version: 66.14
glider: 401
mission: 28
dive: 22
start: 5 23 118 13 55 6
data:
$ID,401
$MISSION,28
$DIVE,22
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,5
$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,2615
$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,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,8
$R_STBD_OVSHOOT,75
$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
$GPS1,230518,133930,4741.7778,-12225.8926,4,0.9,13,16.3,0.0,0.0,9,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-55.9
$GPS2,230518,135359,4741.6387,-12226.0215,7,0.9,15,16.3,0.0,0.0,10,4.5
$SPEED_LIMITS,0.143,0.372
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.067377,0.365699
$KALMAN_X,-5985.764648,-859.553528,176.803955,5527.860840,210.251312
$KALMAN_Y,-12349.345703,-1968.687622,399.459534,11930.373047,86.530273
$MHEAD_RNG_PITCHd_Wd,354.1,4630,-11.2,-10.000,-15.05,5957
$D_GRID,164
$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,-1.33,-391.0,237,1779,1766,2046,0.0,0.0,0,21,0.00,0.00,-9.18,0.000,16390,0.000,0.000,232,1778,2941,2941,2052,0,0,0,0,0,0,26.35,25.25,26.36,10.38,49.64
$GC,23,-1.33,-391.0,232,1778,2947,2052,1.7,0.0,1,50,23.75,0.00,0.00,0.000,2054,0.120,0.000,2177,1777,2946,2946,2049,0,0,0,0,0,0,25.97,26.12,26.11,10.63,49.64
$GC,111,-1.33,-391.0,2178,1777,2948,2049,23.2,-13.7,10,113,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1777,2948,2948,2046,0,0,0,0,0,0,26.44,26.45,26.44,10.60,49.13
$GC,171,-1.33,-391.0,2178,1778,2950,2046,30.6,-12.8,16,173,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1777,2950,2950,2046,0,0,0,0,0,0,26.50,26.51,26.51,10.59,49.44
$GC,231,-1.33,-391.0,2178,1777,2950,2046,37.1,-11.2,22,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1777,2951,2951,2046,0,0,0,0,0,0,26.56,26.57,26.57,10.58,49.01
$GC,291,-1.33,-391.0,2178,1777,2956,2046,44.4,-13.0,28,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1777,2952,2952,2046,0,0,0,0,0,0,26.60,26.62,26.64,10.59,49.25
$GC,352,-1.33,-391.0,2178,1777,2954,2046,52.2,-12.7,34,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1777,2955,2955,2046,0,0,0,0,0,0,26.65,26.66,26.66,10.59,49.60
$GC,412,-1.33,-391.0,2178,1777,2960,2046,59.6,-12.3,40,417,0.00,2.70,0.00,0.000,516,0.000,0.083,2179,792,2955,2955,2046,0,0,0,0,0,0,26.67,26.32,26.70,10.58,49.40
$GC,491,-1.33,-391.0,2178,792,2957,2046,70.6,-14.8,53,495,0.00,2.30,0.00,0.000,1030,0.000,0.034,2184,1754,2959,2959,2045,0,0,0,0,0,0,26.55,26.51,26.56,10.57,49.72
$GC,556,-1.33,-391.0,2178,1761,2961,2045,79.0,-12.3,60,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1758,2960,2960,2046,0,0,0,0,0,0,26.75,26.77,26.77,10.58,49.76
$GC,647,-1.33,-391.0,2175,1761,2962,2046,89.2,-13.1,66,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1761,2962,2962,2046,0,0,0,0,0,0,26.71,26.74,26.73,10.57,49.96
$GC,749,-1.33,-391.0,2178,1762,2964,2046,102.8,-13.3,73,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1761,2965,2965,2046,0,0,0,0,0,0,26.72,26.74,26.72,10.58,49.92
$GC,849,-1.33,-391.0,2178,1761,2968,2046,115.3,-12.0,80,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1761,2967,2967,2046,0,0,0,0,0,0,26.74,26.74,26.70,10.56,49.88
$GC,963,-1.33,-391.0,2178,1762,2969,2046,129.3,-12.2,87,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1761,2976,2976,2046,0,0,0,0,0,0,26.67,26.68,26.65,10.57,49.13
$GC,1064,-1.33,-391.0,2178,1762,2973,2046,141.3,-11.3,94,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1762,2972,2972,2046,0,0,0,0,0,0,26.65,26.66,26.70,10.56,49.48
$STATE,1149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1149,begin apogee
$GC,1153,-0.33,0.0,2178,1761,2973,2045,151.0,-11.6,100,1181,3.38,0.00,22.58,2.109,10244,0.063,0.000,2498,1762,2518,2518,2042,0,0,0,0,0,0,26.40,25.33,23.97,10.65,49.96
$STATE,1183,end apogee,CONTROL_FINISHED_OK
$STATE,1183,begin climb
$GC,1184,1.33,391.0,2499,1761,2516,2042,154.1,0.0,104,1215,5.60,0.00,21.67,2.074,11270,0.042,0.000,3017,1762,2090,2090,2046,0,0,0,0,0,0,25.53,25.69,23.46,10.46,48.85
$GC,1276,1.45,469.2,3024,1762,2090,2046,147.8,8.7,116,1285,0.32,0.00,5.85,1.470,10246,0.036,0.000,3065,1762,2004,2004,2046,0,0,0,0,0,0,25.54,24.91,23.94,10.38,49.25
$GC,1345,1.45,469.2,3065,1762,2004,2046,140.3,11.2,123,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1762,2003,2003,2045,0,0,0,0,0,0,25.92,25.92,25.92,10.35,49.01
$GC,1405,1.45,469.2,3065,1762,2002,2045,133.7,11.0,129,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1761,2002,2002,2044,0,0,0,0,0,0,26.17,26.13,26.12,10.35,49.56
$GC,1465,1.45,469.2,3065,1762,2001,2044,127.1,10.8,135,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1762,2002,2002,2046,0,0,0,0,0,0,26.24,26.26,26.25,10.35,49.68
$GC,1525,1.45,469.2,3065,1762,2000,2046,120.5,11.2,141,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1764,2000,2000,2046,0,0,0,0,0,0,26.34,26.36,26.35,10.35,50.63
$GC,1585,1.45,469.2,3065,1758,1998,2046,113.8,11.1,147,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1761,1998,1998,2055,0,0,0,0,0,0,26.42,26.44,26.41,10.35,50.39
$GC,1645,1.45,469.2,3065,1760,1997,2055,107.3,10.9,153,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1762,2002,2002,2046,0,0,0,0,0,0,26.48,26.51,26.50,10.35,50.31
$GC,1705,1.45,469.2,3065,1762,1995,2046,100.8,11.0,159,1710,0.00,2.72,0.00,0.000,516,0.000,0.086,3065,787,1995,1995,2045,0,0,0,0,0,0,26.54,26.18,26.55,10.35,50.51
$GC,1777,1.45,469.2,3069,788,1993,2045,92.3,12.0,171,1783,0.00,2.40,0.00,0.000,1030,0.000,0.034,3075,1782,2006,2006,2046,0,0,0,0,0,0,26.41,26.41,26.44,10.33,50.51
$GC,1843,1.45,469.2,3065,1791,1993,2046,84.8,11.3,178,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1784,1990,1990,2045,0,0,0,0,0,0,26.64,26.65,26.65,10.35,50.94
$GC,1903,1.45,469.2,3065,1791,1990,2045,78.0,11.3,184,1909,0.00,2.40,0.00,0.000,260,0.000,0.041,3065,2726,1990,1990,2046,0,0,0,0,0,0,26.67,26.35,26.68,10.32,51.33
$GC,1981,1.45,469.2,3065,2718,1988,2046,68.9,11.9,197,1986,0.00,2.47,0.00,0.000,1030,0.000,0.043,3065,1766,1988,1988,2046,0,0,0,0,0,0,26.48,26.43,26.48,10.34,51.10
$GC,2047,1.45,469.2,3065,1766,1986,2046,61.4,10.9,204,2052,0.00,2.67,0.00,0.000,516,0.000,0.086,3062,793,1986,1986,2046,0,0,0,0,0,0,26.74,26.39,26.75,10.34,51.96
$GC,2132,1.45,471.1,3063,793,1986,2046,54.0,10.0,211,2148,0.00,2.28,0.00,0.000,1030,0.000,0.036,3066,1773,1984,1984,2046,0,0,0,0,0,0,26.56,26.60,26.58,10.40,52.08
$GC,2235,1.51,510.5,3065,1772,1983,2046,44.4,9.3,218,2251,0.05,0.00,2.55,0.281,10246,0.146,0.000,3080,1773,1966,1966,2046,0,0,0,0,0,0,26.50,26.17,25.56,10.34,51.49
$GC,2337,1.51,510.5,3080,1774,1962,2046,34.2,10.3,225,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1773,1963,1963,2046,0,0,0,0,0,0,26.67,26.69,26.69,10.34,51.14
$GC,2437,1.51,510.5,3080,1776,1961,2046,23.7,10.4,232,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1774,1961,1961,2046,0,0,0,0,0,0,26.66,26.71,26.68,10.33,51.22
$GC,2539,1.51,510.5,3080,1775,1957,2046,12.7,10.7,239,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1773,1958,1958,2046,0,0,0,0,0,0,26.65,26.66,26.66,10.33,51.14
$GC,2609,1.69,626.2,3079,1773,1956,2046,5.8,8.0,246,2618,0.52,0.00,6.72,0.571,10246,0.030,0.000,3143,1773,1833,1833,2046,0,0,0,0,0,0,26.49,26.29,25.74,10.34,50.31
$STATE,2667,end climb,SURFACE_DEPTH_REACHED
$STATE,2667,begin surface coast
$STATE,2697,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2794,0.00,0.000,0,0,1831,630.68
$SM_GC,1.36,29.70,0.00,0.00,0.022,0.000,0.000,231,1773,1831,-7.45,-0.09,630.68,0,0,0,0,0,0,26.19,26.70,26.41
$IRIDIUM_FIX,4808.40,-12337.82,230518,123625
$TT8_MAMPS,0.023219,0.80143
$HUMID,50.00
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.1,999.0
$ALTIM_BOTTOM_PING,120.8,56.5
$SC_FREEKB,3897472
$24V_AH,23.46,6.089
$10V_AH,10.27,6.865
$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,63.325,20.000,59.375,0.000,0.000,49.574,33.529,602.886,150.250,0.000,16.753,287.233,1170.891,141.304,2009.350,75.002,33.438,519.900,0.000,377.513,0.000,1487.015,0.000
$DEVICE_MAMPS,146.115,178.245,2109.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2723.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,69.906,0.000,0.000,0.000
$MEM,312872
$DATA_FILE_SIZE,7032,255
$CAP_FILE_SIZE,115161,0
$CFSIZE,1023623168,1018494976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,144313,4742.137,-12225.703,8,1.0,53,16.3,0.3,200.9,8,3.0