version: 66.14
glider: 401
mission: 27
dive: 2
start: 5 21 118 18 12 21
data:
$ID,401
$MISSION,27
$DIVE,2
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,35
$T_MISSION,45
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,380
$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,1
$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,2275
$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,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3420
$C_VBD,2575
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,0.1
$SIM_PITCH,-20
$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
$GPS1,210518,175735,4741.1855,-12215.2988,2,1.0,17,16.2,0.0,140.7,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,1.1
$GPS2,210518,181119,4741.1826,-12215.3057,9,0.9,33,16.2,0.0,321.5,10,5.0
$SPEED_LIMITS,0.114,0.299
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.292030,0.062523
$KALMAN_X,148.031601,148.031601,148.031601,-466.317200,328.177002
$KALMAN_Y,-32.724865,-32.724865,-32.724865,93.393188,-72.549019
$MHEAD_RNG_PITCHd_Wd,265.9,12080,-14.1,-9.524,-17.69,3916
$D_GRID,100
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,9,-1.38,-244.4,233,2070,2152,2046,0.0,0.0,0,21,0.00,0.00,-5.82,0.000,16390,0.000,0.000,243,2071,2856,2856,2046,0,0,0,0,0,0,25.19,24.39,25.20,10.93,44.29
$GC,23,-1.38,-244.4,243,2071,2844,2046,1.7,0.0,1,47,16.30,2.20,0.00,0.000,2564,0.021,0.056,1819,1263,2844,2844,2047,0,0,0,0,0,0,25.08,25.06,25.11,11.00,44.29
$GC,275,-1.38,-244.4,1824,1262,2844,2047,27.2,-9.6,43,281,0.00,2.08,0.00,0.000,1030,0.000,0.034,1820,2098,2845,2845,2046,0,0,0,0,0,0,25.15,25.06,25.15,11.06,43.81
$GC,341,-1.38,-244.4,1819,2097,2844,2046,33.7,-9.8,50,347,0.00,2.20,0.00,0.000,516,0.000,0.053,1819,1270,2847,2847,2050,0,0,0,0,0,0,25.19,25.02,25.25,11.06,44.48
$GC,575,-1.38,-244.4,1821,1271,2844,2050,57.4,-10.3,89,582,0.00,2.08,0.00,0.000,1030,0.000,0.033,1826,2103,2845,2845,2046,0,0,0,0,0,0,25.12,25.08,25.13,11.13,43.69
$GC,641,-1.38,-244.4,1819,2104,2844,2046,63.8,-9.7,96,648,0.00,2.25,0.00,0.000,516,0.000,0.052,1819,1267,2841,2841,2046,0,0,0,0,0,0,25.19,25.02,25.20,11.06,44.36
$GC,996,-1.38,-244.4,1819,1268,2848,2046,98.4,-9.9,135,1013,0.00,2.08,0.00,0.000,1030,0.000,0.032,1817,2108,2844,2844,2046,0,0,0,0,0,0,25.15,25.08,25.13,11.16,44.32
$STATE,1030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1030,begin apogee
$GC,1033,-0.38,0.0,1819,2100,2849,2046,101.7,-9.7,137,1052,3.22,0.00,12.77,0.616,10246,0.023,0.000,2136,2106,2572,2572,2046,0,0,0,0,0,0,25.08,25.06,24.58,11.02,44.25
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1053,begin climb
$GC,1054,1.38,244.4,2136,2099,2572,2046,98.7,0.0,140,1080,5.95,2.28,12.35,0.607,10500,0.022,0.054,2713,2944,2310,2310,2046,0,0,0,0,0,0,25.09,24.96,24.60,11.00,43.81
$GC,1308,1.38,244.4,2711,2943,2310,2046,72.3,9.9,182,1315,0.00,2.05,0.00,0.000,1030,0.000,0.030,2712,2113,2317,2317,2046,0,0,0,0,0,0,25.12,25.08,25.12,10.94,43.66
$GC,1375,1.38,244.4,2712,2113,2313,2046,65.7,9.9,189,1381,0.00,2.30,0.00,0.000,260,0.000,0.054,2712,2952,2310,2310,2042,0,0,0,0,0,0,25.16,25.04,25.20,10.94,43.77
$GC,1885,1.38,244.4,2712,2952,2310,2042,16.4,9.9,228,1905,0.00,2.12,0.00,0.000,1030,0.000,0.027,2712,2088,2310,2310,2041,0,0,0,0,0,0,25.12,25.09,25.13,10.94,43.81
$GC,1976,1.38,244.4,2712,2083,2310,2041,6.5,9.6,235,1983,0.00,2.38,0.00,0.000,260,0.000,0.054,2712,2948,2315,2315,2045,0,0,0,0,0,0,25.19,25.03,25.21,10.94,43.30
$STATE,2024,end climb,SURFACE_DEPTH_REACHED
$STATE,2024,begin surface coast
$FINISH,0.5,0.997865
$STATE,2037,end surface coast,CONTROL_FINISHED_OK
$STATE,2037,begin surface
$SM_CCo,2072,8.00,0.544,0,0,2160,380.44
$SM_GC,-0.06,26.42,2.15,8.00,0.026,0.028,0.544,243,2104,2160,-6.35,2.64,380.44,0,0,0,0,0,0,24.97,25.08,24.60
$IRIDIUM_FIX,4807.77,-12056.72,210518,171842
$TT8_MAMPS,0.025466,0.486101
$HUMID,43.66
$INTERNAL_PRESSURE,10.8633
$TCM_TEMP,20.40
$XPDR_PINGS,12
$ALTIM_TOP_PING,14.8,999.0
$SC_FREEKB,3908992
$24V_AH,24.39,4.223
$10V_AH,9.15,5.168
$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,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312980
$DATA_FILE_SIZE,7040,245
$CAP_FILE_SIZE,77590,0
$CFSIZE,1023623168,1021050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210518,184819,4741.188,-12215.295,2,0.9,38,16.2,0.0,138.1,10,5.0