version: 66.12
glider: 401
mission: 14
dive: 3
start: 2 13 117 21 34 52
data:
$ID,401
$MISSION,14
$DIVE,3
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,60
$D_ABORT,220
$D_NO_BLEED,500
$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,20
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74191
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0020000001
$HD_B,0.017689999
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,5
$CALL_WAIT,60
$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
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,3300
$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,55
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2834
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,0
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-50.876999
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,2936.3699
$GPS1,130217,213026,4742.8735,-12225.0293,2,0.9,25,16.3,0.7,186.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-39.0
$GPS2,130217,213355,4742.8545,-12225.0508,5,0.8,27,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.119,0.196
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.045124,0.191202
$KALMAN_X,-61.774586,-27.866652,-26.824856,19.625660,-19.801479
$KALMAN_Y,12.201809,7.620183,7.446451,475.269836,5.933347
$MHEAD_RNG_PITCHd_Wd,357.0,2144,-18.8,-10.000,-26.98,2213
$D_GRID,186
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.52,-146.6,230,2345,1774,4094,0.0,0.0,0,26,0.00,0.00,-8.40,0.000,16390,0.000,0.000,231,2346,3010,3010,4094,0,0,0,0,0,0,26.64,24.85,26.65,9.38,36.69
$GC,28,-1.52,-146.6,231,2346,3010,4094,0.9,0.0,1,64,30.60,3.12,0.00,0.000,2564,0.112,0.044,2803,1152,3012,3012,4095,0,0,0,0,0,0,26.14,26.17,26.27,9.63,37.08
$GC,108,-1.52,-146.6,2803,1152,3013,4095,9.5,-7.1,14,114,0.00,3.03,0.00,0.000,1030,0.000,0.037,2803,2350,3013,3013,4094,0,0,0,0,0,0,26.34,26.23,26.38,9.64,36.73
$GC,145,-1.52,-146.6,2803,2350,3013,4094,12.1,-6.7,20,151,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2350,3013,3013,4095,0,0,0,0,0,0,26.64,26.65,26.65,9.63,36.65
$GC,182,-1.52,-146.6,2803,2351,3014,4094,14.8,-7.1,26,188,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2351,3014,3014,4094,0,0,0,0,0,0,26.67,26.68,26.67,9.63,36.61
$GC,219,-1.52,-146.6,2803,2351,3014,4094,16.8,-5.5,32,226,0.00,3.25,0.00,0.000,260,0.000,0.080,2803,3551,3014,3014,4095,0,0,0,0,0,0,26.69,26.18,26.70,9.64,36.65
$GC,262,-1.52,-146.6,2803,3551,3015,4094,20.2,-8.1,39,269,0.00,2.97,0.00,0.000,1030,0.000,0.035,2804,2337,3015,3015,4095,0,0,0,0,0,0,26.50,26.44,26.51,9.63,36.25
$GC,300,-1.52,-146.6,2803,2337,3015,4094,23.1,-7.8,45,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2337,3016,3016,4094,0,0,0,0,0,0,26.72,26.74,26.74,9.63,36.41
$GC,337,-1.52,-146.6,2803,2337,3016,4095,26.1,-8.0,51,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2337,3016,3016,4094,0,0,0,0,0,0,26.74,26.76,26.75,9.63,36.45
$GC,374,-1.52,-146.6,2803,2337,3017,4095,29.0,-8.2,57,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2337,3017,3017,4095,0,0,0,0,0,0,26.76,26.77,26.77,9.63,36.33
$GC,410,-1.52,-146.6,2803,2337,3017,4095,31.9,-8.0,63,417,0.00,3.00,0.00,0.000,516,0.000,0.047,2803,1163,3017,3017,4094,0,0,0,0,0,0,26.77,26.33,26.79,9.64,36.41
$GC,484,-1.52,-146.6,2803,1163,3018,4095,38.2,-8.8,75,491,0.00,2.97,0.00,0.000,1030,0.000,0.038,2803,2350,3018,3018,4094,0,0,0,0,0,0,26.51,26.38,26.54,9.63,36.45
$GC,521,-1.52,-146.6,2803,2350,3019,4095,41.1,-7.7,81,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2350,3019,3019,4094,0,0,0,0,0,0,26.80,26.82,26.82,9.64,36.21
$GC,558,-1.52,-146.6,2803,2350,3019,4094,43.9,-7.5,87,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2350,3019,3019,4094,0,0,0,0,0,0,26.82,26.84,26.83,9.63,36.53
$GC,595,-1.52,-146.6,2802,2350,3020,4095,46.5,-7.5,93,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2350,3020,3020,4094,0,0,0,0,0,0,26.83,26.84,26.84,9.63,36.45
$GC,631,-1.52,-146.6,2803,2350,3020,4095,49.3,-7.3,99,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2350,3020,3020,4094,0,0,0,0,0,0,26.84,26.86,26.85,9.63,36.45
$GC,668,-1.52,-146.6,2803,2350,3021,4095,51.8,-6.7,105,675,0.00,3.03,0.00,0.000,516,0.000,0.047,2803,1164,3021,3021,4095,0,0,0,0,0,0,26.85,26.39,26.86,9.63,36.57
$GC,724,-1.52,-146.6,2803,1164,3022,4095,56.0,-7.8,114,730,0.00,2.97,0.00,0.000,1030,0.000,0.037,2804,2354,3021,3021,4095,0,0,0,0,0,0,26.56,26.44,26.60,9.63,36.49
$GC,761,-1.52,-146.6,2803,2354,3021,4094,58.8,-7.4,120,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2354,3022,3022,4094,0,0,0,0,0,0,26.86,26.89,26.89,9.64,36.41
$STATE,778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,779,begin apogee
$GC,782,-0.33,0.0,2803,2354,3024,4094,60.2,-7.2,123,800,4.05,0.00,10.32,1.047,10246,0.067,0.000,3184,2354,2833,2833,4095,0,0,0,0,0,0,26.44,26.06,25.10,9.63,36.45
$STATE,801,end apogee,CONTROL_FINISHED_OK
$STATE,801,begin climb
$GC,802,1.52,146.6,3183,2354,2833,4094,61.0,0.0,126,821,5.10,0.00,9.45,1.017,10246,0.045,0.000,3676,2354,2662,2662,4094,0,0,0,0,0,0,26.32,25.84,24.91,9.60,36.41
$GC,852,1.69,240.3,3675,2354,2661,4094,58.8,5.7,134,864,0.00,0.00,6.78,0.891,10246,0.000,0.000,3676,2354,2552,2552,4094,0,0,0,0,0,0,26.49,25.56,24.89,9.56,35.94
$GC,895,1.84,327.8,3675,2354,2551,4094,56.3,6.0,141,907,0.00,0.00,6.45,0.855,10246,0.000,0.000,3676,2354,2450,2450,4094,0,0,0,0,0,0,26.44,25.53,24.88,9.54,36.57
$GC,938,2.01,418.6,3675,2354,2450,4094,53.8,5.8,148,950,0.00,0.00,6.57,0.842,10246,0.000,0.000,3676,2354,2344,2344,4095,0,0,0,0,0,0,26.41,25.50,24.87,9.53,35.82
$GC,981,2.17,511.2,3675,2354,2344,4094,51.4,5.7,155,993,0.00,0.00,6.70,0.831,10246,0.000,0.000,3676,2354,2235,2235,4094,0,0,0,0,0,0,26.36,25.47,24.84,9.51,35.74
$GC,1024,2.36,614.9,3675,2353,2235,4094,49.1,5.2,162,1036,0.00,0.00,7.22,0.838,10246,0.000,0.000,3676,2354,2115,2115,4094,0,0,0,0,0,0,26.34,25.44,24.83,9.48,35.66
$GC,1067,2.58,737.8,3675,2353,2115,4094,47.1,4.3,169,1079,0.00,0.00,8.15,0.858,10246,0.000,0.000,3676,2354,1972,1972,4094,0,0,0,0,0,0,26.30,25.62,24.79,9.46,35.66
$GC,1110,2.84,883.1,3676,2354,1972,4094,45.6,3.3,176,1122,0.00,0.00,9.40,0.879,10246,0.000,0.000,3676,2354,1803,1803,4094,0,0,0,0,0,0,26.25,25.56,24.75,9.43,35.43
$GC,1153,2.96,945.5,3675,2354,1802,4094,43.1,7.1,183,1161,0.08,0.00,5.05,0.660,10246,0.105,0.000,3686,2354,1730,1730,4094,0,0,0,0,0,0,25.96,25.63,24.83,9.40,35.62
$GC,1191,2.96,945.5,3685,2354,1729,4094,37.6,14.7,189,1197,0.00,0.00,0.00,0.000,2054,0.000,0.000,3686,2354,1729,1729,4094,0,0,0,0,0,0,26.24,26.25,26.25,9.38,35.66
$GC,1228,2.96,945.5,3685,2354,1728,4094,31.5,16.6,195,1234,0.00,0.00,0.00,0.000,2054,0.000,0.000,3686,2354,1728,1728,4094,0,0,0,0,0,0,26.32,26.32,26.32,9.38,35.46
$GC,1264,2.96,945.5,3685,2354,1726,4094,25.0,18.5,201,1270,0.00,0.00,0.00,0.000,2054,0.000,0.000,3686,2354,1726,1726,4094,0,0,0,0,0,0,26.38,26.39,26.39,9.38,35.39
$GC,1300,2.96,945.5,3685,2354,1725,4094,19.1,15.9,207,1306,0.00,0.00,0.00,0.000,2054,0.000,0.000,3686,2354,1724,1724,4094,0,0,0,0,0,0,26.44,26.44,26.44,9.38,35.31
$GC,1337,2.96,945.5,3686,2354,1724,4094,13.8,13.5,213,1343,0.00,0.00,0.00,0.000,2054,0.000,0.000,3686,2354,1724,1724,4094,0,0,0,0,0,0,26.48,26.48,26.48,9.38,35.94
$GC,1373,2.96,945.5,3685,2354,1722,4094,8.1,16.2,219,1379,0.00,0.00,0.00,0.000,2054,0.000,0.000,3685,2354,1722,1722,4094,0,0,0,0,0,0,26.51,26.52,26.52,9.38,35.70
$GC,1409,2.96,945.5,3685,2354,1721,4094,2.1,16.6,225,1415,0.00,0.00,0.00,0.000,2054,0.000,0.000,3685,2354,1720,1720,4095,0,0,0,0,0,0,26.55,26.55,26.55,9.38,35.58
$STATE,1420,end climb,SURFACE_DEPTH_REACHED
$STATE,1420,begin surface coast
$FINISH,0.2,1.021486
$STATE,1428,end surface coast,CONTROL_FINISHED_OK
$STATE,1428,begin surface
$SM_CCo,1530,0.00,0.000,0,0,1720,957.34
$SM_GC,0.68,35.72,0.00,0.00,0.028,0.000,0.000,232,2354,1720,-9.59,0.18,957.34,0,0,0,0,0,0,25.83,26.57,26.11
$IRIDIUM_FIX,4748.51,-12337.82,130217,212740
$TT8_MAMPS,0.025466,0.401464
$HUMID,35.66
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,8.10
$XPDR_PINGS,3
$24V_AH,24.75,2.475
$10V_AH,9.66,2.268
$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,75.550,24.350,76.100,0.000,0.000,0.000,0.000,0.000,0.750,0.000,28.235,571.784,396.171,213.878,412.415,19.429,31.527,494.386,0.000,337.722,0.000,1.137,0.000
$DEVICE_MAMPS,111.690,79.560,1047.285,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2a,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,273.280,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322280
$DATA_FILE_SIZE,17726,228
$CAP_FILE_SIZE,59511,0
$CFSIZE,1024409600,1018281984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,69
$GPS,130217,220141,4742.895,-12225.066,1,0.9,47,16.3,0.0,0.0,8,4.2