version: 66.14
glider: 401
mission: 28
dive: 8
start: 5 23 118 2 23 41
data:
$ID,401
$MISSION,28
$DIVE,8
$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,16
$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,13
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3420
$C_VBD,2460
$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
$GPS1,230518,020610,4742.6304,-12224.8965,4,0.9,14,16.3,0.0,0.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-54.6
$GPS2,230518,022235,4742.4736,-12225.0312,7,0.8,14,16.3,0.4,223.1,10,4.9
$SPEED_LIMITS,0.143,0.329
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.000665,0.328843
$KALMAN_X,150.610626,0.709171,61.701618,-113.320023,88.914047
$KALMAN_Y,-551.957764,-100.973717,-14.944946,232.323685,-119.377441
$MHEAD_RNG_PITCHd_Wd,343.6,2842,-13.3,-10.000,-16.91,4474
$D_GRID,178
$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,-1.27,-293.3,243,1767,2036,2046,0.0,0.0,0,17,0.00,0.00,-5.85,0.000,16390,0.000,0.000,243,1767,2780,2780,2046,0,0,0,0,0,0,26.39,25.15,26.41,10.42,49.96
$GC,19,-1.27,-293.3,243,1766,2787,2046,0.0,0.0,0,47,24.08,0.00,0.00,0.000,2566,0.119,0.000,2232,1765,2783,2783,2045,0,0,0,0,0,0,26.01,26.12,26.08,10.59,50.94
$GC,108,-1.27,-293.3,2232,1759,2784,2045,14.9,-8.3,10,109,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1765,2784,2784,2046,0,0,0,0,0,0,26.45,26.48,26.48,10.57,49.80
$GC,168,-1.27,-293.3,2232,1765,2785,2046,19.8,-8.3,16,173,0.00,2.75,0.00,0.000,516,0.000,0.083,2232,761,2785,2785,2046,0,0,0,0,0,0,26.53,26.14,26.53,10.57,50.27
$GC,233,-1.27,-293.3,2229,761,2785,2046,26.1,-10.1,27,239,0.00,2.35,0.00,0.000,1030,0.000,0.035,2240,1734,2788,2788,2046,0,0,0,0,0,0,26.41,26.39,26.45,10.57,49.76
$GC,300,-1.27,-293.3,2231,1739,2788,2046,31.7,-8.3,34,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1739,2788,2788,2054,0,0,0,0,0,0,26.65,26.66,26.65,10.56,49.88
$GC,360,-1.27,-293.3,2233,1739,2788,2054,36.6,-8.1,40,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1736,2784,2784,2046,0,0,0,0,0,0,26.68,26.70,26.70,10.56,49.84
$GC,420,-1.27,-293.3,2232,1739,2790,2046,41.5,-8.2,46,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1739,2796,2796,2046,0,0,0,0,0,0,26.72,26.74,26.73,10.56,50.39
$GC,480,-1.27,-293.3,2232,1739,2791,2046,46.4,-8.0,52,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1738,2790,2790,2056,0,0,0,0,0,0,26.77,26.77,26.77,10.54,50.98
$GC,540,-1.27,-293.3,2232,1739,2792,2056,51.4,-8.6,58,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1739,2792,2792,2046,0,0,0,0,0,0,26.77,26.79,26.79,10.55,51.02
$GC,600,-1.27,-293.3,2232,1739,2793,2046,56.4,-8.1,64,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1736,2804,2804,2044,0,0,0,0,0,0,26.80,26.82,26.82,10.55,50.90
$GC,660,-1.27,-293.3,2236,1739,2794,2044,60.8,-7.2,70,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1739,2794,2794,2042,0,0,0,0,0,0,26.83,26.84,26.84,10.52,50.86
$GC,720,-1.27,-293.3,2232,1740,2795,2042,65.2,-7.6,76,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1739,2795,2795,2046,0,0,0,0,0,0,26.84,26.86,26.86,10.53,50.82
$GC,780,-1.27,-293.3,2232,1740,2795,2046,70.1,-8.1,82,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1740,2796,2796,2045,0,0,0,0,0,0,26.86,26.89,26.88,10.54,51.37
$GC,841,-1.27,-293.3,2227,1740,2796,2045,75.0,-8.3,88,846,0.00,2.60,0.00,0.000,516,0.000,0.085,2232,767,2797,2797,2046,0,0,0,0,0,0,26.91,26.53,26.90,10.53,51.22
$GC,919,-1.27,-293.3,2232,768,2802,2046,81.3,-9.7,98,935,0.00,2.30,0.00,0.000,1030,0.000,0.037,2232,1756,2796,2796,2047,0,0,0,0,0,0,26.71,26.70,26.72,10.54,51.57
$GC,1022,-1.27,-293.3,2231,1756,2803,2047,89.7,-7.9,105,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1756,2800,2800,2046,0,0,0,0,0,0,26.84,26.86,26.86,10.50,51.61
$GC,1124,-1.27,-293.3,2232,1756,2801,2046,97.5,-7.5,112,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1756,2802,2802,2046,0,0,0,0,0,0,26.81,26.81,26.80,10.60,51.45
$GC,1226,-1.27,-293.3,2232,1756,2796,2046,105.6,-7.9,119,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1756,2803,2803,2046,0,0,0,0,0,0,26.79,26.81,26.81,10.55,50.82
$GC,1328,-1.27,-293.3,2232,1756,2805,2046,113.3,-7.3,126,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1756,2805,2805,2046,0,0,0,0,0,0,26.76,26.78,26.77,10.55,51.14
$GC,1443,-1.27,-293.3,2230,1756,2810,2046,120.9,-7.4,133,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1756,2807,2807,2046,0,0,0,0,0,0,26.72,26.72,26.73,10.60,50.66
$GC,1560,-1.27,-293.3,2232,1757,2802,2046,131.1,-8.1,140,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1756,2809,2809,2046,0,0,0,0,0,0,26.67,26.69,26.69,10.53,50.70
$GC,1662,-1.27,-293.3,2232,1757,2814,2046,139.3,-8.0,147,1678,0.00,2.67,0.00,0.000,516,0.000,0.085,2233,779,2810,2810,2046,0,0,0,0,0,0,26.67,26.33,26.70,10.54,50.35
$GC,1722,-1.27,-293.3,2225,773,2816,2046,144.7,-8.8,151,1739,0.00,2.28,0.00,0.000,1030,0.000,0.038,2233,1741,2811,2811,2046,0,0,0,0,0,0,26.54,26.51,26.54,10.54,49.92
$STATE,1796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1796,begin apogee
$GC,1799,-0.31,0.0,2232,1741,2806,2046,150.9,-8.1,156,1825,3.17,0.00,17.58,2.092,10244,0.057,0.000,2539,1741,2466,2466,2045,0,0,0,0,0,0,26.40,25.52,24.12,10.63,50.07
$STATE,1827,end apogee,CONTROL_FINISHED_OK
$STATE,1827,begin climb
$GC,1828,1.27,293.3,2539,1741,2464,2045,152.6,0.0,160,1855,5.20,0.00,16.73,2.046,11270,0.034,0.000,3043,1741,2144,2144,2048,0,0,0,0,0,0,25.81,25.95,23.61,10.46,50.00
$GC,1916,1.27,293.3,3042,1741,2140,2048,144.1,12.0,171,1917,0.00,0.00,0.03,0.002,8198,0.000,0.000,3043,1741,2141,2141,2045,0,0,0,0,0,0,25.93,25.93,25.94,10.40,49.56
$GC,1975,1.27,293.3,3042,1741,2139,2045,136.5,12.4,177,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1743,2141,2141,2046,0,0,0,0,0,0,26.15,26.14,26.17,10.38,49.68
$GC,2035,1.27,293.3,3042,1741,2138,2046,129.2,11.9,183,2041,0.00,2.75,0.00,0.000,516,0.000,0.086,3046,770,2137,2137,2045,0,0,0,0,0,0,26.27,25.91,26.29,10.36,50.31
$GC,2107,1.27,293.3,3042,770,2135,2045,119.4,13.9,195,2113,0.00,2.40,0.00,0.000,1030,0.000,0.037,3043,1762,2143,2143,2051,0,0,0,0,0,0,26.21,26.21,26.23,10.38,50.15
$GC,2173,1.27,293.3,3042,1767,2134,2051,111.3,12.0,202,2179,0.00,2.40,0.00,0.000,260,0.000,0.042,3042,2698,2134,2134,2039,0,0,0,0,0,0,26.48,26.17,26.49,10.38,50.70
$GC,2245,1.27,293.3,3041,2692,2132,2039,102.5,12.1,214,2251,0.00,2.45,0.00,0.000,1030,0.000,0.045,3035,1766,2132,2132,2037,0,0,0,0,0,0,26.28,26.22,26.32,10.38,51.06
$GC,2311,1.27,293.3,3042,1759,2130,2037,94.7,11.7,221,2317,0.00,2.78,0.00,0.000,516,0.000,0.086,3041,758,2131,2131,2046,0,0,0,0,0,0,26.60,26.22,26.62,10.38,51.73
$GC,2391,1.27,293.3,3042,757,2127,2046,84.9,12.7,234,2395,0.00,2.38,0.00,0.000,1030,0.000,0.037,3042,1759,2123,2123,2045,0,0,0,0,0,0,26.52,26.46,26.51,10.35,50.98
$GC,2455,1.27,293.3,3042,1765,2126,2045,77.5,10.7,241,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1765,2126,2126,2046,0,0,0,0,0,0,26.70,26.71,26.71,10.38,51.41
$GC,2515,1.27,293.3,3043,1764,2125,2046,71.1,10.6,247,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1765,2131,2131,2046,0,0,0,0,0,0,26.72,26.75,26.74,10.38,51.96
$GC,2575,1.27,293.3,3042,1764,2124,2046,64.7,10.6,253,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1765,2124,2124,2046,0,0,0,0,0,0,26.76,26.78,26.77,10.38,51.57
$GC,2650,1.27,293.3,3042,1765,2121,2046,57.6,11.4,259,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1765,2121,2121,2046,0,0,0,0,0,0,26.74,26.76,26.76,10.37,51.45
$GC,2751,1.27,293.3,3041,1765,2119,2046,46.7,10.6,266,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1765,2122,2122,2046,0,0,0,0,0,0,26.74,26.76,26.76,10.37,51.65
$GC,2852,1.27,293.3,3042,1765,2117,2046,36.3,10.2,273,2868,0.00,2.75,0.00,0.000,516,0.000,0.087,3043,760,2120,2120,2046,0,0,0,0,0,0,26.72,26.36,26.73,10.37,51.53
$GC,2981,1.27,293.3,3042,760,2113,2046,22.6,11.0,282,2997,0.00,2.33,0.00,0.000,1030,0.000,0.036,3043,1758,2112,2112,2046,0,0,0,0,0,0,26.55,26.55,26.57,10.37,51.26
$GC,3084,1.27,293.3,3042,1758,2110,2046,12.1,10.1,289,3099,0.00,2.35,0.00,0.000,260,0.000,0.041,3043,2689,2110,2110,2046,0,0,0,0,0,0,26.67,26.41,26.67,10.42,51.37
$STATE,3187,end climb,SURFACE_DEPTH_REACHED
$STATE,3187,begin surface coast
$STATE,3217,end surface coast,CONTROL_FINISHED_OK
$STATE,3217,begin surface
$SM_CCo,3255,3.05,0.298,0,0,2077,350.89
$SM_GC,3.10,28.62,2.50,3.05,0.024,0.044,0.298,231,1738,2077,-7.56,0.05,350.89,0,0,0,0,0,0,26.21,26.44,25.75
$IRIDIUM_FIX,4808.40,-12337.82,230518,005753
$TT8_MAMPS,0.02247,0.829143
$HUMID,51.02
$INTERNAL_PRESSURE,10.3458
$TCM_TEMP,10.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.6,999.0
$ALTIM_BOTTOM_PING,123.1,123.3
$SC_FREEKB,3905312
$24V_AH,23.61,4.906
$10V_AH,10.18,5.934
$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,61.075,40.025,34.325,3.050,0.000,24.876,18.449,791.410,190.250,0.000,15.650,337.763,1216.274,135.831,2494.308,81.194,33.444,620.481,0.000,455.256,0.000,1887.144,0.000
$DEVICE_MAMPS,118.575,87.210,2091.510,298.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3254.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.046,0.000,0.000,0.000
$MEM,313004
$DATA_FILE_SIZE,10484,310
$CAP_FILE_SIZE,141850,0
$CFSIZE,1023623168,1020182528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,031858,4742.592,-12225.320,5,0.9,17,16.3,0.5,182.9,9,4.8