,2054,0.000,0.000,3685,2596,1604,1604,4094,0,0,0,0,0,0,26.62,26.63,26.63,8.51,44.60
$GC,1646,2.32,248.8,3677,2596,1605,4094,123.2,7.5,151,1650,0.00,0.00,2.90,0.640,10246,0.000,0.000,3673,2596,1585,1585,4094,0,0,0,0,0,0,26.66,26.21,25.01,8.51,44.21
$GC,1706,2.32,248.8,3678,2596,1580,4094,117.1,10.4,157,1707,0.00,0.00,0.00,0.000,2054,0.000,0.000,3678,2596,1579,1579,4095,0,0,0,0,0,0,26.67,26.67,26.67,8.51,44.52
$GC,1766,2.32,248.8,3676,2596,1579,4095,110.0,11.5,163,1767,0.00,0.00,0.00,0.000,2054,0.000,0.000,3678,2596,1578,1578,4095,0,0,0,0,0,0,26.70,26.71,26.71,8.51,44.80
$GC,1826,2.32,248.8,3677,2596,1577,4095,102.9,11.9,169,1827,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2602,1576,1576,4094,0,0,0,0,0,0,26.74,26.74,26.74,8.50,45.23
$GC,1886,2.32,248.8,3677,2596,1576,4094,96.0,11.6,175,1887,0.00,0.00,0.00,0.000,2054,0.000,0.000,3684,2596,1574,1574,4094,0,0,0,0,0,0,26.77,26.77,26.77,8.47,44.72
$GC,1946,2.32,248.8,3677,2594,1574,4094,89.2,11.6,181,1947,0.00,0.00,0.00,0.000,2054,0.000,0.000,3678,2596,1573,1573,4094,0,0,0,0,0,0,26.79,26.80,26.82,8.50,45.78
$GC,2006,2.32,248.8,3678,2596,1571,4094,82.1,11.6,187,2007,0.00,0.00,0.00,0.000,2054,0.000,0.000,3678,2595,1571,1571,4094,0,0,0,0,0,0,26.82,26.82,26.82,8.50,44.99
$GC,2066,2.32,248.8,3677,2596,1568,4094,75.4,11.0,193,2074,0.00,2.72,0.00,0.000,2564,0.000,0.043,3677,1527,1569,1569,4094,0,0,0,0,0,0,26.84,26.51,26.84,8.50,45.19
$GC,2156,2.32,248.8,3676,1530,1569,4094,66.2,10.2,208,2164,0.00,2.80,0.00,0.000,3078,0.000,0.054,3677,2600,1567,1567,4094,0,0,0,0,0,0,26.60,26.53,26.63,8.53,45.43
$GC,2246,2.32,248.8,3677,2601,1566,4094,58.0,11.4,215,2268,0.00,0.00,0.00,0.000,2054,0.000,0.000,3678,2601,1564,1564,4094,0,0,0,0,0,0,26.83,26.84,26.84,8.49,45.11
$GC,2380,2.32,248.8,3678,2601,1560,4094,42.2,12.4,222,2402,0.00,2.72,0.00,0.000,2564,0.000,0.043,3678,1528,1559,1559,4094,0,0,0,0,0,0,26.79,26.51,26.79,8.49,44.68
$GC,2478,2.32,248.8,3677,1529,1560,4094,31.1,11.0,227,2500,0.00,2.75,0.00,0.000,3078,0.000,0.054,3678,2595,1557,1557,4094,0,0,0,0,0,0,26.60,26.48,26.63,8.50,45.19
$GC,2612,2.32,248.8,3677,2595,1556,4094,16.0,11.2,234,2636,0.00,3.00,0.00,0.000,2308,0.000,0.090,3676,3693,1553,1553,4094,0,0,0,0,0,0,26.72,26.41,26.73,8.49,44.29
$GC,2663,2.32,248.8,3677,3694,1553,4094,7.1,13.2,238,2671,0.00,2.67,0.00,0.000,3078,0.000,0.032,3678,2592,1551,1551,4092,0,0,0,0,0,0,26.57,26.55,26.59,8.49,43.89
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2709,begin surface coast
$FINISH,1.0,0.999823
$STATE,2719,end surface coast,CONTROL_FINISHED_OK
$STATE,2719,begin surface
$SM_CCo,2759,5.15,0.496,0,0,1467,350.89
$SM_GC,3.41,35.70,0.00,5.15,0.036,0.000,0.496,239,2592,1467,-9.16,-0.36,350.89,0,0,0,0,0,0,26.56,26.79,25.84
$IRIDIUM_FIX,4807.77,-12056.72,120418,095708
$TT8_MAMPS,0.047187,0.686833
$HUMID,43.26
$INTERNAL_PRESSURE,8.39255
$TCM_TEMP,7.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.8,999.0
$SC_FREEKB,3903968
$24V_AH,24.27,1.237
$10V_AH,10.30,2.726
$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,77.100,33.650,34.850,5.150,0.000,22.153,21.334,371.111,120.500,0.000,17.424,0.000,1186.832,189.976,1867.816,44.749,0.000,548.023,0.000,357.291,0.000,1358.762,0.000
$DEVICE_MAMPS,137.700,152.235,1950.750,496.485,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2732.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,69.754,0.000,0.000,0.000
$MEM,312852
$DATA_FILE_SIZE,7055,244
$CAP_FILE_SIZE,83170,0
$CFSIZE,1023623168,1019674624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,120418,114433,4742.331,-12224.934,8,1.4,49,16.3,0.0,156.4,9,4.8