version: 66.14
glider: 401
mission: 28
dive: 2
start: 5 22 118 20 5 52
data:
$ID,401
$MISSION,28
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,25
$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,30
$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,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,3775
$C_PITCH,2630
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14
$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,2050
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3420
$C_VBD,2220
$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
$GPS1,220518,200033,4742.5898,-12225.1709,4,0.9,15,16.3,0.0,218.4,9,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-50.9
$GPS2,220518,200449,4742.5522,-12225.2041,6,0.9,13,16.3,0.0,0.0,9,4.5
$SPEED_LIMITS,0.173,0.372
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.371309,-0.020596
$KALMAN_X,-91.932701,-91.932701,-91.932701,163.488647,-165.089340
$KALMAN_Y,-8.319553,-8.319553,-8.319553,-272.627350,-14.939946
$MHEAD_RNG_PITCHd_Wd,76.9,513,-11.2,-10.000,-15.05,5958
$D_GRID,183
$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,7,begin dive
$GC,9,-1.39,-391.0,231,2064,1630,2045,0.0,0.0,0,20,0.00,0.00,-7.55,0.000,16390,0.000,0.000,233,2061,2656,2656,2046,0,0,0,0,0,0,26.94,26.09,26.96,10.45,55.31
$GC,22,-1.39,-391.0,232,2067,2647,2046,1.5,0.0,1,51,22.55,2.62,0.00,0.000,2564,0.110,0.067,2176,1076,2647,2647,2046,0,0,0,0,0,0,26.50,26.46,26.66,10.72,55.31
$GC,279,-1.39,-391.0,2177,1070,2652,2046,23.1,-7.3,44,284,0.00,2.33,0.00,0.000,1030,0.000,0.034,2177,2031,2651,2651,2053,0,0,0,0,0,0,26.77,26.74,26.80,10.63,55.43
$GC,346,-1.39,-391.0,2177,2032,2648,2053,28.1,-8.0,51,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2032,2653,2653,2046,0,0,0,0,0,0,27.07,27.06,27.06,10.68,54.44
$GC,405,-1.39,-391.0,2176,2032,2653,2046,32.5,-7.2,57,410,0.00,2.58,0.00,0.000,516,0.000,0.070,2176,1067,2654,2654,2046,0,0,0,0,0,0,27.06,26.62,27.08,10.67,54.25
$GC,513,-1.39,-391.0,2178,1068,2657,2046,42.5,-9.0,75,518,0.00,2.38,0.00,0.000,1030,0.000,0.032,2181,2047,2656,2656,2046,0,0,0,0,0,0,26.83,26.79,26.85,10.66,54.52
$STATE,549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,549,begin apogee
$GC,553,-0.36,0.0,2177,1895,2657,2046,45.3,-7.7,79,584,3.47,0.00,19.77,1.138,10244,0.067,0.000,2505,1891,2218,2218,2046,0,0,0,0,0,0,26.71,25.41,25.27,10.65,54.68
$STATE,585,end apogee,CONTROL_FINISHED_OK
$STATE,586,begin climb
$GC,587,1.39,391.0,2505,1891,2218,2046,46.1,0.0,81,620,5.68,0.00,19.08,1.099,11270,0.046,0.000,3055,1891,1801,1801,2046,0,0,0,0,0,0,26.39,26.58,24.97,10.56,54.17
$GC,705,1.39,391.0,3054,1891,1800,2046,35.4,11.1,89,721,0.00,2.58,0.15,0.004,8708,0.000,0.079,3055,936,1799,1799,2045,0,0,0,0,0,0,26.51,25.69,26.52,10.47,53.50
$GC,819,1.40,397.7,3054,933,1797,2045,24.4,9.9,97,835,0.00,2.28,2.33,0.170,9222,0.000,0.036,3055,1905,1787,1787,2046,0,0,0,0,0,0,26.51,26.46,25.50,10.46,54.41
$GC,920,1.45,431.0,3054,1906,1787,2046,14.9,9.4,104,936,0.12,0.00,3.30,0.354,10246,0.070,0.000,3079,1905,1750,1750,2046,0,0,0,0,0,0,26.51,26.09,25.61,10.45,53.97
$GC,998,1.45,431.0,3079,1905,1748,2046,5.6,10.1,111,1004,0.00,2.65,0.00,0.000,516,0.000,0.079,3076,933,1748,1748,2046,0,0,0,0,0,0,26.76,26.36,26.77,10.50,54.37
$STATE,1051,end climb,SURFACE_DEPTH_REACHED
$STATE,1052,begin surface coast
$STATE,1081,end surface coast,CONTROL_FINISHED_OK
$STATE,1081,begin surface
$SM_CCo,1180,0.00,0.000,0,0,1747,436.77
$SM_GC,1.36,28.52,2.72,0.00,0.021,0.037,0.000,243,2040,1747,-7.45,-2.82,436.77,0,0,0,0,0,0,26.51,26.60,26.60
$IRIDIUM_FIX,4808.40,-12337.82,220518,195626
$TT8_MAMPS,0.02247,0.784203
$HUMID,54.72
$INTERNAL_PRESSURE,10.4141
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.9,999.0
$SC_FREEKB,3909024
$24V_AH,24.97,4.409
$10V_AH,10.24,5.310
$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,60.350,20.525,44.625,0.000,0.000,0.000,0.000,0.000,56.250,0.000,15.034,165.812,466.081,78.746,536.056,14.644,30.289,289.142,0.000,192.369,0.000,545.851,0.000
$DEVICE_MAMPS,110.160,78.795,1137.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1073.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,66.709,0.000,0.000,0.000
$MEM,313016
$DATA_FILE_SIZE,3619,125
$CAP_FILE_SIZE,62852,0
$CFSIZE,1023623168,1021100032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220518,202623,4742.545,-12224.992,5,0.8,12,16.3,0.0,0.0,10,4.6