version: 66.14
glider: 401
mission: 23
dive: 21
start: 4 12 118 16 10 22
data:
$ID,401
$MISSION,23
$DIVE,21
$N_DIVES,25
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,45
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$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,1800
$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,120
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$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
$GPS1,120418,154709,4744.1230,-12223.8730,8,0.9,22,16.3,0.0,15.0,9,4.7
$_CALLS,9
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.0
$GPS2,120418,161004,4744.3789,-12223.7490,6,0.9,14,16.3,0.0,8.3,9,5.0
$SPEED_LIMITS,0.173,0.275
$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,184.3,3718,-16.7,-10.000,-19.99,2987
$D_GRID,166
$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,-1.41,-195.0,239,2606,1417,3405,0.0,0.0,0,12,0.00,0.00,-3.60,0.000,16390,0.000,0.000,239,2600,2017,2017,4095,0,0,0,0,0,0,26.26,25.18,26.27,8.43,44.48
$GC,13,-1.41,-195.0,240,2600,2017,4095,0.0,0.0,0,47,31.40,0.00,0.00,0.000,2566,0.135,0.000,2713,2600,2020,2020,4093,0,0,0,0,0,0,25.89,26.03,26.01,8.58,44.48
$GC,105,-1.41,-195.0,2714,2600,2023,4093,24.0,-17.6,10,112,0.00,2.47,0.00,0.000,516,0.000,0.034,2714,1645,2031,2031,4094,0,0,0,0,0,0,26.34,26.04,26.36,8.59,44.05
$GC,201,-1.41,-195.0,2714,1644,2026,4094,38.7,-15.3,26,208,0.00,2.60,0.00,0.000,1030,0.000,0.061,2708,2600,2026,2026,4095,0,0,0,0,0,0,26.27,26.13,26.32,8.58,43.89
$GC,267,-1.41,-195.0,2714,2600,2028,4095,49.6,-16.3,33,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2600,2029,2029,4094,0,0,0,0,0,0,26.53,26.55,26.55,8.58,43.69
$GC,327,-1.41,-195.0,2713,2601,2031,4094,59.1,-15.7,39,334,0.00,2.75,0.00,0.000,260,0.000,0.089,2713,3588,2030,2030,4093,0,0,0,0,0,0,26.59,26.23,26.58,8.58,43.81
$GC,369,-1.41,-195.0,2713,3588,2035,4093,67.0,-19.6,46,376,0.00,2.42,0.00,0.000,1030,0.000,0.034,2713,2608,2033,2033,4094,0,0,0,0,0,0,26.44,26.41,26.46,8.58,43.89
$GC,435,-1.41,-195.0,2712,2608,2036,4094,77.5,-15.3,53,442,0.00,2.47,0.00,0.000,516,0.000,0.035,2713,1638,2035,2035,4092,0,0,0,0,0,0,26.65,26.40,26.67,8.58,43.89
$GC,573,-1.41,-195.0,2712,1638,2041,4092,97.2,-14.1,76,580,0.00,2.50,0.00,0.000,1030,0.000,0.060,2710,2566,2040,2040,4094,0,0,0,0,0,0,26.49,26.40,26.58,8.58,43.85
$GC,639,-1.41,-195.0,2712,2571,2043,4094,107.1,-15.0,83,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2570,2041,2041,4094,0,0,0,0,0,0,26.76,26.77,26.77,8.58,44.13
$GC,699,-1.41,-195.0,2713,2571,2045,4094,116.2,-15.3,89,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2570,2043,2043,4095,0,0,0,0,0,0,26.79,26.80,26.79,8.58,44.09
$GC,759,-1.41,-195.0,2714,2571,2046,4095,125.3,-15.2,95,766,0.00,2.38,0.00,0.000,516,0.000,0.034,2718,1639,2047,2047,4094,0,0,0,0,0,0,26.80,26.54,26.82,8.59,44.13
$GC,795,-1.41,-195.0,2712,1638,2049,4094,130.8,-14.9,101,803,0.00,2.50,0.00,0.000,1030,0.000,0.060,2713,2571,2049,2049,4095,0,0,0,0,0,0,26.60,26.49,26.63,8.59,44.99
$GC,861,-1.41,-195.0,2714,2572,2049,4095,140.9,-15.2,108,868,0.00,2.80,0.00,0.000,260,0.000,0.092,2713,3583,2050,2050,4094,0,0,0,0,0,0,26.84,26.48,26.84,8.59,44.29
$GC,903,-1.41,-195.0,2714,3583,2051,4094,148.8,-19.6,115,910,0.00,2.47,0.00,0.000,1030,0.000,0.034,2715,2570,2052,2052,4094,0,0,0,0,0,0,26.67,26.63,26.69,8.59,44.01
$GC,969,-1.41,-195.0,2712,2568,2056,4094,160.0,-16.5,122,976,0.00,2.38,0.00,0.000,516,0.000,0.034,2713,1633,2055,2055,4094,0,0,0,0,0,0,26.86,26.58,26.87,8.59,44.29
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1010,begin apogee
$GC,1015,-0.33,0.0,2722,2600,2057,4094,166.9,-16.2,129,1034,3.80,0.00,13.57,2.156,10244,0.083,0.000,3054,2599,1793,1793,4094,0,0,0,0,0,0,26.55,25.82,24.44,8.55,44.36
$STATE,1035,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1036,1.41,195.0,3055,2603,1801,4094,169.2,0.0,131,1055,5.90,0.00,11.43,2.069,11270,0.050,0.000,3604,2602,1599,1599,4095,0,0,0,0,0,0,25.98,26.16,24.01,8.55,43.89
$GC,1109,1.46,228.3,3602,2603,1593,4095,164.2,8.9,140,1114,0.15,0.00,3.85,1.180,10246,0.060,0.000,3629,2603,1551,1551,4094,0,0,0,0,0,0,25.82,25.53,24.18,8.51,43.50
$GC,1169,1.46,228.3,3628,2603,1551,4094,158.4,10.1,146,1177,0.00,2.78,0.00,0.000,260,0.000,0.087,3638,3578,1558,1558,4094,0,0,0,0,0,0,26.11,25.78,26.12,8.50,43.73
$GC,1187,1.46,228.3,3630,3579,1549,4094,156.2,11.4,149,1194,0.00,2.45,0.00,0.000,1030,0.000,0.034,3633,2607,1549,1549,4094,0,0,0,0,0,0,25.98,25.95,26.01,8.50,43.93
$GC,1253,1.46,228.3,3629,2607,1548,4094,148.8,10.9,156,1261,0.00,2.53,0.00,0.000,516,0.000,0.037,3632,1633,1547,1547,4094,0,0,0,0,0,0,26.29,26.01,26.30,8.49,43.69
$GC,1271,1.46,228.3,3627,1632,1549,4094,146.9,10.8,159,1279,0.00,2.62,0.00,0.000,1030,0.000,0.055,3629,2605,1547,1547,4094,0,0,0,0,0,0,26.12,26.03,26.14,8.50,43.93
$GC,1337,1.46,228.3,3630,2603,1544,4094,140.0,10.4,166,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2603,1546,1546,4094,0,0,0,0,0,0,26.41,26.43,26.42,8.50,44.36
$GC,1397,1.46,228.3,3630,2603,1544,4094,133.6,10.5,172,1405,0.00,2.72,0.00,0.000,260,0.000,0.087,3639,3582,1544,1544,4095,0,0,0,0,0,0,26.50,26.13,26.50,8.50,43.93
$GC,1415,1.46,228.3,3629,3578,1545,4095,131.4,11.6,175,1423,0.00,2.42,0.00,0.000,1030,0.000,0.034,3629,2602,1541,1541,4094,0,0,0,0,0,0,26.33,26.29,26.36,8.51,44.56
$GC,1481,1.46,228.3,3629,2603,1541,4094,123.9,11.1,182,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2599,1542,1542,4094,0,0,0,0,0,0,26.53,26.57,26.57,8.49,44.64
$GC,1541,1.46,228.3,3630,2602,1540,4094,117.2,11.1,188,1548,0.00,2.50,0.00,0.000,516,0.000,0.037,3629,1631,1539,1539,4094,0,0,0,0,0,0,26.60,26.32,26.61,8.49,44.40
$GC,1553,1.46,228.3,3629,1631,1541,4094,115.9,11.1,190,1561,0.00,2.58,0.00,0.000,1030,0.000,0.055,3629,2598,1540,1540,4092,0,0,0,0,0,0,26.39,26.29,26.41,8.49,43.97
$GC,1619,1.46,228.3,3630,2595,1538,4092,108.2,11.8,197,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2595,1538,1538,4094,0,0,0,0,0,0,26.65,26.66,26.66,8.49,44.25
$GC,1679,1.46,228.3,3628,2595,1538,4094,101.1,11.9,203,1686,0.00,2.50,0.00,0.000,516,0.000,0.037,3629,1630,1536,1536,4093,0,0,0,0,0,0,26.69,26.40,26.70,8.49,44.09
$GC,1703,1.46,228.3,3630,1627,1532,4093,98.4,11.3,207,1711,0.00,2.58,0.00,0.000,1030,0.000,0.055,3629,2607,1535,1535,4094,0,0,0,0,0,0,26.48,26.37,26.54,8.49,44.17
$GC,1769,1.46,228.3,3629,2601,1535,4094,90.5,12.0,214,1777,0.00,2.50,0.00,0.000,516,0.000,0.037,3624,1632,1533,1533,4094,0,0,0,0,0,0,26.73,26.44,26.74,8.48,44.40
$GC,1787,1.46,228.3,3628,1632,1534,4094,88.5,11.5,217,1795,0.00,2.55,0.00,0.000,1030,0.000,0.055,3633,2591,1532,1532,4093,0,0,0,0,0,0,26.53,26.41,26.55,8.49,44.88
$GC,1853,1.46,228.3,3630,2591,1531,4093,80.8,12.1,224,1861,0.00,2.47,0.00,0.000,516,0.000,0.037,3630,1629,1538,1538,4094,0,0,0,0,0,0,26.76,26.48,26.77,8.49,44.13
$GC,1895,1.47,233.2,3628,1629,1534,4094,76.5,9.8,231,1903,0.00,2.55,0.00,0.000,1030,0.000,0.055,3628,2589,1529,1529,4095,0,0,0,0,0,0,26.57,26.45,26.59,8.46,44.13
$GC,1961,1.47,233.2,3630,2588,1528,4095,69.4,11.2,238,1969,0.00,2.45,0.00,0.000,516,0.000,0.037,3629,1638,1523,1523,4094,0,0,0,0,0,0,26.80,26.51,26.81,8.48,44.60
$GC,2021,1.48,242.2,3628,1632,1528,4094,63.5,9.7,248,2029,0.00,2.45,0.00,0.000,1030,0.000,0.054,3629,2558,1526,1526,4089,0,0,0,0,0,0,26.61,26.50,26.63,8.48,44.56
$GC,2087,1.48,242.2,3629,2559,1526,4089,56.1,11.7,255,2095,0.00,2.83,0.00,0.000,260,0.000,0.090,3629,3586,1523,1523,4094,0,0,0,0,0,0,26.84,26.47,26.85,8.47,44.40
$GC,2135,1.48,242.2,3630,3583,1523,4094,49.0,15.6,263,2143,0.00,2.45,0.00,0.000,1030,0.000,0.034,3634,2579,1523,1523,4094,0,0,0,0,0,0,26.68,26.64,26.70,8.49,44.32
$GC,2201,1.48,242.2,3630,2584,1521,4094,41.0,11.6,270,2208,0.00,2.42,0.00,0.000,516,0.000,0.038,3624,1640,1518,1518,4094,0,0,0,0,0,0,26.86,26.58,26.88,8.48,44.29
$GC,2231,1.48,242.2,3630,1634,1519,4094,37.7,11.2,275,2239,0.00,2.47,0.00,0.000,1030,0.000,0.054,3630,2570,1519,1519,4093,0,0,0,0,0,0,26.70,26.55,26.69,8.48,44.48
$GC,2297,1.48,242.2,3630,2571,1518,4093,30.2,11.2,282,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2570,1518,1518,4093,0,0,0,0,0,0,26.89,26.90,26.90,8.48,44.36
$GC,2357,1.48,242.2,3628,2567,1516,4093,23.7,11.0,288,2365,0.00,2.78,0.00,0.000,260,0.000,0.088,3629,3584,1516,1516,4095,0,0,0,0,0,0,26.90,26.55,26.91,8.47,44.25
$GC,2369,1.48,242.2,3629,3582,1517,4095,22.4,10.9,290,2376,0.00,2.47,0.00,0.000,1030,0.000,0.034,3629,2566,1516,1516,4093,0,0,0,0,0,0,26.73,26.69,26.75,8.48,44.60
$GC,2435,1.48,244.5,3628,2570,1513,4093,15.6,9.9,297,2443,0.00,2.38,0.00,0.000,516,0.000,0.037,3628,1636,1513,1513,4094,0,0,0,0,0,0,26.91,26.63,26.93,8.48,44.25
$GC,2483,1.51,260.8,3630,1636,1513,4094,11.0,9.4,305,2490,0.00,2.40,0.00,0.000,1030,0.000,0.054,3629,2544,1508,1508,4095,0,0,0,0,0,0,26.71,26.60,26.74,8.48,44.92
$GC,2549,1.57,304.6,3630,2545,1511,4095,5.1,8.5,312,2558,0.25,2.80,3.60,0.392,10500,0.052,0.088,3669,3580,1467,1467,4095,0,0,0,0,0,0,26.71,26.41,25.98,8.48,44.29
$STATE,2578,end climb,SURFACE_DEPTH_REACHED
$STATE,2579,begin surface coast
$FINISH,0.2,0.999823
$STATE,2591,end surface coast,CONTROL_FINISHED_OK
$STATE,2591,begin surface
$SM_CCo,2633,3.80,0.396,0,0,1417,350.89
$SM_GC,2.92,34.90,2.42,3.80,0.027,0.037,0.396,240,2604,1417,-9.16,1.91,350.89,0,0,0,0,0,0,26.69,26.67,25.97
$IRIDIUM_FIX,4808.40,-12337.82,120418,145046
$TT8_MAMPS,0.047187,0.391727
$HUMID,43.97
$INTERNAL_PRESSURE,8.37302
$TCM_TEMP,7.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.4,9.5
$ALTIM_BOTTOM_PING,120.8,58.8
$SC_FREEKB,3901088
$24V_AH,24.01,1.549
$10V_AH,10.55,3.102
$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,76.400,96.450,32.450,3.800,0.000,213.902,153.775,520.352,0.750,0.000,16.114,0.000,2016.749,315.857,1633.061,56.919,0.000,611.914,0.000,463.350,0.000,12.361,0.000
$DEVICE_MAMPS,135.405,91.800,2155.770,396.270,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2613.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,65.853,0.000,0.000,0.000
$MEM,313000
$DATA_FILE_SIZE,10487,319
$CAP_FILE_SIZE,81731,0
$CFSIZE,1023623168,1019019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,165530,4744.142,-12223.781,5,0.8,48,16.3,0.4,29.0,10,5.0