version: 66.14
glider: 401
mission: 23
dive: 17
start: 4 12 118 12 0 46
data:
$ID,401
$MISSION,23
$DIVE,17
$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,50
$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,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
$GPS1,120418,114433,4742.3311,-12224.9336,8,1.4,49,16.3,0.0,156.4,9,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.5
$GPS2,120418,120028,4742.3755,-12224.9189,7,1.2,20,16.3,0.0,0.0,9,4.9
$SPEED_LIMITS,0.100,0.198
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-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,346.5,3012,-24.1,-10.000,-26.74,1498
$D_GRID,154
$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,-1.75,-97.5,239,2594,1468,3405,0.0,0.0,0,11,0.00,0.00,-2.92,0.000,16390,0.000,0.000,236,2587,1964,1964,4094,0,0,0,0,0,0,26.25,25.15,26.25,8.46,44.44
$GC,12,-1.75,-97.5,246,2592,1963,4094,0.0,0.0,0,48,29.45,3.00,0.00,0.000,2820,0.133,0.081,2598,3688,1967,1967,4094,1,0,0,0,0,0,25.85,25.89,25.95,8.57,44.13
$GC,249,-1.75,-97.5,2596,3693,1980,4094,62.5,-24.2,40,257,0.00,2.70,0.00,0.000,1030,0.000,0.034,2597,2603,1981,1981,4095,0,0,0,0,0,0,26.36,26.32,26.38,8.58,43.62
$GC,356,-1.75,-97.5,2598,2604,1983,4095,82.1,-21.4,47,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2603,1984,1984,4094,0,0,0,0,0,0,26.51,26.53,26.53,8.58,43.73
$GC,497,-1.75,-97.5,2598,2604,1989,4094,109.7,-19.6,54,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2603,1991,1991,4094,0,0,0,0,0,0,26.52,26.54,26.53,8.59,43.69
$GC,640,-1.75,-97.5,2596,2603,1997,4094,137.3,-18.3,61,663,0.00,2.72,0.00,0.000,516,0.000,0.040,2601,1527,1996,1996,4095,0,0,0,0,0,0,26.53,26.29,26.55,8.58,44.01
$STATE,743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,743,begin apogee
$GC,748,-0.33,0.0,2597,2598,2003,4094,155.8,-17.8,66,764,5.18,0.00,8.45,1.880,10244,0.092,0.000,3056,2595,1854,1854,4094,0,0,0,0,0,0,26.26,25.83,24.46,8.59,43.34
$STATE,765,end apogee,CONTROL_FINISHED_OK
$STATE,765,begin climb
$GC,766,1.75,97.5,3055,2598,1856,4094,163.1,0.0,69,786,6.50,0.00,7.03,1.766,11270,0.042,0.000,3674,2597,1743,1743,4091,0,0,0,0,0,0,26.01,26.17,24.21,8.57,43.62
$GC,839,1.78,116.6,3676,2598,1744,4091,157.4,8.7,78,843,0.00,0.00,2.78,0.683,10246,0.000,0.000,3674,2597,1728,1728,4094,0,0,0,0,0,0,26.17,25.72,24.37,8.62,42.87
$GC,899,1.80,131.7,3675,2598,1722,4094,152.2,9.0,84,903,0.00,0.00,2.55,0.516,10246,0.000,0.000,3674,2597,1711,1711,4094,0,0,0,0,0,0,26.27,25.82,24.46,8.55,43.26
$GC,959,1.91,204.8,3674,2598,1711,4094,148.8,5.0,90,973,0.00,3.05,5.45,1.473,10500,0.000,0.086,3674,3696,1625,1625,4090,0,0,0,0,0,0,26.35,25.81,24.46,8.54,42.95
$GC,1109,1.91,204.8,3675,3700,1626,4090,130.2,14.4,115,1117,0.00,2.72,0.00,0.000,3078,0.000,0.031,3674,2579,1626,1626,4091,0,0,0,0,0,0,26.25,26.25,26.26,8.52,43.26
$GC,1175,1.92,209.0,3675,2579,1625,4091,123.2,9.7,122,1176,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2579,1625,1625,4094,0,0,0,0,0,0,26.54,26.51,26.51,8.52,43.77
$GC,1235,1.93,213.7,3675,2579,1623,4094,117.3,9.7,128,1237,0.00,0.00,0.52,0.003,10246,0.000,0.000,3674,2579,1623,1623,4094,0,0,0,0,0,0,26.56,26.55,26.55,8.52,43.93
$GC,1295,1.94,220.9,3674,2579,1621,4094,111.5,9.5,134,1299,0.00,0.00,2.55,0.429,10246,0.000,0.000,3674,2579,1609,1609,4094,0,0,0,0,0,0,26.63,26.17,24.98,8.51,43.85
$GC,1355,1.94,220.9,3674,2579,1609,4094,105.4,10.4,140,1356,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2579,1607,1607,4094,0,0,0,0,0,0,26.63,26.64,26.63,8.51,43.89
$GC,1415,1.94,220.9,3674,2579,1608,4094,98.7,11.1,146,1423,0.00,2.70,0.00,0.000,2564,0.000,0.044,3674,1536,1606,1606,4094,0,0,0,0,0,0,26.67,26.39,26.71,8.51,44.36
$GC,1535,1.94,220.9,3674,1537,1606,4094,85.8,10.5,166,1543,0.00,2.78,0.00,0.000,3078,0.000,0.054,3674,2591,1603,1603,4095,0,0,0,0,0,0,26.48,26.41,26.50,8.51,44.17
$GC,1601,1.94,220.9,3673,2593,1603,4095,78.8,10.7,173,1602,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2592,1601,1601,4094,0,0,0,0,0,0,26.77,26.77,26.77,8.51,44.68
$GC,1661,1.94,220.9,3675,2592,1599,4094,72.2,10.9,179,1662,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2593,1599,1599,4094,0,0,0,0,0,0,26.79,26.79,26.79,8.50,44.48
$GC,1721,1.94,220.9,3675,2593,1606,4094,65.5,11.1,185,1722,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2592,1597,1597,4094,0,0,0,0,0,0,26.82,26.82,26.79,8.50,44.48
$GC,1805,1.94,220.9,3675,2593,1595,4094,58.1,11.0,191,1827,0.00,2.67,0.00,0.000,2564,0.000,0.041,3675,1539,1595,1595,4094,0,0,0,0,0,0,26.78,26.51,26.79,8.50,44.60
$GC,1994,1.94,225.4,3674,1539,1592,4094,39.7,9.7,201,2015,0.00,2.72,0.00,0.000,3078,0.000,0.054,3675,2591,1591,1591,4094,0,0,0,0,0,0,26.56,26.44,26.58,8.50,44.84
$GC,2128,1.95,228.2,3672,2591,1596,4094,26.9,9.8,208,2149,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2591,1586,1586,4094,0,0,0,0,0,0,26.71,26.71,26.71,8.50,44.40
$GC,2262,1.95,231.1,3674,2592,1586,4094,13.6,9.8,215,2284,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2591,1583,1583,4094,0,0,0,0,0,0,26.67,26.69,26.68,8.50,44.52
$GC,2337,1.95,231.1,3674,2591,1583,4094,4.0,10.7,222,2338,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2591,1581,1581,4094,0,0,0,0,0,0,26.76,26.77,26.76,8.50,43.50
$STATE,2356,end climb,SURFACE_DEPTH_REACHED
$STATE,2356,begin surface coast
$FINISH,0.9,0.999823
$STATE,2367,end surface coast,CONTROL_FINISHED_OK
$STATE,2367,begin surface
$SM_CCo,2407,6.35,0.571,0,0,1466,350.89
$SM_GC,3.90,35.60,0.00,6.35,0.034,0.000,0.571,239,2591,1466,-9.16,-0.41,350.89,0,0,0,0,0,0,26.54,26.77,25.78
$IRIDIUM_FIX,4808.40,-12337.82,120418,114624
$TT8_MAMPS,0.047187,0.622419
$HUMID,43.54
$INTERNAL_PRESSURE,8.39255
$TCM_TEMP,7.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.6,999.0
$SC_FREEKB,3903392
$24V_AH,24.21,1.306
$10V_AH,10.35,2.814
$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,76.725,27.975,29.325,6.350,0.000,67.583,85.482,582.635,117.250,0.000,21.570,0.000,1027.974,166.480,2125.539,58.482,0.000,486.829,0.000,330.457,0.000,1316.229,0.000
$DEVICE_MAMPS,133.110,86.445,1879.605,570.690,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2400.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.288,0.000,0.000,0.000
$MEM,312896
$DATA_FILE_SIZE,7042,225
$CAP_FILE_SIZE,78983,0
$CFSIZE,1023623168,1019543552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,120418,124156,4742.712,-12224.724,8,1.1,33,16.3,0.4,11.0,9,4.8