version: 66.14
glider: 401
mission: 27
dive: 4
start: 5 21 118 19 46 12
data:
$ID,401
$MISSION,27
$DIVE,4
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,210518,193447,4741.1870,-12215.2998,2,0.8,12,16.2,0.0,0.0,11,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,1.1
$GPS2,210518,194507,4741.1860,-12215.3008,10,0.9,16,16.2,0.0,0.0,10,4.8
$SPEED_LIMITS,0.114,0.299
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.292475,0.060404
$KALMAN_X,739.451904,482.807007,404.660706,-1634.254395,290.576691
$KALMAN_Y,-153.584152,-102.136383,-85.887291,341.184540,-60.360115
$MHEAD_RNG_PITCHd_Wd,265.5,12085,-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,-244.4,244,2099,2158,2045,0.0,0.0,0,17,0.00,0.00,-5.82,0.000,16390,0.000,0.000,254,2101,2838,2838,2046,0,0,0,0,0,0,25.22,24.39,25.20,10.88,44.05
$GC,19,-1.38,-244.4,244,2099,2843,2046,0.0,0.0,0,41,16.27,2.20,0.00,0.000,2564,0.021,0.052,1819,1260,2842,2842,2046,0,0,0,0,0,0,25.08,25.02,25.10,11.08,45.07
$GC,269,-1.38,-244.4,1818,1260,2843,2046,26.7,-9.9,42,276,0.00,2.10,0.00,0.000,1030,0.000,0.031,1825,2106,2852,2852,2041,0,0,0,0,0,0,25.12,25.08,25.17,11.07,43.93
$GC,335,-1.38,-244.4,1816,2106,2843,2041,33.5,-10.4,49,342,0.00,2.22,0.00,0.000,516,0.000,0.052,1826,1265,2842,2842,2046,0,0,1,0,0,0,25.20,25.03,25.20,11.04,43.81
$GC,570,-1.38,-244.4,1819,1266,2840,2046,57.1,-10.1,88,576,0.00,2.10,0.00,0.000,1030,0.000,0.031,1819,2109,2843,2843,2046,0,0,0,0,0,0,25.12,25.06,25.13,11.13,44.13
$GC,636,-1.38,-244.4,1818,2108,2843,2046,63.7,-10.0,95,642,0.00,2.28,0.00,0.000,516,0.000,0.052,1819,1270,2852,2852,2049,0,0,0,0,0,0,25.21,25.03,25.22,11.09,44.29
$GC,992,-1.38,-244.4,1826,1271,2840,2049,97.6,-10.0,134,1010,0.00,2.10,0.00,0.000,1030,0.000,0.030,1819,2103,2843,2843,2046,0,0,0,0,0,0,25.12,25.08,25.17,11.08,44.36
$STATE,1027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1027,begin apogee
$GC,1030,-0.38,0.0,1818,2107,2843,2052,101.2,-10.2,136,1049,3.28,0.00,12.73,0.609,10244,0.023,0.000,2139,2106,2572,2572,2046,0,0,0,0,0,0,25.08,25.09,24.60,11.06,44.25
$STATE,1050,end apogee,CONTROL_FINISHED_OK
$STATE,1050,begin climb
$GC,1051,1.38,244.4,2139,2107,2571,2046,98.1,0.0,139,1077,5.95,2.30,12.50,0.603,10500,0.028,0.055,2708,2963,2307,2307,2049,0,0,0,0,0,0,25.08,25.03,24.61,11.01,43.81
$GC,1306,1.38,244.4,2707,2962,2307,2049,72.3,10.2,181,1312,0.00,2.12,0.00,0.000,1030,0.000,0.028,2709,2094,2307,2307,2043,0,0,0,0,0,0,25.10,25.06,25.16,10.96,43.85
$GC,1371,1.38,244.4,2716,2094,2307,2043,65.6,9.9,188,1379,0.00,2.38,0.03,0.003,8452,0.000,0.054,2710,2966,2306,2306,2045,0,0,0,0,0,0,25.18,25.02,25.20,10.95,44.01
$GC,1885,1.38,244.4,2710,2958,2307,2045,15.4,9.8,227,1904,0.00,2.12,0.00,0.000,1030,0.000,0.026,2713,2091,2303,2303,2046,0,0,0,0,0,0,25.13,25.09,25.13,10.96,44.52
$GC,1970,1.38,244.4,2709,2098,2307,2046,5.7,9.9,234,1977,0.00,2.38,0.00,0.000,260,0.000,0.054,2714,2962,2307,2307,2052,0,0,0,0,0,0,25.19,25.03,25.20,10.95,43.93
$STATE,2006,end climb,SURFACE_DEPTH_REACHED
$STATE,2006,begin surface coast
$FINISH,0.8,0.997865
$STATE,2019,end surface coast,CONTROL_FINISHED_OK
$STATE,2019,begin surface
$SM_CCo,2054,7.85,0.539,0,0,2160,380.44
$SM_GC,-0.10,26.42,2.17,7.85,0.026,0.028,0.539,244,2104,2160,-6.35,2.78,380.44,0,0,0,0,0,0,24.98,25.09,24.58
$IRIDIUM_FIX,4807.77,-12056.72,210518,184950
$TT8_MAMPS,0.026215,0.790944
$HUMID,43.93
$INTERNAL_PRESSURE,10.8633
$TCM_TEMP,20.60
$XPDR_PINGS,24
$ALTIM_TOP_PING,13.9,999.0
$SC_FREEKB,3907936
$24V_AH,24.39,4.223
$10V_AH,8.64,5.168
$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,312912
$DATA_FILE_SIZE,7030,242
$CAP_FILE_SIZE,75718,0
$CFSIZE,1023623168,1020805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,210518,202131,4741.186,-12215.303,2,0.7,17,16.2,0.0,0.0,11,4.8