version: 66.14
glider: 401
mission: 28
dive: 24
start: 5 23 118 16 6 20
data:
$ID,401
$MISSION,28
$DIVE,24
$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,2106.2754
$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,14
$R_STBD_OVSHOOT,69
$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
$GPS1,230518,154639,4742.3350,-12225.4785,8,0.9,10,16.3,0.0,0.0,9,4.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-56.1
$GPS2,230518,160513,4742.0537,-12225.4795,7,0.9,14,16.3,0.4,188.2,9,4.7
$SPEED_LIMITS,0.143,0.372
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.168112,0.331683
$KALMAN_X,-6190.745605,-590.471069,413.254913,5902.558105,92.588013
$KALMAN_Y,-14673.471680,-907.953003,305.627930,14065.940430,-421.527344
$MHEAD_RNG_PITCHd_Wd,10.6,1184,-11.2,-10.000,-15.05,5957
$D_GRID,158
$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,-391.0,230,1768,1691,2045,0.0,0.0,0,22,0.00,0.00,-9.62,0.000,16390,0.000,0.000,232,1770,2950,2950,2046,0,0,0,0,0,0,26.60,25.48,26.62,10.33,49.40
$GC,23,-1.33,-391.0,232,1767,2949,2046,1.7,0.0,1,52,23.23,2.60,0.00,0.000,2564,0.118,0.080,2178,791,2952,2952,2046,0,0,0,0,0,0,26.22,26.22,26.33,10.65,49.48
$GC,147,-1.33,-391.0,2178,794,2955,2046,26.8,-12.8,22,153,0.00,2.33,0.00,0.000,1030,0.000,0.031,2178,1759,2946,2946,2051,0,0,0,0,0,0,26.48,26.43,26.46,10.61,48.77
$GC,214,-1.33,-391.0,2178,1758,2955,2051,33.7,-10.1,29,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1765,2956,2956,2047,0,0,0,0,0,0,26.67,26.69,26.69,10.60,48.46
$GC,273,-1.33,-391.0,2178,1754,2958,2047,40.1,-10.8,35,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1758,2958,2958,2046,0,0,0,0,0,0,26.71,26.72,26.72,10.60,49.48
$GC,333,-1.33,-391.0,2178,1759,2959,2046,46.5,-10.8,41,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1763,2958,2958,2045,0,0,0,0,0,0,26.76,26.76,26.75,10.58,48.77
$GC,394,-1.33,-391.0,2175,1758,2960,2045,53.6,-12.0,47,399,0.00,2.65,0.00,0.000,516,0.000,0.083,2178,799,2960,2960,2048,0,0,0,0,0,0,26.76,26.41,26.77,10.59,49.68
$GC,423,-1.33,-391.0,2178,796,2962,2048,57.6,-13.6,52,429,0.00,2.35,0.00,0.000,1030,0.000,0.033,2185,1774,2961,2961,2046,0,0,0,0,0,0,26.58,26.55,26.58,10.59,49.01
$GC,490,-1.33,-391.0,2178,1780,2962,2046,64.8,-10.3,59,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,1779,2962,2962,2046,0,0,0,0,0,0,26.79,26.81,26.81,10.54,49.48
$GC,549,-1.33,-391.0,2178,1776,2964,2046,71.5,-11.2,65,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1779,2964,2964,2048,0,0,0,0,0,0,26.82,26.84,26.79,10.68,49.21
$GC,609,-1.33,-391.0,2178,1780,2965,2048,77.9,-11.0,71,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1780,2965,2965,2046,0,0,0,0,0,0,26.82,26.85,26.84,10.58,49.60
$GC,697,-1.33,-391.0,2178,1780,2967,2046,86.1,-10.9,77,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1780,2967,2967,2047,0,0,0,0,0,0,26.82,26.81,26.81,10.53,49.56
$GC,798,-1.33,-391.0,2178,1779,2969,2047,97.2,-11.1,84,814,0.00,2.65,0.00,0.000,516,0.000,0.081,2178,796,2965,2965,2046,0,0,0,0,0,0,26.78,26.46,26.79,10.57,49.88
$GC,885,-1.33,-391.0,2178,795,2971,2046,107.9,-13.5,90,901,0.00,2.30,0.00,0.000,1030,0.000,0.032,2179,1775,2968,2968,2046,0,0,0,0,0,0,26.60,26.59,26.63,10.52,49.64
$GC,1001,-1.33,-391.0,2178,1776,2974,2046,120.4,-11.7,97,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1776,2974,2974,2046,0,0,0,0,0,0,26.73,26.74,26.74,10.58,49.48
$GC,1101,-1.33,-391.0,2178,1776,2976,2046,134.3,-12.6,104,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1776,2976,2976,2046,0,0,0,0,0,0,26.67,26.69,26.70,10.54,49.13
$GC,1202,-1.33,-391.0,2178,1776,2978,2046,146.6,-11.8,111,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1776,2979,2979,2046,0,0,0,0,0,0,26.66,26.67,26.67,10.57,50.19
$STATE,1232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1232,begin apogee
$GC,1235,-0.33,0.0,2181,1774,2978,2046,150.1,-11.8,113,1264,3.33,0.00,22.65,2.105,10244,0.060,0.000,2496,1776,2518,2518,2045,0,0,0,0,0,0,26.44,25.33,24.03,10.54,50.03
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1267,1.33,391.0,2495,1776,2518,2045,153.3,0.0,117,1298,5.62,0.00,21.60,2.080,11270,0.042,0.000,3022,1777,2103,2103,2046,0,0,0,0,0,0,25.56,25.72,23.41,10.47,48.97
$GC,1358,1.52,518.3,3022,1776,2091,2046,148.5,7.8,129,1370,0.60,0.00,8.30,1.701,10246,0.027,0.000,3095,1775,1952,1952,2043,0,0,0,0,0,0,25.52,25.09,23.84,10.38,48.34
$GC,1428,1.52,518.3,3089,1777,1952,2043,141.4,10.6,136,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1777,1958,1958,2046,0,0,0,0,0,0,25.85,25.86,25.86,10.35,48.50
$GC,1488,1.52,518.3,3089,1778,1951,2046,134.8,11.2,142,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1776,1942,1942,2044,0,0,0,0,0,0,26.06,26.08,26.10,10.34,49.13
$GC,1548,1.52,518.3,3089,1777,1949,2044,127.6,12.5,148,1553,0.00,2.78,0.00,0.000,516,0.000,0.085,3091,795,1941,1941,2041,0,0,0,0,0,0,26.21,25.84,26.22,10.35,49.44
$GC,1595,1.52,518.3,3089,795,1948,2041,121.7,12.2,156,1602,0.00,2.40,0.03,0.005,9222,0.000,0.034,3090,1784,1940,1940,2052,0,0,0,0,0,0,26.15,26.08,26.13,10.34,49.44
$GC,1662,1.52,518.3,3089,1790,1946,2052,114.3,11.2,163,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1794,1946,1946,2046,0,0,0,0,0,0,26.39,26.40,26.39,10.34,49.80
$GC,1722,1.52,518.3,3089,1789,1944,2046,107.4,11.0,169,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1785,1952,1952,2046,0,0,0,0,0,0,26.46,26.47,26.47,10.34,50.51
$GC,1782,1.52,518.3,3089,1790,1942,2046,100.9,11.1,175,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1789,1943,1943,2046,0,0,0,0,0,0,26.51,26.53,26.53,10.34,50.03
$GC,1842,1.52,518.3,3089,1790,1942,2046,94.0,11.8,181,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1790,1942,1942,2046,0,0,0,0,0,0,26.56,26.58,26.58,10.33,50.47
$GC,1903,1.52,518.3,3089,1786,1940,2046,87.2,11.4,187,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1791,1940,1940,2046,0,0,0,0,0,0,26.61,26.63,26.62,10.34,50.98
$GC,1962,1.52,518.3,3089,1790,1938,2046,80.5,11.1,193,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1790,1939,1939,2046,0,0,0,0,0,0,26.65,26.66,26.65,10.33,50.86
$GC,2022,1.52,518.3,3089,1790,1937,2046,73.4,11.9,199,2027,0.00,2.75,0.00,0.000,516,0.000,0.085,3090,796,1935,1935,2043,0,0,0,0,0,0,26.68,26.31,26.70,10.33,51.14
$GC,2069,1.52,518.3,3089,799,1936,2043,67.5,12.2,207,2075,0.00,2.33,0.00,0.000,1030,0.000,0.034,3095,1776,1935,1935,2046,0,0,0,0,0,0,26.55,26.51,26.54,10.33,50.98
$GC,2147,1.52,518.3,3089,1782,1934,2046,59.8,11.1,214,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1782,1933,1933,2046,0,0,0,0,0,0,26.70,26.72,26.71,10.33,50.94
$GC,2247,1.52,518.3,3089,1782,1931,2046,49.0,10.5,221,2263,0.00,2.67,0.00,0.000,516,0.000,0.084,3090,798,1930,1930,2046,0,0,0,0,0,0,26.69,26.38,26.70,10.33,51.02
$GC,2335,1.52,518.3,3089,798,1926,2046,39.5,11.1,227,2351,0.00,2.25,0.00,0.000,1030,0.000,0.034,3090,1780,1928,1928,2046,0,0,0,0,0,0,26.55,26.53,26.57,10.33,50.74
$GC,2437,1.54,530.1,3089,1779,1924,2046,29.1,9.8,234,2453,0.00,2.33,0.00,0.000,260,0.000,0.042,3092,2697,1925,1925,2046,0,0,0,0,0,0,26.68,26.41,26.69,10.33,51.22
$GC,2511,1.54,530.3,3089,2698,1924,2046,21.8,10.0,239,2526,0.00,2.35,0.00,0.000,1030,0.000,0.042,3090,1772,1923,1923,2046,0,0,0,0,0,0,26.44,26.41,26.48,10.28,51.06
$GC,2614,1.59,560.3,3089,1774,1921,2046,11.9,9.5,246,2630,0.00,2.70,2.45,0.182,8708,0.000,0.088,3090,791,1906,1906,2046,0,0,0,0,0,0,26.65,26.18,25.75,10.33,50.43
$GC,2665,1.73,654.5,3091,791,1898,2046,6.3,8.4,253,2678,0.52,2.33,5.90,0.542,11270,0.023,0.035,3158,1769,1803,1803,2046,0,0,0,0,0,0,26.49,26.49,25.72,10.33,50.39
$STATE,2736,end climb,SURFACE_DEPTH_REACHED
$STATE,2736,begin surface coast
$STATE,2766,end surface coast,CONTROL_FINISHED_OK
$STATE,2766,begin surface
$SM_CCo,2803,64.85,0.711,0,0,230,2106.28
$SM_GC,0.97,29.83,0.00,64.85,0.024,0.000,0.711,243,1762,230,-7.41,-0.59,2106.28,0,0,0,0,0,0,26.36,26.70,25.03
$IRIDIUM_FIX,4808.40,-12337.82,230518,154840
$TT8_MAMPS,0.023219,0.692076
$HUMID,48.58
$INTERNAL_PRESSURE,9.97464
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.7,999.0
$ALTIM_BOTTOM_PING,120.4,34.3
$SC_FREEKB,3896256
$24V_AH,23.41,6.284
$10V_AH,10.28,7.063
$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,63.125,39.750,60.925,64.850,0.000,122.314,81.909,558.818,152.250,0.000,15.356,304.290,1267.043,210.140,2133.666,91.125,33.439,626.885,0.000,390.094,0.000,1505.692,0.000
$DEVICE_MAMPS,117.810,87.975,2104.515,711.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2798.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,69.816,0.000,0.000,0.000
$MEM,312932
$DATA_FILE_SIZE,7057,264
$CAP_FILE_SIZE,123198,0
$CFSIZE,1023623168,1018068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,165504,4742.219,-12225.128,8,0.9,14,16.3,0.7,176.6,9,5.0