version: 66.14
glider: 401
mission: 28
dive: 4
start: 5 7 118 21 45 8
data:
$ID,401
$MISSION,28
$DIVE,4
$N_DIVES,5
$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,2490
$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,20
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3400
$C_VBD,2500
$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
$GPS1,070518,213204,4743.4741,-12223.9219,5,0.8,39,16.3,0.3,44.7,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-47.1
$GPS2,070518,214417,4743.5659,-12223.8105,6,0.9,16,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.208,0.375
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.235908,-0.291402
$KALMAN_X,456.553162,317.311279,288.120056,-577.193604,367.235809
$KALMAN_Y,440.303284,281.069244,259.017181,-852.402466,344.892517
$MHEAD_RNG_PITCHd_Wd,202.7,2327,-14.6,-12.000,-17.75,4354
$D_GRID,168
$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,-342.1,245,2048,1245,1687,0.0,0.0,0,22,0.00,0.00,-13.75,0.000,16390,0.000,0.000,243,2048,2875,2875,2049,0,0,0,0,0,0,26.53,25.41,26.55,10.48,44.52
$GC,23,-1.63,-342.1,245,2048,2911,2049,1.5,0.0,1,48,20.58,2.55,0.00,0.000,2308,0.119,0.053,1950,3018,2914,2914,2046,0,0,0,0,0,0,26.22,26.22,26.33,10.94,45.23
$GC,71,-1.63,-342.1,1954,3019,2922,2046,25.3,-31.3,10,77,0.00,2.47,0.00,0.000,1030,0.000,0.033,1953,2054,2932,2932,2045,0,0,0,0,0,0,26.36,26.29,26.40,10.88,44.80
$GC,138,-1.63,-342.1,1953,2055,2921,2045,36.4,-16.8,17,143,0.00,2.65,0.00,0.000,516,0.000,0.072,1953,1071,2916,2916,2042,0,0,0,0,0,0,26.64,26.30,26.66,10.89,43.69
$GC,209,-1.63,-342.1,1954,1068,2932,2042,48.7,-16.8,29,215,0.00,2.42,0.00,0.000,1030,0.000,0.034,1958,2041,2931,2931,2045,0,0,0,0,0,0,26.51,26.50,26.55,10.88,43.89
$GC,275,-1.63,-342.1,1953,2045,2929,2045,59.2,-16.1,36,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2047,2929,2929,2046,0,0,0,0,0,0,26.77,26.79,26.78,10.87,44.01
$GC,335,-1.63,-342.1,1954,2043,2930,2046,68.7,-15.7,42,341,0.00,2.65,0.00,0.000,516,0.000,0.069,1954,1069,2930,2930,2041,0,0,0,0,0,0,26.81,26.46,26.82,10.87,43.77
$GC,389,-1.63,-342.1,1952,1066,2933,2041,77.4,-16.3,51,395,0.00,2.42,0.00,0.000,1030,0.000,0.034,1953,2040,2934,2934,2046,0,0,0,0,0,0,26.64,26.58,26.65,10.90,44.13
$GC,456,-1.63,-342.1,1953,2042,2937,2046,88.0,-16.1,58,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2039,2930,2930,2046,0,0,0,0,0,0,26.85,26.87,26.88,10.86,43.97
$GC,515,-1.63,-342.1,1954,2042,2935,2046,97.4,-15.4,64,521,0.00,2.62,0.00,0.000,516,0.000,0.072,1950,1078,2936,2936,2046,0,0,0,0,0,0,26.89,26.53,26.91,10.86,44.05
$GC,569,-1.63,-342.1,1953,1072,2935,2046,105.9,-15.4,73,575,0.00,2.38,0.00,0.000,1030,0.000,0.034,1953,2032,2941,2941,2052,0,0,0,0,0,0,26.72,26.65,26.74,10.86,44.52
$GC,636,-1.63,-342.1,1953,2033,2932,2052,115.7,-15.1,80,636,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2032,2934,2934,2046,0,0,0,0,0,0,26.93,26.94,26.94,10.85,44.76
$GC,695,-1.63,-342.1,1953,2033,2910,2046,124.8,-15.2,86,701,0.00,2.60,0.00,0.000,516,0.000,0.070,1953,1074,2914,2914,2046,0,0,0,0,0,0,26.94,26.59,26.96,10.84,44.48
$GC,755,-1.63,-342.1,1953,1069,2918,2046,134.1,-14.9,96,761,0.00,2.35,0.00,0.000,1030,0.000,0.034,1954,2022,2906,2906,2046,0,0,0,0,0,0,26.77,26.71,26.82,10.85,45.03
$GC,822,-1.63,-342.1,1953,2022,0,2046,144.3,-15.8,103,823,0.00,0.00,-0.73,0.000,16390,0.000,0.000,1958,2027,3336,3336,2046,0,0,0,0,0,0,26.97,25.82,26.89,10.84,44.92
$GC,882,-1.63,-342.1,1954,2023,0,2046,151.2,-10.5,109,1001,0.00,2.53,-114.25,0.000,16900,0.000,0.085,1955,1070,3405,3405,2046,0,0,0,0,20,0,26.99,25.78,26.96,10.97,45.62
$STATE,1061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1061,begin apogee
$GC,1065,-0.38,0.0,1952,1922,3396,2046,168.0,-9.2,139,1123,4.10,0.10,50.97,2.391,10244,0.042,0.113,2356,1893,2495,2495,2046,0,0,0,0,0,0,26.73,24.68,23.37,10.96,44.09
$STATE,1124,end apogee,CONTROL_FINISHED_OK
$STATE,1124,begin climb
$GC,1125,1.63,342.1,2357,1893,2381,2046,172.1,0.0,145,1158,6.75,0.00,22.08,2.274,11270,0.031,0.000,2994,1893,2128,2128,2046,0,0,0,0,0,0,25.13,25.11,23.24,10.72,44.40
$GC,1218,2.40,850.9,2994,1894,2130,2046,174.2,0.0,157,1257,2.53,2.67,32.03,2.341,10500,0.024,0.043,3240,2856,1579,1579,2046,0,0,0,0,0,0,25.69,24.58,23.31,10.63,43.66
$GC,1260,2.79,1111.8,3235,2856,1579,2046,172.1,5.9,162,1285,1.23,2.65,17.30,2.158,11270,0.029,0.045,3368,1905,1294,1294,2045,0,0,0,0,0,0,25.02,24.90,23.30,10.49,43.50
$GC,1344,2.79,1111.8,3363,1907,1296,2045,149.8,30.0,172,1350,0.00,2.80,0.00,0.000,516,0.000,0.078,3362,910,1297,1297,2046,0,0,0,0,0,0,25.80,25.48,25.82,10.41,43.22
$GC,1362,2.79,1111.8,3362,916,1296,2046,144.3,30.3,175,1368,0.00,2.50,0.03,0.011,9222,0.000,0.033,3362,1885,1294,1294,2045,0,0,0,0,0,0,25.75,25.70,25.77,10.40,43.66
$GC,1429,2.79,1111.8,3362,1886,1292,2045,124.9,29.5,182,1434,0.00,2.60,0.00,0.000,260,0.000,0.048,3361,2871,1290,1290,2045,0,0,0,0,0,0,26.18,25.89,26.20,10.40,43.50
$GC,1452,2.79,1111.8,3363,2872,1288,2045,117.4,31.0,186,1458,0.00,2.55,0.00,0.000,1030,0.000,0.039,3362,1909,1288,1288,2045,0,0,0,0,0,0,26.06,25.96,26.08,10.40,43.46
$GC,1518,2.79,1111.8,3363,1904,1284,2045,97.9,29.4,193,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1904,1284,1284,2046,0,0,0,0,0,0,26.39,26.41,26.41,10.40,43.93
$GC,1578,2.79,1111.8,3362,1904,1281,2046,80.1,29.7,199,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1904,1280,1280,2046,0,0,0,0,0,0,26.49,26.51,26.51,10.39,44.25
$GC,1638,2.79,1111.8,3363,1901,1275,2046,62.1,30.3,205,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1904,1275,1275,2046,0,0,0,0,0,0,26.58,26.58,26.58,10.39,44.01
$GC,1698,2.79,1111.8,3362,1904,1273,2046,45.0,28.2,211,1704,0.00,2.58,0.00,0.000,260,0.000,0.049,3360,2877,1272,1272,2044,0,0,0,0,0,0,26.64,26.34,26.65,10.38,45.35
$GC,1722,2.79,1111.8,3363,2877,1270,2044,38.3,27.9,215,1728,0.00,2.50,0.00,0.000,1030,0.000,0.039,3362,1910,1270,1270,2045,0,0,0,0,0,0,26.45,26.36,26.48,10.39,45.15
$GC,1788,2.79,1111.8,3362,1911,1268,2045,20.5,27.0,222,1794,0.00,2.70,0.00,0.000,516,0.000,0.079,3359,920,1266,1266,2046,0,0,0,0,0,0,26.70,26.36,26.72,10.38,44.44
$GC,1813,2.79,1111.8,3362,920,1266,2046,13.9,27.8,226,1818,0.00,2.47,0.00,0.000,1030,0.000,0.034,3363,1920,1264,1264,2048,0,0,0,0,0,0,26.49,26.51,26.51,10.38,44.64
$STATE,1867,end climb,SURFACE_DEPTH_REACHED
$STATE,1867,begin surface coast
$STATE,1877,end surface coast,CONTROL_FINISHED_OK
$STATE,1877,begin surface
$SM_CCo,1975,0.00,0.000,0,0,1262,1143.17
$SM_GC,1.26,31.90,0.28,0.00,0.024,0.046,0.000,232,2068,1262,-7.05,-1.23,1143.17,0,0,0,0,0,0,26.28,26.53,26.48
$IRIDIUM_FIX,4808.40,-12337.82,070518,210228
$TT8_MAMPS,0.047187,0.394723
$HUMID,45.03
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,10.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.9,12.0
$ALTIM_BOTTOM_PING,120.3,57.6
$SC_FREEKB,3908288
$24V_AH,23.24,3.897
$10V_AH,10.50,4.968
$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,67.075,56.125,122.400,0.000,0.000,73.628,52.362,414.510,0.750,0.000,17.558,0.000,1286.126,331.656,1059.876,41.995,32.426,579.608,0.000,341.875,0.000,12.055,0.000
$DEVICE_MAMPS,118.575,113.220,2391.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1894.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,66.904,0.000,0.000,0.000
$MEM,312928
$DATA_FILE_SIZE,7063,233
$CAP_FILE_SIZE,57044,0
$CFSIZE,1023623168,1020379136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,070518,221915,4743.173,-12223.940,5,1.2,50,16.3,0.3,55.9,7,3.1