version: 66.14
glider: 401
mission: 28
dive: 13
start: 5 23 118 7 19 37
data:
$ID,401
$MISSION,28
$DIVE,13
$N_DIVES,25
$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,45
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,260
$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,10
$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
$GPS1,230518,070914,4741.3325,-12226.2959,4,0.9,16,16.3,0.5,210.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-58.2
$GPS2,230518,071830,4741.2134,-12226.4248,6,0.9,21,16.3,0.4,211.5,9,4.9
$SPEED_LIMITS,0.286,0.454
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.215843,0.399606
$KALMAN_X,-2704.021484,-88.518509,-303.988129,1457.677246,-789.416260
$KALMAN_Y,-6754.147461,-309.723969,-645.133911,4938.842773,-1639.695557
$MHEAD_RNG_PITCHd_Wd,12.1,5544,-13.2,-13.333,-16.36,5595
$D_GRID,165
$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,-1.56,-488.8,232,1782,1946,2045,0.0,0.0,0,21,0.00,0.00,-8.32,0.000,16390,0.000,0.000,238,1781,3047,3047,2046,0,0,0,0,0,0,26.42,25.70,26.41,10.40,49.40
$GC,23,-1.56,-488.8,232,1780,3048,2046,1.8,0.0,1,24,0.00,0.00,0.00,0.000,4102,0.000,0.000,234,1782,3048,3048,2046,0,0,0,0,0,0,26.41,26.40,26.42,10.67,50.39
$GC,82,-1.56,-488.8,232,1781,3054,2046,36.7,-65.9,7,83,0.00,0.00,0.00,0.000,4102,0.000,0.000,232,1781,3055,3055,2046,0,0,0,0,0,0,26.51,26.53,26.54,10.62,49.68
$GC,141,-1.56,-488.8,229,1781,3060,2046,78.3,-68.1,13,143,0.00,0.00,0.00,0.000,4102,0.000,0.000,232,1780,3056,3056,2046,0,0,0,0,0,0,26.58,26.58,26.57,10.56,49.48
$GC,260,-1.56,-488.8,231,1781,3077,2046,143.5,-70.5,19,289,0.00,0.00,0.00,0.000,4102,0.000,0.000,232,1781,3079,3079,2046,0,0,0,0,0,0,26.56,26.55,26.58,10.58,49.68
$STATE,319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,319,begin apogee
$GC,322,-0.31,0.0,232,1781,3079,2046,165.6,-53.4,21,354,0.00,0.00,27.45,2.253,12292,0.000,0.000,232,1777,2516,2516,2046,0,0,0,0,0,0,26.56,24.65,23.58,10.68,48.62
$STATE,355,end apogee,CONTROL_FINISHED_OK
$STATE,356,begin climb
$GC,357,1.56,488.8,232,1781,2517,2046,165.5,0.0,27,395,6.30,0.00,27.17,2.220,11270,0.121,0.000,727,1778,1982,1982,2054,0,0,0,0,0,0,25.13,25.40,23.11,10.48,47.95
$GC,456,1.56,488.8,732,1774,1980,2054,145.5,26.7,40,462,0.00,2.75,0.00,0.000,516,0.000,0.069,732,783,1980,1980,2052,0,0,0,0,0,0,25.67,25.37,25.68,10.44,47.40
$GC,534,1.56,488.8,732,776,1976,2052,125.7,25.9,53,540,0.00,2.55,0.00,0.000,1030,0.000,0.023,734,1827,1973,1973,2046,0,0,0,0,0,0,25.82,25.79,25.86,10.36,47.36
$GC,600,1.56,488.8,732,1829,1972,2046,108.4,24.1,60,606,0.00,2.67,0.00,0.000,516,0.000,0.035,734,770,1978,1978,2045,0,0,0,0,0,0,26.20,25.94,26.21,10.40,47.75
$GC,654,1.56,488.8,732,764,1969,2045,94.6,23.2,69,660,0.00,2.60,0.00,0.000,1030,0.000,0.030,732,1816,1969,1969,2052,0,0,0,0,0,0,26.08,26.06,26.10,10.36,48.46
$GC,720,1.56,488.8,732,1822,1965,2052,77.7,24.9,76,726,0.00,2.40,0.00,0.000,260,0.000,0.041,733,2754,1963,1963,2046,0,0,0,0,0,0,26.39,26.13,26.40,10.35,48.34
$GC,732,1.56,488.8,732,2752,1963,2046,73.6,27.3,78,738,0.00,2.65,0.00,0.000,1030,0.000,0.039,732,1720,1957,1957,2049,0,0,0,0,0,0,26.17,26.14,26.23,10.34,48.74
$GC,813,1.56,488.8,733,1718,1957,2049,55.5,27.4,85,829,0.00,2.55,0.00,0.000,516,0.000,0.085,733,782,1958,1958,2046,0,0,0,0,0,0,26.45,26.15,26.48,10.34,49.01
$GC,888,1.56,488.8,732,782,1954,2046,35.6,26.3,90,904,0.00,2.35,0.00,0.000,1030,0.000,0.034,733,1757,1953,1953,2047,0,0,0,0,0,0,26.31,26.26,26.32,10.34,49.52
$GC,981,1.56,488.8,732,1757,1947,2047,7.0,28.1,97,986,0.00,2.70,0.00,0.000,516,0.000,0.086,733,793,1941,1941,2051,0,0,0,0,0,0,26.53,26.20,26.55,10.34,49.64
$STATE,1004,end climb,SURFACE_DEPTH_REACHED
$STATE,1004,begin surface coast
$STATE,1010,end surface coast,CONTROL_FINISHED_OK
$STATE,1010,begin surface
$SM_CCo,1089,0.00,0.000,0,0,1946,525.41
$SM_GC,1.59,6.43,2.42,0.00,0.031,0.026,0.000,231,1763,1946,-0.09,-1.91,525.41,0,0,0,0,0,0,26.08,26.36,26.30
$IRIDIUM_FIX,4808.40,-12337.82,230518,064121
$TT8_MAMPS,0.023219,0.841127
$HUMID,49.96
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,15.0,999.0
$SC_FREEKB,3902368
$24V_AH,23.11,5.359
$10V_AH,10.23,6.309
$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,14.150,25.825,54.625,0.000,0.000,22.211,22.776,399.730,50.250,0.000,23.124,168.353,424.996,87.333,954.664,39.073,33.474,269.885,0.000,161.749,0.000,505.648,0.000
$DEVICE_MAMPS,126.225,123.165,2252.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1022.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,69.502,0.000,0.000,0.000
$MEM,312872
$DATA_FILE_SIZE,3609,102
$CAP_FILE_SIZE,51094,0
$CFSIZE,1023623168,1019543552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,073837,4741.221,-12226.516,5,0.8,12,16.3,0.5,218.6,12,4.8