version: 66.14
glider: 401
mission: 28
dive: 21
start: 5 23 118 12 48 51
data:
$ID,401
$MISSION,28
$DIVE,21
$N_DIVES,25
$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,400
$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,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,1775
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,68
$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
$GPS1,230518,123255,4741.2637,-12226.1592,4,1.0,35,16.3,0.4,223.6,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-55.3
$GPS2,230518,124745,4741.1387,-12226.3594,7,0.8,13,16.3,0.0,13.0,9,4.7
$SPEED_LIMITS,0.143,0.372
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.078247,0.363528
$KALMAN_X,-5888.998047,-917.739014,-47.408730,5292.024414,163.694733
$KALMAN_Y,-11850.709961,-2104.447510,188.622620,10847.172852,-4.067932
$MHEAD_RNG_PITCHd_Wd,355.8,5644,-11.2,-10.000,-15.05,5957
$D_GRID,153
$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,-1.33,-391.0,242,1776,1699,2045,0.0,0.0,0,21,0.00,0.00,-9.55,0.000,16390,0.000,0.000,243,1774,2936,2936,2051,0,0,0,0,0,0,26.35,25.25,26.32,10.37,50.07
$GC,23,-1.33,-391.0,243,1777,2944,2051,1.8,0.0,1,50,23.35,0.00,0.00,0.000,2054,0.119,0.000,2162,1780,2946,2946,2046,0,0,0,0,0,0,26.00,26.15,26.12,10.58,49.64
$GC,112,-1.33,-391.0,2168,1777,2948,2046,21.8,-11.7,10,113,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1781,2948,2948,2047,0,0,0,0,0,0,26.43,26.44,26.44,10.62,49.40
$GC,171,-1.33,-391.0,2162,1777,2950,2047,28.9,-11.4,16,173,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1780,2949,2949,2046,0,0,0,0,0,0,26.50,26.51,26.51,10.61,48.93
$GC,231,-1.33,-391.0,2165,1777,2947,2046,36.6,-13.0,22,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1777,2951,2951,2046,0,0,0,0,0,0,26.55,26.57,26.57,10.61,48.97
$GC,291,-1.33,-391.0,2162,1777,2953,2046,44.9,-14.0,28,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1777,2953,2953,2046,0,0,0,0,0,0,26.60,26.62,26.62,10.59,49.72
$GC,352,-1.33,-391.0,2162,1777,2955,2046,53.2,-13.5,34,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1776,2952,2952,2046,0,0,0,0,0,0,26.65,26.66,26.66,10.59,49.05
$GC,411,-1.33,-391.0,2161,1777,2957,2046,60.9,-13.0,40,417,0.00,2.70,0.00,0.000,516,0.000,0.083,2161,795,2957,2957,2054,0,0,0,0,0,0,26.68,26.34,26.70,10.59,49.44
$GC,454,-1.33,-391.0,2162,796,2958,2054,67.0,-14.3,47,459,0.00,2.30,0.00,0.000,1030,0.000,0.033,2162,1750,2957,2957,2046,0,0,0,0,0,0,26.51,26.48,26.56,10.59,49.25
$GC,520,-1.33,-391.0,2162,1756,2959,2046,74.9,-11.2,54,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1756,2959,2959,2046,0,0,0,0,0,0,26.73,26.74,26.74,10.59,49.40
$GC,595,-1.33,-391.0,2161,1756,2961,2046,82.1,-11.5,60,610,0.00,2.62,0.00,0.000,516,0.000,0.085,2163,791,2961,2961,2045,0,0,0,0,0,0,26.72,26.37,26.71,10.56,49.64
$GC,654,-1.33,-391.0,2162,793,2962,2045,91.0,-15.0,64,670,0.00,2.30,0.00,0.000,1030,0.000,0.034,2162,1773,2963,2963,2046,0,0,0,0,0,0,26.55,26.54,26.57,10.58,50.03
$GC,757,-1.33,-391.0,2165,1773,2965,2046,103.3,-11.1,71,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1773,2965,2965,2046,0,0,0,0,0,0,26.71,26.74,26.73,10.58,49.68
$GC,857,-1.33,-391.0,2162,1772,2966,2046,114.6,-11.4,78,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1773,2968,2968,2050,0,0,0,0,0,0,26.70,26.71,26.73,10.60,49.44
$GC,972,-1.33,-391.0,2162,1775,2969,2050,124.8,-8.2,85,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1774,2969,2969,2046,0,0,0,0,0,0,26.64,26.69,26.68,10.58,50.00
$GC,1073,-1.33,-391.0,2166,1775,2968,2046,131.7,-6.7,92,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1775,2971,2971,2046,0,0,0,0,0,0,26.65,26.65,26.67,10.61,49.44
$GC,1173,-1.33,-391.0,2162,1775,2972,2046,142.1,-10.5,99,1189,0.00,2.67,0.00,0.000,516,0.000,0.085,2163,793,2973,2973,2046,0,0,0,0,0,0,26.63,26.31,26.65,10.56,50.27
$GC,1232,-1.33,-391.0,2162,795,2974,2046,149.3,-11.9,103,1248,0.00,2.30,0.00,0.000,1030,0.000,0.032,2163,1756,2974,2974,2046,0,0,0,0,0,0,26.48,26.45,26.48,10.55,49.29
$STATE,1263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1263,begin apogee
$GC,1267,-0.33,0.0,2162,1756,2974,2046,153.3,-12.7,105,1295,3.35,0.00,22.50,2.129,10244,0.062,0.000,2478,1754,2529,2529,2057,0,0,0,0,0,0,26.37,25.27,23.96,10.58,50.31
$STATE,1297,end apogee,CONTROL_FINISHED_OK
$STATE,1297,begin climb
$GC,1298,1.33,391.0,2481,1756,2519,2057,157.8,0.0,109,1329,5.68,0.00,21.88,2.101,11270,0.044,0.000,3010,1757,2091,2091,2042,0,0,0,0,0,0,25.52,25.67,23.39,10.47,48.77
$GC,1389,1.33,391.0,3003,1760,2094,2042,151.1,10.2,121,1391,0.00,0.00,0.05,0.007,8198,0.000,0.000,3009,1754,2090,2090,2046,0,0,0,0,0,0,25.73,25.75,25.75,10.41,49.40
$GC,1449,1.43,454.5,3012,1756,2089,2046,145.9,8.9,127,1459,0.25,0.00,4.97,1.329,10246,0.041,0.000,3048,1762,2022,2022,2046,0,0,0,0,0,0,25.84,25.48,24.23,10.38,48.89
$GC,1519,1.52,513.9,3045,1756,2021,2046,139.6,9.0,134,1529,0.15,0.00,4.88,1.274,10246,0.060,0.000,3071,1756,1957,1957,2045,0,0,0,0,0,0,25.89,25.57,24.32,10.38,49.25
$GC,1589,1.55,535.6,3070,1753,1956,2045,132.7,9.6,141,1597,0.00,2.72,2.83,0.623,8708,0.000,0.087,3071,784,1935,1935,2046,0,0,0,0,0,0,26.15,25.77,24.48,10.35,49.64
$GC,1662,1.55,535.6,3071,787,1940,2046,125.6,10.4,153,1668,0.00,2.45,0.00,0.000,1030,0.000,0.034,3071,1786,1935,1935,2042,0,0,0,0,0,0,26.11,26.11,26.11,10.34,49.80
$GC,1729,1.55,535.6,3070,1799,1934,2042,117.9,11.9,160,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1799,1934,1934,2054,0,0,0,0,0,0,26.37,26.39,26.38,10.34,50.00
$GC,1788,1.55,535.6,3070,1799,1932,2054,111.5,10.4,166,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1799,1932,1932,2046,0,0,0,0,0,0,26.44,26.46,26.46,10.33,50.31
$GC,1850,1.55,535.6,3074,1799,1931,2046,105.3,10.8,172,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1794,1930,1930,2054,0,0,0,0,0,0,26.48,26.57,26.52,10.33,50.59
$GC,1909,1.55,535.6,3070,1799,1929,2054,98.6,11.3,178,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1799,1929,1929,2046,0,0,0,0,0,0,26.56,26.58,26.57,10.34,50.90
$GC,1968,1.55,535.6,3070,1799,1928,2046,92.1,10.6,184,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1799,1928,1928,2046,0,0,0,0,0,0,26.61,26.62,26.62,10.33,50.82
$GC,2030,1.55,535.6,3070,1799,1927,2046,85.9,10.4,190,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1799,1919,1919,2046,0,0,0,0,0,0,26.65,26.66,26.63,10.33,51.61
$GC,2088,1.55,535.6,3070,1799,1925,2046,79.8,10.1,196,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1799,1924,1924,2045,0,0,0,0,0,0,26.68,26.70,26.69,10.33,51.26
$GC,2148,1.55,535.6,3071,1796,1924,2045,73.7,10.1,202,2154,0.00,2.80,0.00,0.000,516,0.000,0.086,3070,787,1932,1932,2046,0,0,0,0,0,0,26.71,26.35,26.72,10.33,51.37
$GC,2196,1.55,535.6,3071,787,1922,2046,68.6,10.5,210,2203,0.03,2.38,0.00,0.000,3078,0.138,0.034,3082,1778,1922,1922,2046,0,0,0,0,0,0,26.42,26.53,26.46,10.33,51.33
$GC,2263,1.55,535.8,3082,1788,1926,2046,62.0,10.0,217,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1789,1921,1921,2046,0,0,0,0,0,0,26.76,26.77,26.77,10.33,51.65
$GC,2346,1.58,556.2,3083,1796,1919,2046,55.2,9.6,223,2361,0.00,0.00,0.50,0.005,8198,0.000,0.000,3083,1788,1919,1919,2047,0,0,0,0,0,0,26.70,26.74,26.73,10.32,51.81
$GC,2448,1.69,630.9,3082,1789,1916,2047,46.1,8.7,230,2464,0.38,0.00,5.20,0.763,10758,0.035,0.000,3133,1789,1836,1836,2046,0,0,0,0,0,0,26.57,26.10,25.52,10.33,51.33
$GC,2550,1.69,630.9,3133,1789,1833,2046,34.4,12.3,237,2566,0.00,2.75,0.05,0.005,8708,0.000,0.093,3133,795,1833,1833,2046,0,0,0,0,0,0,26.64,26.29,26.66,10.30,50.78
$GC,2624,1.69,630.9,3132,794,1831,2046,25.2,12.5,242,2640,0.00,2.30,0.00,0.000,1030,0.000,0.035,3134,1791,1831,1831,2046,0,0,0,0,0,0,26.47,26.48,26.51,10.31,50.82
$GC,2727,1.69,630.9,3133,1791,1828,2046,13.8,11.2,249,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1791,1828,1828,2046,0,0,0,0,0,0,26.64,26.64,26.63,10.31,50.90
$GC,2801,1.79,698.4,3133,1792,1825,2046,5.6,8.8,256,2810,0.17,0.00,4.62,0.474,10246,0.054,0.000,3165,1793,1751,1751,2044,0,0,0,0,0,0,26.49,26.32,25.73,10.32,50.86
$STATE,2859,end climb,SURFACE_DEPTH_REACHED
$STATE,2859,begin surface coast
$STATE,2889,end surface coast,CONTROL_FINISHED_OK
$STATE,2890,begin surface
$SM_CCo,2986,0.00,0.000,0,0,1755,701.78
$SM_GC,1.34,29.95,0.00,0.00,0.023,0.000,0.000,232,1791,1755,-7.40,0.73,701.78,0,0,0,0,0,0,26.21,26.71,26.42
$IRIDIUM_FIX,4808.40,-12337.82,230518,113924
$TT8_MAMPS,0.02247,0.828394
$HUMID,50.07
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,10.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,13.8,999.0
$ALTIM_BOTTOM_PING,120.4,46.2
$SC_FREEKB,3898080
$24V_AH,23.39,6.001
$10V_AH,10.23,6.769
$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,63.300,30.300,67.475,0.000,0.000,51.344,37.825,622.222,160.500,0.000,14.613,313.845,1248.648,151.791,2106.639,77.515,33.455,581.012,0.000,391.621,0.000,1584.926,0.000
$DEVICE_MAMPS,138.465,92.565,2128.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.246,0.000,0.000,0.000
$MEM,312924
$DATA_FILE_SIZE,7024,265
$CAP_FILE_SIZE,125248,0
$CFSIZE,1023623168,1018642432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,133930,4741.778,-12225.893,4,0.9,13,16.3,0.0,0.0,9,4.6