version: 66.14
glider: 401
mission: 28
dive: 10
start: 5 23 118 5 4 16
data:
$ID,401
$MISSION,28
$DIVE,10
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$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,65
$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,450
$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,2610
$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,1775
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3420
$C_VBD,2515
$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
$GPS1,230518,044158,4742.3672,-12225.6533,5,0.9,12,16.3,0.6,201.2,9,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-58.6
$GPS2,230518,050309,4741.9941,-12225.8408,7,1.0,16,16.3,0.5,204.4,9,4.6
$SPEED_LIMITS,0.208,0.418
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.173495,0.380222
$KALMAN_X,-1038.265747,133.893768,-90.661034,91.551788,-336.762482
$KALMAN_Y,-3002.312500,100.131248,-512.130310,2104.030273,-616.882812
$MHEAD_RNG_PITCHd_Wd,8.2,3935,-12.6,-12.000,-16.02,5592
$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,-1.45,-439.9,232,1785,1957,2045,0.0,0.0,0,21,0.00,0.00,-7.90,0.000,16390,0.000,0.000,232,1787,2996,2996,2046,0,0,0,0,0,0,26.37,25.60,26.39,10.42,48.66
$GC,23,-1.45,-439.9,232,1787,2995,2046,1.9,0.0,1,52,22.92,2.72,0.00,0.000,2564,0.118,0.074,2135,787,2998,2998,2055,0,0,0,0,0,0,25.96,26.01,26.13,10.67,49.21
$GC,75,-1.45,-439.9,2135,790,2998,2055,18.9,-20.4,10,81,0.00,2.40,0.00,0.000,1030,0.000,0.032,2136,1763,2999,2999,2046,0,0,0,0,0,0,26.20,26.17,26.20,10.65,48.58
$GC,142,-1.45,-439.9,2134,1764,3000,2046,25.6,-10.2,17,143,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1764,3000,3000,2046,0,0,0,0,0,0,26.48,26.53,26.49,10.63,48.42
$GC,202,-1.45,-439.9,2135,1764,3001,2046,32.6,-11.8,23,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1764,3001,3001,2045,0,0,0,0,0,0,26.54,26.55,26.55,10.61,48.38
$GC,262,-1.45,-439.9,2135,1765,3003,2045,39.8,-11.9,29,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1772,3011,3011,2043,0,0,0,0,0,0,26.59,26.60,26.61,10.61,48.14
$GC,322,-1.45,-439.9,2135,1765,3004,2043,46.8,-11.5,35,327,0.00,2.67,0.00,0.000,516,0.000,0.080,2135,789,3004,3004,2042,0,0,0,0,0,0,26.66,26.27,26.65,10.61,48.38
$GC,357,-1.45,-439.9,2135,785,3005,2042,51.3,-12.9,41,363,0.00,2.42,0.00,0.000,1030,0.000,0.034,2135,1782,3005,3005,2043,0,0,0,0,0,0,26.46,26.43,26.51,10.62,48.46
$GC,424,-1.45,-439.9,2135,1789,3007,2043,59.1,-11.8,48,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,1789,3006,3006,2045,0,0,0,0,0,0,26.70,26.71,26.71,10.60,49.33
$GC,484,-1.45,-439.9,2135,1789,3009,2045,65.7,-11.4,54,489,0.00,2.75,0.00,0.000,516,0.000,0.083,2136,779,3008,3008,2046,0,0,0,0,0,0,26.73,26.32,26.74,10.60,49.25
$GC,538,-1.45,-439.9,2135,777,3009,2046,72.7,-13.5,63,543,0.00,2.38,0.00,0.000,1030,0.000,0.033,2135,1767,3010,3010,2046,0,0,0,0,0,0,26.54,26.53,26.57,10.60,49.44
$GC,615,-1.45,-439.9,2135,1767,3011,2046,80.8,-11.9,70,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1767,3012,3012,2046,0,0,0,0,0,0,26.74,26.79,26.75,10.59,48.89
$GC,718,-1.45,-439.9,2135,1767,3013,2046,92.2,-11.3,77,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1767,3014,3014,2046,0,0,0,0,0,0,26.73,26.74,26.74,10.64,49.84
$GC,820,-1.45,-439.9,2135,1767,3016,2046,104.1,-11.3,84,836,0.00,2.65,0.00,0.000,516,0.000,0.083,2135,788,3016,3016,2047,0,0,0,0,0,0,26.77,26.38,26.75,10.58,48.97
$GC,867,-1.45,-439.9,2138,787,3029,2047,109.7,-11.8,87,882,0.00,2.30,0.00,0.000,1030,0.000,0.034,2136,1764,3017,3017,2046,0,0,0,0,0,0,26.57,26.54,26.57,10.59,49.80
$GC,984,-1.45,-439.9,2141,1764,3024,2046,121.3,-10.5,94,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1764,3019,3019,2046,0,0,0,0,0,0,26.70,26.71,26.72,10.58,49.25
$GC,1099,-1.45,-439.9,2135,1758,3025,2046,134.1,-9.9,101,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,1764,3022,3022,2046,0,0,0,0,0,0,26.64,26.66,26.65,10.58,49.25
$GC,1201,-1.45,-439.9,2135,1764,3029,2046,145.2,-11.2,108,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1764,3024,3024,2046,0,0,0,0,0,0,26.65,26.66,26.66,10.58,48.89
$GC,1302,-1.45,-439.9,2134,1769,3026,2046,157.0,-12.0,115,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1764,3026,3026,2046,0,0,0,0,0,0,26.64,26.63,26.65,10.55,49.68
$GC,1405,-1.45,-439.9,2135,1765,3028,2046,168.6,-11.2,122,1421,0.00,2.65,0.00,0.000,516,0.000,0.084,2136,793,3028,3028,2046,0,0,0,0,0,0,26.65,26.30,26.66,10.58,48.97
$GC,1465,-1.45,-439.9,2134,792,3030,2046,175.9,-12.0,126,1481,0.00,2.30,0.00,0.000,1030,0.000,0.036,2134,1767,3030,3030,2046,0,0,0,0,0,0,26.51,26.48,26.52,10.58,49.09
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1499,-0.31,0.0,2138,1763,3030,2046,179.8,-12.7,128,1532,3.72,0.00,25.95,2.420,10244,0.060,0.000,2495,1766,2514,2514,2047,0,0,0,0,0,0,26.44,25.01,23.54,10.58,48.97
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1535,1.45,439.9,2494,1767,2514,2047,182.4,0.0,132,1568,5.95,0.00,24.50,2.372,11270,0.035,0.000,3060,1768,2042,2042,2046,0,0,0,0,0,0,25.36,25.46,23.01,10.47,48.66
$GC,1628,1.45,439.9,3061,1767,2041,2046,173.3,12.7,145,1634,0.00,2.78,0.60,0.004,8708,0.000,0.084,3061,780,2039,2039,2046,0,0,0,0,0,0,25.69,25.35,25.68,10.37,48.30
$GC,1675,1.45,439.9,3060,781,2039,2046,166.6,13.9,153,1682,0.00,2.47,0.25,0.003,9222,0.000,0.034,3061,1776,2040,2040,2046,0,0,0,0,0,0,25.77,25.75,25.77,10.40,48.74
$GC,1742,1.45,439.9,3057,1782,2038,2046,158.2,12.6,160,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1782,2039,2039,2046,0,0,0,0,0,0,26.13,26.14,26.14,10.37,49.68
$GC,1802,1.45,439.9,3060,1777,2037,2046,150.6,12.8,166,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1781,2043,2043,2046,0,0,0,0,0,0,26.27,26.24,26.30,10.36,49.25
$GC,1862,1.45,439.9,3061,1783,2035,2046,142.8,13.1,172,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1783,2035,2035,2046,0,0,0,0,0,0,26.36,26.38,26.37,10.36,49.84
$GC,1921,1.45,439.9,3060,1782,2034,2046,135.1,12.8,178,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1781,2033,2033,2054,0,0,0,0,0,0,26.44,26.45,26.46,10.35,50.39
$GC,1983,1.45,439.9,3060,1782,2031,2054,126.6,14.6,184,1987,0.00,2.70,0.00,0.000,516,0.000,0.085,3062,788,2031,2031,2046,0,0,0,0,0,0,26.51,26.14,26.55,10.40,50.27
$GC,2030,1.45,439.9,3058,794,2030,2046,119.7,13.9,192,2035,0.00,2.38,0.00,0.000,1030,0.000,0.034,3061,1764,2025,2025,2045,0,0,0,0,0,0,26.36,26.31,26.35,10.36,50.31
$GC,2095,1.45,439.9,3060,1770,2028,2045,111.2,12.7,199,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1779,2027,2027,2046,0,0,0,0,0,0,26.59,26.61,26.63,10.29,50.31
$GC,2156,1.45,439.9,3060,1768,2026,2046,103.3,13.4,205,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1771,2020,2020,2045,0,0,0,0,0,0,26.64,26.65,26.65,10.36,50.74
$GC,2215,1.45,439.9,3063,1771,2024,2045,95.1,13.6,211,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1768,2025,2025,2046,0,0,0,0,0,0,26.67,26.69,26.68,10.35,50.82
$GC,2275,1.45,439.9,3060,1771,2023,2046,87.5,12.2,217,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1769,2023,2023,2046,0,0,0,0,0,0,26.69,26.72,26.72,10.40,51.41
$GC,2335,1.45,439.9,3060,1770,2021,2046,79.8,13.5,223,2341,0.00,2.72,0.00,0.000,516,0.000,0.084,3063,784,2021,2021,2046,0,0,0,0,0,0,26.74,26.39,26.77,10.38,51.29
$GC,2389,1.45,439.9,3060,785,2019,2046,72.4,14.5,232,2395,0.00,2.35,0.00,0.000,1030,0.000,0.034,3061,1765,2014,2014,2045,0,0,0,0,0,0,26.57,26.58,26.63,10.35,51.89
$GC,2456,1.49,465.8,3060,1768,2024,2045,64.3,11.5,239,2458,0.00,0.00,0.05,0.005,8198,0.000,0.000,3061,1772,2017,2017,2050,0,0,0,0,0,0,26.78,26.80,26.79,10.31,50.90
$GC,2535,1.49,465.8,3061,1772,2015,2050,55.3,13.1,245,2551,0.00,0.00,0.80,0.005,8198,0.000,0.000,3061,1773,2015,2015,2050,0,0,0,0,0,0,26.75,26.77,26.74,10.35,51.61
$GC,2638,1.53,492.6,3060,1773,2011,2050,44.2,11.5,252,2655,0.12,0.00,3.03,0.421,10246,0.074,0.000,3082,1773,1985,1985,2040,0,0,0,0,0,0,26.56,26.15,25.53,10.35,51.45
$GC,2742,1.60,538.1,3082,1773,1982,2040,32.6,11.2,259,2758,0.10,0.00,3.67,0.518,10246,0.086,0.000,3101,1774,1938,1938,2046,0,0,0,0,0,0,26.52,26.13,25.56,10.33,51.33
$GC,2845,1.60,538.1,3100,1773,1944,2046,19.7,13.6,266,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1773,1934,1934,2046,0,0,0,0,0,0,26.65,26.67,26.66,10.32,50.94
$GC,2928,1.70,606.7,3100,1779,1932,2046,8.2,10.7,273,2940,0.30,2.42,4.80,0.511,10500,0.040,0.041,3138,2712,1858,1858,2046,0,0,0,0,0,0,26.48,26.32,25.66,10.38,50.78
$GC,2970,1.82,684.5,3138,2714,1856,2046,4.2,10.6,280,2982,0.30,2.47,5.18,0.508,11270,0.023,0.043,3184,1758,1769,1769,2048,0,0,0,0,0,0,26.42,26.36,25.71,10.39,51.37
$STATE,3000,end climb,SURFACE_DEPTH_REACHED
$STATE,3000,begin surface coast
$STATE,3020,end surface coast,CONTROL_FINISHED_OK
$STATE,3021,begin surface
$SM_CCo,3117,0.00,0.000,0,0,1772,686.09
$SM_GC,1.18,30.25,0.00,0.00,0.024,0.000,0.000,232,1761,1772,-7.43,-0.64,686.09,0,0,0,0,0,0,26.15,26.66,26.37
$IRIDIUM_FIX,4808.40,-12337.82,230518,044701
$TT8_MAMPS,0.023219,0.837382
$HUMID,50.27
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,10.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.6,999.0
$ALTIM_BOTTOM_PING,124.3,65.1
$SC_FREEKB,3904032
$24V_AH,23.01,5.129
$10V_AH,10.16,6.183
$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,63.675,45.550,68.825,0.000,0.000,96.188,72.006,794.844,178.000,0.000,17.648,334.858,1287.545,160.013,2542.609,80.804,33.438,640.014,0.000,421.277,0.000,1777.933,0.000
$DEVICE_MAMPS,117.810,84.915,2420.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3054.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.570,0.000,0.000,0.000
$MEM,312896
$DATA_FILE_SIZE,10525,286
$CAP_FILE_SIZE,143080,0
$CFSIZE,1023623168,1019838464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,055713,4742.031,-12225.803,4,0.8,20,16.3,0.5,204.9,10,5.0