version: 66.14
glider: 401
mission: 28
dive: 5
start: 5 7 118 22 30 37
data:
$ID,401
$MISSION,28
$DIVE,5
$N_DIVES,7
$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,50
$T_MISSION,60
$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,350
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74293
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$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,2050
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3400
$C_VBD,2170
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,80
$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
$GPS1,070518,221915,4743.1733,-12223.9404,5,1.2,50,16.3,0.3,55.9,7,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-49.1
$GPS2,070518,222944,4743.2280,-12223.8594,6,0.9,20,16.3,0.0,0.0,9,4.4
$SPEED_LIMITS,0.208,0.375
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.285054,-0.243540
$KALMAN_X,846.158325,474.631195,338.483124,-1234.972656,386.304077
$KALMAN_Y,521.289734,347.417053,308.443848,-1670.108032,212.498718
$MHEAD_RNG_PITCHd_Wd,213.2,1786,-14.6,-12.000,-17.75,4354
$D_GRID,163
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.63,-342.1,233,2069,0,1688,0.0,0.0,0,20,0.00,0.00,-11.82,0.000,16390,0.000,0.000,232,2070,2575,2575,2046,0,0,0,0,0,0,26.50,25.43,26.51,10.45,44.13
$GC,21,-1.63,-342.1,232,2070,2600,2046,1.5,0.0,1,48,20.73,2.50,0.00,0.000,2308,0.120,0.050,1947,3011,2563,2563,2046,0,0,0,0,0,0,26.15,26.20,26.27,10.83,44.88
$GC,59,-1.63,-342.1,1947,3002,2620,2046,17.6,-37.2,8,65,0.00,2.47,0.00,0.000,1030,0.000,0.034,1946,2045,2618,2618,2056,0,0,0,0,0,0,26.33,26.25,26.35,10.80,44.68
$GC,126,-1.63,-342.1,1944,2047,2623,2056,30.0,-18.5,15,131,0.00,2.62,0.00,0.000,516,0.000,0.073,1947,1069,2622,2622,2046,0,0,0,0,0,0,26.60,26.25,26.62,10.79,43.46
$GC,209,-1.63,-342.1,1948,1071,2625,2046,47.0,-20.2,29,215,0.00,2.38,0.00,0.000,1030,0.000,0.032,1947,2023,2625,2625,2046,0,0,0,0,0,0,26.51,26.44,26.52,10.78,43.66
$GC,276,-1.63,-342.1,1948,2025,2628,2046,59.1,-17.9,36,281,0.00,2.58,0.00,0.000,516,0.000,0.069,1947,1071,2629,2629,2051,0,0,0,0,0,0,26.74,26.41,26.75,10.78,43.34
$GC,323,-1.63,-342.1,1946,1072,2628,2051,68.2,-18.9,44,329,0.00,2.35,0.00,0.000,1030,0.000,0.032,1948,2021,2632,2632,2049,0,0,0,0,0,0,26.59,26.53,26.60,10.78,43.85
$GC,390,-1.63,-342.1,1946,2024,2633,2049,80.0,-17.3,51,395,0.00,2.60,0.00,0.000,516,0.000,0.070,1947,1065,2632,2632,2046,0,0,0,0,0,0,26.81,26.47,26.82,10.77,43.66
$GC,450,-1.63,-342.1,1948,1066,2639,2046,91.6,-19.5,61,455,0.00,2.30,0.00,0.000,1030,0.000,0.032,1947,1999,2631,2631,2046,0,0,0,0,0,0,26.69,26.59,26.67,10.77,43.73
$GC,516,-1.63,-342.1,1947,2001,2628,2046,103.4,-17.6,68,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2000,2629,2629,2046,0,0,0,0,0,0,26.86,26.90,26.89,10.77,43.62
$GC,575,-1.63,-342.1,1952,2001,2632,2046,113.9,-17.4,74,581,0.00,2.53,0.00,0.000,516,0.000,0.072,1947,1070,2630,2630,2046,0,0,0,0,0,0,26.88,26.54,26.90,10.77,43.81
$GC,647,-1.63,-342.1,1948,1070,2634,2046,127.0,-18.1,86,653,0.00,2.28,0.00,0.000,1030,0.000,0.032,1947,1996,2635,2635,2046,0,0,0,0,0,0,26.72,26.67,26.74,10.77,44.01
$GC,714,-1.63,-342.1,1944,1996,2640,2046,138.1,-16.7,93,719,0.00,2.50,0.00,0.000,516,0.000,0.070,1947,1070,2638,2638,2040,0,0,0,0,0,0,26.93,26.61,26.94,10.77,44.76
$GC,755,-1.63,-342.1,1946,1071,2642,2040,145.5,-17.9,100,761,0.00,2.25,0.00,0.000,1030,0.000,0.031,1947,1978,2642,2642,2046,0,0,0,0,0,0,26.75,26.70,26.80,10.77,44.68
$GC,822,-1.63,-342.1,1948,1988,2644,2046,156.2,-16.2,107,823,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1987,2644,2644,2046,0,0,0,0,0,0,26.95,26.97,26.96,10.76,44.44
$STATE,861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,861,begin apogee
$GC,863,-0.38,0.0,1948,1887,2647,2046,163.1,-17.2,111,897,4.35,0.00,27.00,2.274,10244,0.072,0.000,2347,1886,2177,2177,2043,0,0,0,0,0,0,26.65,25.35,24.07,10.76,44.36
$STATE,898,end apogee,CONTROL_FINISHED_OK
$STATE,898,begin climb
$GC,898,1.63,342.1,2348,1887,2172,2043,165.6,0.0,114,934,6.78,2.62,22.77,2.211,10500,0.047,0.045,2981,2871,1802,1802,2046,0,0,0,0,0,0,25.60,25.48,23.52,10.63,44.40
$GC,952,1.84,477.4,2985,2873,1810,2046,162.7,8.8,124,970,0.60,2.62,10.52,1.929,11270,0.031,0.038,3056,1909,1652,1652,2046,0,0,0,0,0,0,25.34,25.25,23.66,10.54,44.09
$GC,1030,1.84,477.4,3050,1909,1655,2046,152.7,13.8,133,1035,0.00,2.80,0.00,0.000,516,0.000,0.080,3053,913,1652,1652,2046,0,0,0,0,0,0,25.89,25.60,25.90,10.49,43.54
$GC,1053,1.84,477.4,3050,913,1654,2046,149.0,15.0,137,1059,0.00,2.53,0.00,0.000,1030,0.000,0.034,3049,1905,1652,1652,2042,0,0,0,0,0,0,25.89,25.79,25.87,10.49,43.73
$GC,1120,1.84,477.4,3051,1918,1650,2042,139.3,14.8,144,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1917,1651,1651,2046,0,0,0,0,0,0,26.24,26.25,26.25,10.49,43.66
$GC,1179,1.84,477.4,3050,1917,1651,2046,130.4,15.1,150,1185,0.00,2.83,0.00,0.000,516,0.000,0.080,3050,907,1657,1657,2046,0,0,0,0,0,0,26.37,26.03,26.38,10.48,44.25
$GC,1203,1.84,477.4,3049,907,1651,2046,126.6,15.5,154,1209,0.00,2.47,0.00,0.000,1030,0.000,0.034,3050,1900,1649,1649,2046,0,0,0,0,0,0,26.25,26.20,26.26,10.48,44.48
$GC,1270,1.84,477.4,3050,1908,1648,2046,116.9,14.5,161,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1908,1648,1648,2046,0,0,0,0,0,0,26.51,26.53,26.52,10.48,44.21
$GC,1329,1.84,477.4,3051,1908,1646,2046,109.0,12.9,167,1335,0.00,2.75,0.00,0.000,516,0.000,0.080,3054,914,1646,1646,2046,0,0,0,0,0,0,26.58,26.23,26.60,10.48,44.72
$GC,1365,1.84,477.4,3051,915,1645,2046,104.4,12.9,173,1371,0.00,2.42,0.00,0.000,1030,0.000,0.033,3058,1896,1644,1644,2046,0,0,0,0,0,0,26.43,26.39,26.46,10.48,44.88
$GC,1432,1.84,477.4,3049,1904,1645,2046,95.6,13.8,180,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1904,1643,1643,2046,0,0,0,0,0,0,26.67,26.69,26.68,10.47,44.68
$GC,1491,1.84,477.4,3051,1903,1640,2046,87.1,14.0,186,1497,0.00,2.72,0.00,0.000,516,0.000,0.080,3047,918,1639,1639,2046,0,0,0,0,0,0,26.72,26.36,26.73,10.45,44.99
$GC,1509,1.84,477.4,3049,915,1642,2046,84.6,13.5,189,1515,0.00,2.35,0.00,0.000,1030,0.000,0.034,3050,1882,1640,1640,2045,0,0,0,0,0,0,26.54,26.51,26.57,10.47,44.64
$GC,1575,1.84,477.4,3051,1890,1645,2045,76.1,12.9,196,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1889,1638,1638,2046,0,0,0,0,0,0,26.77,26.78,26.78,10.47,44.95
$GC,1636,1.84,477.4,3051,1890,1636,2046,68.2,13.1,202,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1889,1636,1636,2046,0,0,0,0,0,0,26.79,26.82,26.81,10.47,44.95
$GC,1695,1.84,477.4,3049,1890,1636,2046,60.2,13.4,208,1701,0.00,2.67,0.00,0.000,516,0.000,0.081,3050,915,1634,1634,2046,0,0,0,0,0,0,26.83,26.48,26.84,10.46,45.31
$GC,1708,1.84,477.4,3050,916,1634,2046,58.5,13.8,210,1713,0.00,2.35,0.00,0.000,1030,0.000,0.034,3050,1886,1635,1635,2046,0,0,0,0,0,0,26.66,26.65,26.67,10.46,45.35
$GC,1774,1.84,477.4,3049,1893,1634,2046,50.0,12.7,217,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1893,1633,1633,2046,0,0,0,0,0,0,26.85,26.86,26.86,10.46,45.58
$GC,1834,1.91,526.4,3050,1893,1631,2046,43.4,10.8,223,1841,0.17,2.62,3.28,0.488,10756,0.057,0.080,3076,918,1603,1603,2052,0,0,0,0,0,0,26.67,26.34,25.74,10.46,45.66
$GC,1875,1.91,526.4,3077,915,1601,2052,38.1,13.1,230,1881,0.00,2.33,0.00,0.000,1030,0.000,0.034,3076,1872,1606,1606,2051,0,0,0,0,0,0,26.70,26.64,26.70,10.46,45.31
$GC,1942,1.91,526.4,3076,1879,1601,2051,29.7,12.7,237,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1879,1608,1608,2046,0,0,0,0,0,0,26.88,26.89,26.89,10.45,45.19
$GC,2001,1.91,526.4,3075,1879,1600,2046,21.9,13.0,243,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1878,1598,1598,2046,0,0,0,0,0,0,26.90,26.91,26.91,10.42,44.88
$GC,2062,1.91,526.4,3075,1886,1598,2046,14.4,12.5,249,2067,0.00,2.62,0.00,0.000,516,0.000,0.081,3076,923,1602,1602,2045,0,0,0,0,0,0,26.86,26.56,26.87,10.45,44.95
$GC,2109,1.91,526.4,3075,917,1597,2045,7.9,13.7,257,2115,0.00,2.30,0.00,0.000,1030,0.000,0.032,3073,1856,1599,1599,2045,0,0,0,0,0,0,26.74,26.72,26.78,10.45,45.62
$GC,2176,2.29,782.6,3076,1865,1597,2045,3.1,6.0,264,2194,1.15,0.00,14.32,0.693,10246,0.024,0.000,3203,1864,1320,1320,2046,0,0,0,0,0,0,26.75,26.41,25.89,10.47,45.43
$STATE,2205,end climb,SURFACE_DEPTH_REACHED
$STATE,2205,begin surface coast
$STATE,2225,end surface coast,CONTROL_FINISHED_OK
$STATE,2225,begin surface
$SM_CCo,2320,0.00,0.000,0,0,1319,785.81
$SM_GC,1.34,30.23,0.43,0.00,0.024,0.036,0.000,232,2094,1319,-7.02,-1.78,785.81,0,0,0,0,0,0,26.32,26.57,26.51
$IRIDIUM_FIX,4808.40,-12337.82,070518,213626
$TT8_MAMPS,0.046438,0.32956
$HUMID,45.55
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,9.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.4,13.9
$ALTIM_BOTTOM_PING,120.4,54.8
$SC_FREEKB,3907712
$24V_AH,23.52,3.970
$10V_AH,10.59,5.029
$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,64.000,71.050,77.900,0.000,0.000,25.809,20.256,473.606,0.750,0.000,21.377,0.000,1569.031,229.202,1113.788,48.981,33.431,490.511,0.000,392.784,0.000,12.049,0.000
$DEVICE_MAMPS,120.105,81.090,2273.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2250.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,65.392,0.000,0.000,0.000
$MEM,312944
$DATA_FILE_SIZE,7067,269
$CAP_FILE_SIZE,66399,0
$CFSIZE,1023623168,1020231680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070518,230954,4742.839,-12224.185,5,1.0,15,16.3,0.2,0.0,9,4.9