version: 66.14
glider: 401
mission: 28
dive: 20
start: 5 23 118 11 50 17
data:
$ID,401
$MISSION,28
$DIVE,20
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$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,40
$T_MISSION,50
$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,5
$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,2600
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,230518,113314,4740.9531,-12226.4199,4,0.9,26,16.3,0.4,199.8,9,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-58.8
$GPS2,230518,114903,4740.7959,-12226.5303,6,0.8,18,16.3,0.4,201.7,10,5.0
$SPEED_LIMITS,0.143,0.329
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.081086,0.318690
$KALMAN_X,-5772.125000,-894.440002,-206.452866,5093.556152,-25.371231
$KALMAN_Y,-11644.590820,-2048.059082,67.765778,10068.502930,-299.891235
$MHEAD_RNG_PITCHd_Wd,358.0,6313,-13.3,-10.000,-16.91,4474
$D_GRID,130
$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,-293.3,243,1771,1828,2045,0.0,0.0,0,21,0.00,0.00,-7.65,0.000,16390,0.000,0.000,243,1774,2827,2827,2041,0,0,0,0,0,0,26.40,25.34,26.44,10.38,49.92
$GC,23,-1.27,-293.3,244,1776,2835,2041,1.9,0.0,1,50,23.52,0.00,0.00,0.000,2054,0.118,0.000,2182,1771,2838,2838,2046,0,0,0,0,0,0,26.04,26.19,26.16,10.62,50.03
$GC,112,-1.27,-293.3,2182,1778,2839,2046,19.3,-10.6,10,113,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1772,2839,2839,2050,0,0,0,0,0,0,26.48,26.48,26.51,10.59,49.29
$GC,171,-1.27,-293.3,2182,1772,2841,2050,25.8,-11.1,16,173,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1772,2843,2843,2046,0,0,0,0,0,0,26.53,26.55,26.56,10.59,49.88
$GC,231,-1.27,-293.3,2182,1772,2842,2046,32.7,-11.2,22,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1772,2842,2842,2051,0,0,0,0,0,0,26.59,26.59,26.60,10.55,49.44
$GC,291,-1.27,-293.3,2182,1772,2843,2051,40.1,-13.0,28,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1771,2843,2843,2046,0,0,0,0,0,0,26.63,26.65,26.65,10.57,49.60
$GC,352,-1.27,-293.3,2182,1772,2845,2046,47.2,-11.2,34,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1773,2842,2842,2046,0,0,0,0,0,0,26.70,26.70,26.68,10.57,49.68
$GC,412,-1.27,-293.3,2183,1772,2847,2046,54.7,-12.2,40,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1771,2843,2843,2043,0,0,0,0,0,0,26.70,26.72,26.72,10.57,50.00
$GC,471,-1.27,-293.3,2182,1772,2848,2043,61.5,-11.4,46,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1772,2849,2849,2046,0,0,0,0,0,0,26.74,26.75,26.75,10.56,50.19
$GC,533,-1.27,-293.3,2182,1772,2849,2046,68.1,-11.0,52,537,0.00,2.47,0.00,0.000,260,0.000,0.046,2188,2759,2847,2847,2046,0,0,0,0,0,0,26.79,26.45,26.77,10.57,50.07
$GC,567,-1.27,-293.3,2182,2758,2850,2046,71.8,-10.6,58,573,0.00,2.50,0.00,0.000,1030,0.000,0.040,2179,1780,2850,2850,2046,0,0,0,0,0,0,26.53,26.46,26.56,10.56,50.03
$GC,634,-1.27,-293.3,2182,1780,2851,2046,79.4,-11.9,65,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1784,2852,2852,2046,0,0,0,0,0,0,26.80,26.82,26.80,10.56,50.70
$GC,723,-1.27,-293.3,2182,1780,2854,2046,88.7,-11.8,71,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1780,2854,2854,2046,0,0,0,0,0,0,26.75,26.77,26.77,10.56,50.27
$GC,823,-1.27,-293.3,2180,1780,2856,2046,100.4,-11.6,78,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1779,2857,2857,2046,0,0,0,0,0,0,26.75,26.77,26.77,10.53,50.35
$GC,922,-1.27,-293.3,2182,1784,2858,2046,111.0,-9.6,85,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1779,2859,2859,2046,0,0,0,0,0,0,26.73,26.72,26.71,10.55,50.27
$STATE,1034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1034,begin apogee
$GC,1037,-0.31,0.0,2181,1778,2860,2045,120.3,-9.0,92,1061,3.20,0.00,16.92,1.774,10244,0.066,0.000,2496,1779,2514,2514,2046,0,0,0,0,0,0,26.39,25.67,24.55,10.56,50.11
$STATE,1062,end apogee,CONTROL_FINISHED_OK
$STATE,1063,begin climb
$GC,1064,1.27,293.3,2486,1779,2514,2046,123.8,0.0,97,1090,5.35,0.00,16.08,1.745,11270,0.052,0.000,2986,1779,2195,2195,2046,0,0,0,0,0,0,25.89,26.08,24.06,10.49,49.84
$GC,1151,1.27,293.3,2984,1783,2195,2046,116.5,10.6,108,1156,0.00,2.58,0.00,0.000,260,0.000,0.041,2986,2747,2200,2200,2046,0,0,0,0,0,0,25.97,25.70,25.98,10.41,49.25
$GC,1216,1.27,293.3,2986,2748,2194,2046,108.5,12.2,119,1222,0.00,2.55,0.00,0.000,1030,0.000,0.041,2993,1781,2193,2193,2046,0,0,0,0,0,0,25.95,25.89,25.97,10.41,49.68
$GC,1283,1.27,293.3,2986,1781,2196,2046,101.9,10.0,126,1288,0.00,2.75,0.03,0.003,8708,0.000,0.085,2991,793,2191,2191,2045,0,0,0,0,0,0,26.31,25.96,26.32,10.40,50.43
$GC,1362,1.28,297.9,2986,795,2189,2045,94.5,9.9,139,1366,0.00,2.40,0.00,0.000,1030,0.000,0.034,2985,1814,2191,2191,2045,0,0,0,0,0,0,26.26,26.22,26.28,10.40,50.23
$GC,1427,1.38,366.1,2985,1821,2189,2045,88.8,8.4,146,1437,0.35,0.00,5.10,1.016,10246,0.034,0.000,3031,1827,2115,2115,2045,0,0,0,0,0,0,26.30,25.77,24.98,10.40,50.78
$GC,1497,1.42,392.6,3031,1821,2115,2045,82.6,9.4,153,1501,0.00,0.00,2.88,0.496,8198,0.000,0.000,3030,1821,2092,2092,2046,0,0,0,0,0,0,26.48,26.05,25.08,10.33,51.33
$GC,1557,1.44,403.0,3031,1821,2091,2046,76.7,9.8,159,1561,0.00,0.00,2.40,0.280,8198,0.000,0.000,3031,1821,2087,2087,2052,0,0,0,0,0,0,26.48,26.12,25.13,10.39,50.63
$GC,1616,1.44,403.0,3031,1821,2078,2052,70.4,10.7,165,1622,0.00,2.85,0.00,0.000,516,0.000,0.087,3035,793,2077,2077,2046,0,0,0,0,0,0,26.54,26.17,26.55,10.38,50.82
$GC,1688,1.44,403.0,3031,793,2076,2046,62.2,11.5,177,1694,0.00,2.38,0.00,0.000,1030,0.000,0.035,3036,1774,2076,2076,2045,0,0,0,0,0,0,26.42,26.39,26.43,10.38,51.06
$GC,1782,1.51,453.2,3028,1776,2074,2045,54.6,8.9,184,1798,0.25,0.00,3.97,0.661,10246,0.045,0.000,3069,1776,2025,2025,2046,0,0,0,0,0,0,26.47,25.99,25.29,10.37,51.33
$GC,1883,1.51,453.2,3068,1776,2023,2046,44.0,11.4,191,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1776,2023,2023,2046,0,0,0,0,0,0,26.57,26.58,26.58,10.36,51.06
$GC,1983,1.65,543.8,3068,1776,2015,2046,36.5,7.9,198,1999,0.32,0.00,5.78,0.756,10246,0.041,0.000,3113,1776,1927,1927,2046,0,0,0,0,0,0,26.42,25.97,25.42,10.35,51.33
$GC,2084,1.70,577.4,3112,1776,1925,2046,27.8,9.2,205,2099,0.00,0.00,3.47,0.460,8198,0.000,0.000,3112,1776,1886,1886,2046,0,0,0,0,0,0,26.55,25.99,25.52,10.32,51.53
$GC,2184,1.70,577.4,3112,1776,1884,2046,17.6,10.7,212,2199,0.08,0.00,0.00,0.000,2054,0.101,0.000,3134,1776,1884,1884,2046,0,0,0,0,0,0,26.32,26.37,26.39,10.38,51.41
$GC,2267,1.79,641.8,3129,1776,1888,2046,8.2,8.5,219,2279,0.22,2.72,4.45,0.468,10756,0.047,0.086,3170,805,1816,1816,2050,0,0,0,0,0,0,26.38,26.17,25.62,10.33,50.86
$GC,2344,2.12,855.6,3165,796,1815,2050,2.4,5.1,232,2357,0.80,2.35,6.32,0.534,11266,0.019,0.036,3263,1783,1700,1700,2045,0,0,0,0,0,0,26.41,26.39,26.39,10.35,51.02
$STATE,2359,end climb,SURFACE_DEPTH_REACHED
$STATE,2359,begin surface coast
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2483,0.00,0.000,0,0,1700,753.49
$SM_GC,1.45,30.85,0.00,0.00,0.021,0.000,0.000,243,1776,1700,-7.36,0.05,753.49,0,0,0,0,0,0,26.23,26.57,26.34
$IRIDIUM_FIX,4808.40,-12337.82,230518,105338
$TT8_MAMPS,0.02247,0.738514
$HUMID,50.07
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,10.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,13.9,999.0
$ALTIM_BOTTOM_PING,120.3,28.2
$SC_FREEKB,3898624
$24V_AH,24.06,5.907
$10V_AH,10.25,6.667
$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,64.950,25.550,67.400,0.000,0.000,96.036,68.249,512.168,130.500,0.000,19.939,280.702,1107.269,143.803,1857.148,75.429,33.461,486.007,0.000,354.861,0.000,1278.415,0.000
$DEVICE_MAMPS,117.810,87.210,1774.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2409.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.438,0.000,0.000,0.000
$MEM,313032
$DATA_FILE_SIZE,7039,239
$CAP_FILE_SIZE,107033,0
$CFSIZE,1023623168,1018789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,123255,4741.264,-12226.159,4,1.0,35,16.3,0.4,223.6,9,4.8