version: 66.12
glider: 401
mission: 14
dive: 4
start: 2 13 117 22 17 28
data:
$ID,401
$MISSION,14
$DIVE,4
$N_DIVES,5
$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,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,15
$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
$GPS1,130217,221310,4742.7144,-12225.0977,2,0.9,30,16.3,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-36.7
$GPS2,130217,221630,4742.6650,-12225.1230,5,0.8,24,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.119,0.196
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.048861,0.190281
$KALMAN_X,-131.311874,-59.085854,-51.900856,55.200432,-22.391525
$KALMAN_Y,-209.528015,-133.085922,-111.759903,619.299377,-5.442627
$MHEAD_RNG_PITCHd_Wd,358.1,2505,-18.8,-10.000,-26.98,2214
$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,-146.6,232,2358,1720,4094,0.0,0.0,0,30,0.00,0.00,-8.75,0.000,16390,0.000,0.000,232,2358,3010,3010,4094,0,0,0,0,0,0,26.69,24.92,26.70,9.36,37.24
$GC,32,-1.52,-146.6,232,2358,3010,4094,1.3,-7.3,2,68,30.35,0.00,0.00,0.000,2054,0.106,0.000,2804,2358,3013,3013,4095,0,0,0,0,0,0,26.15,26.24,26.20,9.62,36.96
$GC,99,-1.52,-146.6,2804,2358,3013,4094,13.0,0.5,13,105,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3013,3013,4094,0,0,0,0,0,0,26.55,26.57,26.56,9.62,36.84
$GC,136,-1.52,-146.6,2804,2358,3014,4095,15.0,-7.4,19,142,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3013,3013,4095,0,0,0,0,0,0,26.59,26.60,26.60,9.62,36.33
$GC,172,-1.52,-146.6,2804,2358,3014,4095,18.8,-10.5,25,178,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3014,3014,4095,0,0,0,0,0,0,26.62,26.63,26.63,9.62,36.17
$GC,209,-1.52,-146.6,2804,2358,3015,4095,22.1,-8.8,31,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3015,3015,4095,0,0,0,0,0,0,26.64,26.66,26.65,9.62,36.29
$GC,246,-1.52,-146.6,2804,2358,3016,4095,25.3,-8.6,37,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3015,3015,4095,0,0,0,0,0,0,26.67,26.68,26.67,9.62,35.98
$GC,283,-1.52,-146.6,2803,2358,3016,4094,28.3,-8.4,43,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3016,3016,4095,0,0,0,0,0,0,26.68,26.70,26.70,9.63,36.29
$GC,319,-1.52,-146.6,2803,2358,3017,4094,31.6,-9.0,49,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3017,3017,4094,0,0,0,0,0,0,26.70,26.72,26.72,9.62,36.10
$GC,356,-1.52,-146.6,2804,2357,3017,4094,34.5,-8.1,55,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3017,3017,4095,0,0,0,0,0,0,26.72,26.73,26.73,9.62,36.49
$GC,393,-1.52,-146.6,2804,2358,3018,4095,37.6,-8.7,61,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3018,3018,4095,0,0,0,0,0,0,26.74,26.75,26.74,9.61,36.13
$GC,430,-1.52,-146.6,2804,2358,3018,4094,40.7,-7.8,67,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3018,3018,4095,0,0,0,0,0,0,26.74,26.77,26.77,9.62,36.69
$GC,468,-1.52,-146.6,2803,2358,3019,4095,43.5,-8.1,73,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3019,3019,4094,0,0,0,0,0,0,26.76,26.78,26.77,9.62,36.17
$GC,504,-1.52,-146.6,2803,2358,3020,4094,46.4,-7.6,79,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3019,3019,4094,0,0,0,0,0,0,26.77,26.79,26.79,9.63,35.90
$GC,542,-1.52,-146.6,2804,2358,3020,4094,49.3,-7.9,85,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3020,3020,4095,0,0,0,0,0,0,26.79,26.80,26.80,9.62,36.06
$GC,578,-1.52,-146.6,2804,2358,3021,4094,52.0,-7.3,91,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3021,3021,4094,0,0,0,0,0,0,26.79,26.82,26.81,9.62,35.94
$GC,615,-1.52,-146.6,2803,2358,3021,4094,54.7,-7.1,97,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3021,3021,4095,0,0,0,0,0,0,26.81,26.82,26.82,9.62,36.02
$GC,652,-1.52,-146.6,2803,2358,3022,4094,57.4,-7.5,103,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2358,3021,3021,4095,0,0,0,0,0,0,26.82,26.84,26.84,9.62,35.98
$STATE,687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,687,begin apogee
$GC,690,-0.33,0.0,2804,2358,3022,4095,60.1,-7.3,109,709,3.65,0.00,10.35,1.055,10246,0.031,0.000,3177,2358,2833,2833,4095,0,0,0,0,0,0,26.55,26.03,25.06,9.62,36.06
$STATE,710,end apogee,CONTROL_FINISHED_OK
$STATE,710,begin climb
$GC,711,1.52,146.6,3177,2358,2833,4095,61.3,0.0,112,730,5.18,0.00,9.43,1.042,10246,0.031,0.000,3688,2357,2662,2662,4095,0,0,0,0,0,0,26.28,25.81,24.87,9.58,36.10
$GC,760,2.27,566.0,3688,2358,2663,4095,65.9,-9.4,120,791,0.00,0.00,23.98,1.237,10246,0.000,0.000,3688,2358,2172,2172,4094,0,0,0,0,0,0,26.44,25.04,24.39,9.55,35.78
$GC,821,2.27,566.0,3687,2358,2171,4094,63.7,13.7,130,827,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2358,2171,2171,4095,0,0,0,0,0,0,26.06,26.07,26.07,9.46,35.66
$GC,857,2.27,566.0,3687,2358,2170,4094,56.5,20.4,136,863,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2358,2170,2170,4094,0,0,0,0,0,0,26.19,26.20,26.20,9.46,35.27
$GC,894,2.27,566.0,3687,2358,2168,4094,48.0,23.4,142,900,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2358,2168,2168,4094,0,0,0,0,0,0,26.27,26.28,26.27,9.46,35.94
$GC,930,2.27,566.0,3687,2358,2166,4095,39.1,25.1,148,936,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2358,2166,2166,4094,0,0,0,0,0,0,26.34,26.34,26.34,9.45,36.21
$GC,967,2.27,566.0,3688,2358,2164,4094,30.1,24.6,154,973,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2358,2163,2163,4094,0,0,0,0,0,0,26.39,26.40,26.40,9.46,35.27
$GC,1004,2.27,566.0,3687,2358,2162,4095,21.5,23.0,160,1010,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2358,2161,2161,4094,0,0,0,0,0,0,26.39,26.40,26.39,9.45,35.54
$GC,1040,2.27,566.0,3687,2358,2161,4094,13.4,22.8,166,1046,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2358,2159,2159,4094,0,0,0,0,0,0,26.48,26.48,26.48,9.45,35.46
$GC,1076,2.27,566.0,3687,2358,2158,4094,5.1,22.4,172,1082,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2358,2157,2157,4094,0,0,0,0,0,0,26.51,26.51,26.51,9.45,35.39
$STATE,1094,end climb,SURFACE_DEPTH_REACHED
$STATE,1094,begin surface coast
$FINISH,0.1,1.003321
$STATE,1101,end surface coast,CONTROL_FINISHED_OK
$STATE,1101,begin surface
$SM_CCo,1203,0.00,0.000,0,0,2156,582.13
$SM_GC,1.28,35.72,0.00,0.00,0.030,0.000,0.000,243,2358,2156,-9.55,0.36,582.13,0,0,0,0,0,0,26.18,26.53,26.25
$IRIDIUM_FIX,4748.51,-12337.82,130217,220847
$TT8_MAMPS,0.025466,0.391727
$HUMID,35.31
$INTERNAL_PRESSURE,9.36915
$TCM_TEMP,7.80
$XPDR_PINGS,7
$24V_AH,24.39,2.507
$10V_AH,9.65,2.289
$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,74.900,0.000,43.750,0.000,0.000,0.000,0.000,0.000,1.750,0.000,25.257,436.739,309.698,189.009,323.596,15.769,32.442,412.698,0.000,264.456,0.000,1.137,0.000
$DEVICE_MAMPS,105.570,0.000,1237.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2a,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,214.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322276
$DATA_FILE_SIZE,14217,176
$CAP_FILE_SIZE,49406,0
$CFSIZE,1024409600,1018232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,57
$GPS,130217,223820,4742.586,-12225.247,1,0.9,26,16.3,1.1,253.4,9,5.0