version: 66.14
glider: 401
mission: 28
dive: 6
start: 5 23 118 0 0 18
data:
$ID,401
$MISSION,28
$DIVE,6
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$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,1750
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$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,3420
$C_VBD,2420
$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
$GPS1,220518,234053,4743.7954,-12224.5898,5,0.9,16,16.3,0.0,0.0,9,4.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-55.9
$GPS2,220518,235911,4743.7622,-12224.5430,7,0.9,16,16.3,0.3,0.0,9,5.0
$SPEED_LIMITS,0.143,0.329
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.110731,-0.309639
$KALMAN_X,214.468994,-14.165428,-145.676819,643.198181,209.919342
$KALMAN_Y,-113.107605,-50.689110,-41.118847,2147.930420,23.006878
$MHEAD_RNG_PITCHd_Wd,183.4,2360,-13.3,-10.000,-16.91,4474
$D_GRID,173
$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,-1.33,-293.3,239,1756,1967,2045,0.0,0.0,0,19,0.00,0.00,-6.05,0.000,16390,0.000,0.000,231,1753,2744,2744,2042,0,0,0,0,0,0,26.46,25.11,26.46,10.39,52.12
$GC,21,-1.33,-293.3,237,1750,2744,2042,1.6,0.0,1,51,23.80,2.53,0.00,0.000,2308,0.117,0.044,2215,2714,2739,2739,2046,0,0,0,0,0,0,26.05,26.15,26.19,10.61,52.44
$GC,279,-1.33,-293.3,2216,2724,2748,2046,30.6,-8.6,44,284,0.00,2.50,0.00,0.000,1030,0.000,0.039,2212,1748,2750,2750,2044,0,0,0,0,0,0,26.43,26.36,26.46,10.57,51.02
$GC,346,-1.33,-293.3,2215,1740,2747,2044,36.1,-7.9,51,351,0.00,2.47,0.00,0.000,260,0.000,0.044,2216,2721,2751,2751,2046,0,0,0,0,0,0,26.74,26.41,26.78,10.57,51.49
$GC,501,-1.33,-293.3,2216,2726,2754,2046,49.1,-8.0,77,506,0.00,2.55,0.00,0.000,1030,0.000,0.044,2222,1733,2754,2754,2046,0,0,0,0,0,0,26.53,26.48,26.57,10.58,51.92
$GC,567,-1.33,-293.3,2215,1731,2755,2046,54.4,-7.9,84,572,0.00,2.62,0.00,0.000,516,0.000,0.086,2216,760,2755,2755,2046,0,0,0,0,0,0,26.85,26.44,26.91,10.50,51.49
$GC,632,-1.33,-293.3,2215,760,2756,2046,60.8,-10.2,95,638,0.00,2.40,0.00,0.000,1030,0.000,0.035,2211,1762,2756,2756,2046,0,0,0,0,0,0,26.67,26.70,26.72,10.51,51.37
$GC,699,-1.33,-293.3,2211,1762,2758,2046,66.6,-8.4,102,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1770,2754,2754,2047,0,0,0,0,0,0,26.89,26.91,26.90,10.56,51.92
$GC,759,-1.33,-293.3,2215,1765,2759,2047,71.0,-7.2,108,764,0.00,2.75,0.00,0.000,516,0.000,0.084,2216,756,2758,2758,2046,0,0,0,0,0,0,26.91,26.49,26.91,10.56,51.89
$GC,807,-1.33,-293.3,2215,762,2761,2046,75.1,-8.9,116,812,0.00,2.30,0.00,0.000,1030,0.000,0.035,2210,1725,2760,2760,2046,0,0,0,0,0,0,26.72,26.68,26.74,10.60,51.96
$GC,884,-1.33,-293.3,2212,1729,2761,2046,80.0,-7.3,123,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1728,2761,2761,2046,0,0,0,0,0,0,26.91,26.91,26.95,10.66,52.32
$GC,985,-1.33,-293.3,2215,1724,2761,2046,87.3,-7.3,130,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1728,2762,2762,2046,0,0,0,0,0,0,26.86,26.89,26.89,10.54,52.40
$GC,1087,-1.33,-293.3,2215,1729,2767,2046,94.6,-7.1,137,1102,0.00,2.60,0.00,0.000,516,0.000,0.084,2216,767,2764,2764,2046,0,0,0,0,0,0,26.85,26.50,26.87,10.51,52.91
$GC,1174,-1.33,-293.3,2215,767,2766,2046,102.7,-10.1,143,1190,0.00,2.20,0.00,0.000,1030,0.000,0.037,2216,1707,2766,2766,2048,0,0,0,0,0,0,26.72,26.65,26.69,10.55,52.08
$GC,1277,-1.33,-293.3,2215,1708,2766,2048,111.4,-8.1,150,1292,0.00,2.47,0.00,0.000,260,0.000,0.044,2216,2692,2767,2767,2046,0,0,0,0,0,0,26.79,26.49,26.82,10.55,51.96
$GC,1393,-1.33,-293.3,2216,2694,2769,2046,119.7,-6.9,158,1423,0.00,2.50,0.00,0.000,1030,0.000,0.046,2216,1707,2769,2769,2046,0,0,0,0,0,0,26.51,26.45,26.56,10.55,51.89
$GC,1520,-1.33,-293.3,2215,1706,2776,2046,128.9,-6.9,165,1535,0.00,2.53,0.00,0.000,516,0.000,0.088,2216,774,2771,2771,2046,0,0,0,0,0,0,26.72,26.36,26.77,10.55,52.16
$GC,1622,-1.33,-293.3,2215,775,2773,2046,137.7,-9.1,172,1637,0.00,2.20,0.00,0.000,1030,0.000,0.036,2216,1721,2773,2773,2046,0,0,0,0,0,0,26.57,26.55,26.58,10.54,51.41
$GC,1724,-1.33,-293.3,2214,1720,2774,2046,145.9,-7.9,179,1740,0.00,2.45,0.00,0.000,260,0.000,0.044,2216,2689,2774,2774,2046,0,0,0,0,0,0,26.77,26.45,26.75,10.51,50.98
$STATE,1783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1783,begin apogee
$GC,1789,-0.33,0.0,2216,1744,2775,2046,150.5,-7.7,183,1813,3.30,0.00,17.45,2.099,10244,0.060,0.000,2537,1744,2427,2427,2056,0,0,0,0,0,0,26.46,25.22,24.15,10.54,51.06
$STATE,1815,end apogee,CONTROL_FINISHED_OK
$STATE,1815,begin climb
$GC,1816,1.33,293.3,2533,1743,2427,2056,152.4,0.0,187,1843,5.45,0.00,16.83,2.052,11270,0.039,0.000,3058,1740,2102,2102,2046,0,0,0,0,0,0,25.82,25.98,23.67,10.47,50.74
$GC,1903,1.33,293.3,3058,1744,2097,2046,144.3,11.9,198,1905,0.00,0.00,0.03,0.002,8198,0.000,0.000,3058,1745,2107,2107,2046,0,0,0,0,0,0,25.98,25.98,25.98,10.39,50.27
$GC,1963,1.33,293.3,3058,1741,2100,2046,136.7,12.4,204,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1741,2100,2100,2045,0,0,0,0,0,0,26.19,26.20,26.19,10.35,50.98
$GC,2023,1.33,293.3,3058,1744,2098,2045,129.6,12.0,210,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1744,2098,2098,2044,0,0,0,0,0,0,26.34,26.35,26.34,10.43,51.14
$GC,2083,1.33,293.3,3058,1742,2097,2044,122.0,12.7,216,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1742,2097,2097,2046,0,0,0,0,0,0,26.44,26.46,26.45,10.39,52.04
$GC,2143,1.33,293.3,3058,1744,2095,2046,114.1,13.1,222,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1744,2096,2096,2046,0,0,0,0,0,0,26.52,26.53,26.56,10.39,51.49
$GC,2203,1.33,293.3,3056,1744,2094,2046,106.2,13.1,228,2205,0.00,0.00,0.03,0.005,8198,0.000,0.000,3059,1744,2090,2090,2046,0,0,0,0,0,0,26.61,26.60,26.59,10.37,51.69
$GC,2263,1.33,293.3,3058,1744,2092,2046,98.1,13.4,234,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1744,2091,2091,2040,0,0,0,0,0,0,26.64,26.65,26.65,10.38,51.73
$GC,2324,1.33,293.3,3058,1743,2090,2040,90.2,13.0,240,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1744,2095,2095,2046,0,0,0,0,0,0,26.68,26.67,26.70,10.38,52.04
$GC,2383,1.33,293.3,3058,1744,2089,2046,82.3,13.1,246,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1744,2088,2088,2042,0,0,0,0,0,0,26.72,26.74,26.74,10.38,51.96
$GC,2443,1.33,293.3,3058,1744,2087,2042,74.5,13.1,252,2448,0.00,2.72,0.00,0.000,516,0.000,0.089,3059,759,2076,2076,2046,0,0,0,0,0,0,26.75,26.36,26.77,10.38,52.40
$GC,2491,1.33,293.3,3058,759,2085,2046,67.9,13.8,260,2496,0.00,2.35,0.00,0.000,1030,0.000,0.037,3059,1739,2085,2085,2052,0,0,0,0,0,0,26.64,26.61,26.60,10.38,52.32
$GC,2568,1.33,293.3,3058,1745,2083,2052,59.6,12.2,267,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1745,2083,2083,2046,0,0,0,0,0,0,26.77,26.79,26.79,10.38,53.11
$GC,2668,1.33,293.3,3058,1745,2080,2046,48.7,10.9,274,2684,0.00,2.67,0.00,0.000,516,0.000,0.087,3059,768,2080,2080,2046,0,0,0,0,0,0,26.76,26.41,26.74,10.38,52.55
$GC,2714,1.33,293.3,3058,768,2079,2046,43.2,11.6,277,2730,0.00,2.30,0.00,0.000,1030,0.000,0.036,3059,1764,2079,2079,2046,0,0,0,0,0,0,26.59,26.60,26.63,10.38,51.96
$GC,2816,1.33,293.3,3058,1764,2076,2046,32.3,10.4,284,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1764,2075,2075,2045,0,0,0,0,0,0,26.79,26.77,26.77,10.39,52.12
$GC,2916,1.33,293.3,3058,1764,2074,2045,21.9,10.3,291,2932,0.00,2.33,0.00,0.000,260,0.000,0.044,3059,2682,2073,2073,2046,0,0,0,0,0,0,26.73,26.46,26.77,10.33,52.44
$GC,2948,1.33,293.3,3058,2682,2073,2046,18.8,10.3,293,2963,0.00,2.40,0.00,0.000,1030,0.000,0.047,3065,1743,2072,2072,2046,0,0,0,0,0,0,26.50,26.44,26.53,10.35,51.61
$GC,3035,1.33,293.3,3058,1743,2073,2046,8.3,11.1,300,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1743,2074,2074,2054,0,0,0,0,0,0,26.75,26.80,26.77,10.38,52.40
$GC,3095,1.50,409.4,3058,1743,2069,2054,3.4,7.3,306,3105,0.52,0.00,5.50,0.556,10246,0.034,0.000,3116,1743,1977,1977,2045,0,0,0,0,0,0,26.57,26.15,25.65,10.35,51.33
$STATE,3124,end climb,SURFACE_DEPTH_REACHED
$STATE,3124,begin surface coast
$STATE,3154,end surface coast,CONTROL_FINISHED_OK
$STATE,3154,begin surface
$SM_CCo,3250,0.00,0.000,0,0,1976,409.99
$SM_GC,1.65,29.77,0.00,0.00,0.032,0.000,0.000,232,1743,1976,-7.56,-0.36,409.99,0,0,0,0,0,0,26.19,26.77,26.44
$IRIDIUM_FIX,4808.40,-12337.82,220518,223511
$TT8_MAMPS,0.023219,0.844872
$HUMID,51.81
$INTERNAL_PRESSURE,10.336
$TCM_TEMP,10.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.2,999.0
$ALTIM_BOTTOM_PING,123.2,63.8
$SC_FREEKB,3906624
$24V_AH,23.67,4.726
$10V_AH,10.16,5.705
$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,62.850,55.150,39.825,0.000,0.000,70.986,63.536,726.788,190.000,0.000,17.199,336.511,1304.453,137.058,2512.817,78.724,33.425,635.266,0.000,458.162,0.000,1877.613,0.000
$DEVICE_MAMPS,117.045,91.800,2099.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3191.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.565,0.000,0.000,0.000
$MEM,313004
$DATA_FILE_SIZE,10492,312
$CAP_FILE_SIZE,142312,0
$CFSIZE,1023623168,1020493824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,005558,4743.331,-12224.627,5,1.1,50,16.3,0.3,163.0,7,3.0