version: 66.14
glider: 401
mission: 27
dive: 3
start: 5 21 118 18 59 20
data:
$ID,401
$MISSION,27
$DIVE,3
$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,50
$R_STBD_OVSHOOT,40
$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
$GPS1,210518,184819,4741.1875,-12215.2949,2,0.9,38,16.2,0.0,138.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,1.1
$GPS2,210518,185817,4741.1865,-12215.3037,9,0.9,14,16.2,0.0,0.0,10,4.9
$SPEED_LIMITS,0.114,0.299
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.292368,0.060923
$KALMAN_X,418.875366,318.352142,301.350586,-1049.386353,330.319427
$KALMAN_Y,-87.686760,-67.365074,-63.890629,219.224976,-69.661484
$MHEAD_RNG_PITCHd_Wd,265.6,12082,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-1.38,-244.4,244,2108,2160,2046,0.0,0.0,0,17,0.00,0.00,-5.82,0.000,16390,0.000,0.000,249,2109,2838,2838,2045,0,0,0,0,0,0,25.18,24.39,25.23,10.91,44.76
$GC,19,-1.38,-244.4,244,2105,2844,2045,0.0,0.0,0,41,16.30,2.22,0.00,0.000,2564,0.021,0.051,1827,1260,2845,2845,2050,0,0,0,0,0,0,25.09,25.03,25.10,11.07,44.95
$GC,269,-1.38,-244.4,1820,1261,2845,2050,26.6,-10.1,42,276,0.00,2.10,0.00,0.000,1030,0.000,0.033,1821,2098,2845,2845,2046,0,0,0,0,0,0,25.10,25.08,25.12,11.06,44.05
$GC,335,-1.38,-244.4,1821,2103,2845,2046,33.1,-9.6,49,342,0.00,2.30,0.00,0.000,516,0.000,0.053,1822,1248,2838,2838,2043,0,0,0,0,0,0,25.19,25.02,25.20,11.05,44.48
$GC,570,-1.38,-244.4,1824,1252,2845,2043,56.6,-10.2,88,576,0.00,2.15,0.00,0.000,1030,0.000,0.032,1821,2108,2841,2841,2046,0,0,0,0,0,0,25.11,25.08,25.15,11.01,44.99
$GC,636,-1.38,-244.4,1821,2108,2846,2046,63.1,-9.8,95,642,0.00,2.28,0.00,0.000,516,0.000,0.051,1821,1259,2851,2851,2046,0,0,0,0,0,0,25.20,25.03,25.20,11.06,43.46
$GC,973,-1.38,-244.4,1823,1268,2845,2046,95.6,-9.9,134,991,0.00,2.10,0.00,0.000,1030,0.000,0.031,1822,2102,2846,2846,2053,0,0,0,0,0,0,25.11,25.06,25.13,11.06,44.32
$STATE,1022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1022,begin apogee
$GC,1025,-0.38,0.0,1822,2102,2848,2045,100.7,-10.3,137,1044,3.25,0.00,12.75,0.614,10244,0.023,0.000,2139,2102,2573,2573,2049,0,0,0,0,0,0,25.10,25.04,24.60,11.08,44.80
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1047,1.38,244.4,2140,2102,2573,2049,97.9,0.0,140,1073,5.97,2.30,12.35,0.603,10500,0.028,0.056,2712,2955,2311,2311,2046,0,0,0,0,0,0,25.08,25.03,24.62,11.01,43.69
$GC,1301,1.38,244.4,2712,2955,2306,2046,72.0,9.5,182,1308,0.00,2.10,0.00,0.000,1030,0.000,0.028,2713,2100,2312,2312,2051,0,0,0,0,0,0,25.12,25.09,25.13,10.95,43.38
$GC,1367,1.38,244.4,2711,2105,2310,2051,65.4,10.0,189,1374,0.00,2.35,0.08,0.005,8452,0.000,0.054,2713,2955,2311,2311,2046,0,0,0,0,0,0,25.19,25.00,25.22,10.94,43.77
$GC,1880,1.38,244.4,2713,2955,2319,2046,15.9,10.6,228,1899,0.00,2.12,0.00,0.000,1030,0.000,0.027,2712,2089,2312,2312,2045,0,0,0,0,0,0,25.13,25.10,25.13,10.95,43.89
$GC,1966,1.38,244.4,2708,2085,2306,2045,6.1,9.8,235,1972,0.00,2.38,0.00,0.000,260,0.000,0.054,2713,2955,2311,2311,2046,0,0,0,0,0,0,25.19,25.03,25.20,10.94,43.66
$STATE,2007,end climb,SURFACE_DEPTH_REACHED
$STATE,2007,begin surface coast
$FINISH,-0.0,0.997865
$STATE,2032,end surface coast,CONTROL_FINISHED_OK
$STATE,2032,begin surface
$SM_CCo,2067,8.07,0.538,0,0,2160,380.44
$SM_GC,-0.08,26.45,2.17,8.07,0.026,0.028,0.538,245,2099,2160,-6.34,2.51,380.44,0,0,0,0,0,0,24.98,25.09,24.62
$IRIDIUM_FIX,4807.77,-12056.72,210518,180156
$TT8_MAMPS,0.024717,0.766227
$HUMID,43.38
$INTERNAL_PRESSURE,10.8633
$TCM_TEMP,20.50
$XPDR_PINGS,12
$ALTIM_TOP_PING,14.3,999.0
$SC_FREEKB,3908448
$24V_AH,24.39,4.223
$10V_AH,8.73,5.168
$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,312932
$DATA_FILE_SIZE,7054,246
$CAP_FILE_SIZE,74954,0
$CFSIZE,1023623168,1020936192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210518,193447,4741.187,-12215.300,2,0.8,12,16.2,0.0,0.0,11,4.7