version: 66.14
glider: 401
mission: 28
dive: 15
start: 5 23 118 8 20 45
data:
$ID,401
$MISSION,28
$DIVE,15
$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,45
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73949
$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,3775
$C_PITCH,260
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3888
$ROLL_DEG,45
$C_ROLL_DIVE,1775
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3420
$C_VBD,2515
$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,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,-50.894402
$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
$GPS1,230518,080943,4741.1548,-12226.7236,4,0.8,9,16.3,0.0,0.0,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-59.6
$GPS2,230518,081937,4741.0557,-12226.8105,6,1.0,15,16.3,0.4,221.0,10,4.1
$SPEED_LIMITS,0.286,0.454
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.311886,0.330153
$KALMAN_X,-3854.394287,-411.570557,-461.195679,2599.983398,-933.863159
$KALMAN_Y,-8040.888672,-965.977722,-785.031677,6707.962891,-1311.384399
$MHEAD_RNG_PITCHd_Wd,27.1,6001,-13.2,-13.333,-16.36,5595
$D_GRID,138
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-1.56,-488.8,231,1778,1951,2045,0.0,0.0,0,21,0.00,0.00,-8.07,0.000,16390,0.000,0.000,232,1778,3053,3053,2049,0,0,0,0,0,0,26.42,25.71,26.43,10.39,49.56
$GC,23,-1.56,-488.8,234,1777,3046,2049,2.1,0.0,1,27,0.00,2.85,0.00,0.000,4612,0.000,0.112,232,788,3039,3039,2047,0,0,0,0,0,0,26.42,26.07,26.39,10.65,50.11
$STATE,234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,234,begin apogee
$GC,240,-0.31,0.0,231,1747,3079,2046,145.0,-74.1,26,271,0.00,0.08,27.67,2.267,12294,0.000,0.143,231,1771,2516,2516,2051,0,0,0,0,0,0,26.55,24.96,23.56,10.64,48.46
$STATE,272,end apogee,CONTROL_FINISHED_OK
$STATE,273,begin climb
$GC,274,1.56,488.8,231,1770,2516,2051,171.9,0.0,30,316,6.28,2.85,27.48,2.368,11012,0.121,0.060,742,781,1984,1984,2045,0,0,0,0,0,0,25.12,24.39,22.96,10.49,48.62
$GC,328,1.56,488.8,731,777,1983,2045,172.9,34.9,40,333,0.00,2.62,0.00,0.000,1030,0.000,0.025,731,1819,1983,1983,2047,0,0,0,0,0,0,25.11,25.03,25.09,10.38,47.28
$GC,395,1.56,488.8,730,1823,1986,2047,157.3,22.3,47,400,0.00,2.83,0.00,0.000,516,0.000,0.071,731,790,1976,1976,2046,0,0,0,0,0,0,25.79,25.47,25.80,10.38,47.28
$GC,532,1.56,488.8,731,778,1972,2046,122.8,22.4,70,537,0.00,2.42,0.00,0.000,1030,0.000,0.023,732,1773,1972,1972,2041,0,0,0,0,0,0,26.03,26.00,26.04,10.34,48.26
$GC,598,1.56,488.8,729,1776,1970,2041,106.9,21.1,77,603,0.00,2.55,0.00,0.000,516,0.000,0.037,739,785,1962,1962,2046,0,0,0,0,0,0,26.34,26.08,26.34,10.31,48.50
$GC,616,1.56,488.8,731,773,1976,2046,101.9,25.7,80,621,0.00,2.40,0.00,0.000,1030,0.000,0.028,732,1758,1968,1968,2046,0,0,0,0,0,0,26.14,26.11,26.17,10.36,48.50
$GC,682,1.56,488.8,731,1766,1963,2046,84.2,25.2,87,687,0.00,2.47,0.00,0.000,516,0.000,0.031,732,778,1962,1962,2046,0,0,0,0,0,0,26.44,26.18,26.45,10.36,48.89
$GC,701,1.56,488.8,731,772,1970,2046,79.3,26.2,90,705,0.00,2.30,0.00,0.000,1030,0.000,0.027,737,1727,1962,1962,2046,0,0,0,0,0,0,26.34,26.22,26.30,10.34,48.34
$GC,766,1.56,488.8,731,1735,1959,2046,62.2,25.0,97,771,0.00,2.42,0.00,0.000,516,0.000,0.036,731,776,1958,1958,2049,0,0,0,0,0,0,26.53,26.25,26.53,10.35,48.66
$GC,830,1.56,488.8,731,766,1958,2049,47.9,26.0,102,846,0.00,2.28,0.00,0.000,1030,0.000,0.028,731,1730,1953,1953,2046,0,0,0,0,0,0,26.35,26.35,26.39,10.34,49.52
$GC,933,1.56,488.8,731,1731,1942,2046,21.2,24.7,109,949,0.00,2.42,0.00,0.000,516,0.000,0.053,732,777,1946,1946,2046,0,0,0,0,0,0,26.56,26.28,26.58,10.42,49.60
$GC,966,1.56,488.8,731,777,1944,2046,12.7,24.2,111,972,0.00,2.33,0.00,0.000,1030,0.000,0.056,731,1711,1943,1943,2045,0,0,0,0,0,0,26.36,26.32,26.41,10.35,48.97
$STATE,996,end climb,SURFACE_DEPTH_REACHED
$STATE,996,begin surface coast
$STATE,1007,end surface coast,CONTROL_FINISHED_OK
$STATE,1007,begin surface
$SM_CCo,1010,70.60,0.695,0,0,232,2106.28
$SM_GC,0.96,6.57,0.00,0.00,0.030,0.000,0.000,233,1722,230,-0.08,-2.41,2109.05,0,0,0,0,0,0,25.46,25.91,25.70
$IRIDIUM_FIX,4808.40,-12337.82,230518,074131
$TT8_MAMPS,0.023219,0.847868
$HUMID,48.58
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,10.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,12.7,999.0
$ALTIM_BOTTOM_PING,125.1,46.7
$SC_FREEKB,3901280
$24V_AH,22.96,5.507
$10V_AH,10.28,6.387
$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,14.250,35.425,55.150,70.600,0.000,50.002,30.298,361.574,40.250,0.000,17.163,178.602,526.834,162.470,905.705,39.772,33.454,330.864,0.000,183.140,0.000,401.386,0.000
$DEVICE_MAMPS,120.870,143.055,2367.675,694.620,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1020.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,68.950,0.000,0.000,0.000
$MEM,312888
$DATA_FILE_SIZE,3641,117
$CAP_FILE_SIZE,50521,0
$CFSIZE,1023623168,1019346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,084127,4741.077,-12226.835,4,1.2,13,16.3,0.0,0.0,9,4.7