version: 66.14
glider: 401
mission: 28
dive: 23
start: 5 23 118 14 58 27
data:
$ID,401
$MISSION,28
$DIVE,23
$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,2615
$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,10
$R_STBD_OVSHOOT,62
$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
$GPS1,230518,144313,4742.1367,-12225.7031,8,1.0,53,16.3,0.3,200.9,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-59.4
$GPS2,230518,145721,4741.9722,-12225.7354,6,1.1,51,16.3,0.5,174.1,8,3.0
$SPEED_LIMITS,0.143,0.372
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.057806,0.367334
$KALMAN_X,-6153.051270,-713.554749,356.110748,5727.560059,112.796753
$KALMAN_Y,-13372.029297,-1491.451172,496.578796,13002.561523,-181.536987
$MHEAD_RNG_PITCHd_Wd,352.6,3932,-11.2,-10.000,-15.05,5957
$D_GRID,172
$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,-391.0,231,1775,1830,2045,0.0,0.0,0,21,0.00,0.00,-8.48,0.000,16390,0.000,0.000,239,1776,2945,2945,2046,0,0,0,0,0,0,26.39,25.65,26.39,10.33,49.60
$GC,23,-1.33,-391.0,231,1773,2940,2046,1.9,0.0,1,48,23.62,0.00,0.00,0.000,2566,0.122,0.000,2179,1776,2945,2945,2045,0,0,0,0,0,0,26.03,26.15,26.13,10.63,49.96
$GC,106,-1.33,-391.0,2173,1776,2945,2045,21.9,-12.9,11,111,0.00,2.72,0.00,0.000,516,0.000,0.080,2174,791,2943,2943,2046,0,0,0,0,0,0,26.46,26.09,26.46,10.60,48.85
$GC,177,-1.33,-391.0,2177,791,2946,2046,31.7,-14.2,23,183,0.00,2.38,0.00,0.000,1030,0.000,0.033,2177,1764,2947,2947,2045,0,0,0,0,0,0,26.33,26.31,26.34,10.58,49.21
$GC,243,-1.33,-391.0,2177,1771,2948,2045,39.5,-11.6,30,245,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1771,2948,2948,2046,0,0,0,0,0,0,26.58,26.60,26.59,10.58,48.62
$GC,304,-1.33,-391.0,2177,1771,2950,2046,46.4,-11.7,36,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1771,2949,2949,2046,0,0,0,0,0,0,26.63,26.64,26.64,10.58,49.17
$GC,365,-1.33,-391.0,2177,1770,2951,2046,53.8,-12.7,42,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1769,2951,2951,2046,0,0,0,0,0,0,26.66,26.67,26.67,10.57,48.97
$GC,424,-1.33,-391.0,2177,1771,2957,2046,62.0,-13.6,48,429,0.00,2.70,0.00,0.000,516,0.000,0.082,2178,792,2953,2953,2046,0,0,0,0,0,0,26.74,26.34,26.71,10.58,49.76
$GC,483,-1.33,-391.0,2177,792,2955,2046,71.2,-16.1,58,489,0.00,2.38,0.00,0.000,1030,0.000,0.031,2177,1776,2953,2953,2055,0,0,0,0,0,0,26.53,26.51,26.54,10.58,49.25
$GC,561,-1.33,-391.0,2177,1781,2956,2055,80.5,-13.9,65,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1780,2957,2957,2046,0,0,0,0,0,0,26.72,26.71,26.74,10.57,49.52
$GC,662,-1.33,-391.0,2178,1780,2959,2046,92.9,-12.1,72,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1784,2959,2959,2050,0,0,0,0,0,0,26.72,26.72,26.77,10.64,49.72
$GC,763,-1.33,-391.0,2177,1782,2961,2050,104.1,-10.8,79,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1782,2962,2962,2046,0,0,0,0,0,0,26.70,26.72,26.72,10.51,50.35
$GC,864,-1.33,-391.0,2178,1781,2963,2046,115.2,-11.1,86,879,0.00,2.70,0.00,0.000,516,0.000,0.083,2178,785,2964,2964,2052,0,0,0,0,0,0,26.70,26.37,26.71,10.56,49.37
$GC,923,-1.33,-391.0,2177,787,2965,2052,121.1,-12.4,89,939,0.00,2.35,0.00,0.000,1030,0.000,0.033,2178,1775,2965,2965,2046,0,0,0,0,0,0,26.52,26.48,26.53,10.57,49.25
$GC,1025,-1.33,-391.0,2177,1776,2967,2046,135.2,-11.4,96,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1781,2968,2968,2046,0,0,0,0,0,0,26.68,26.64,26.66,10.57,49.09
$GC,1126,-1.33,-391.0,2181,1776,2969,2046,147.6,-12.4,103,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1775,2970,2970,2046,0,0,0,0,0,0,26.63,26.67,26.64,10.51,49.72
$STATE,1155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1156,begin apogee
$GC,1159,-0.33,0.0,2179,1776,2971,2046,151.2,-12.1,105,1187,3.38,0.00,22.48,2.102,10244,0.060,0.000,2499,1772,2514,2514,2045,0,0,0,0,0,0,26.38,25.30,23.99,10.56,49.13
$STATE,1189,end apogee,CONTROL_FINISHED_OK
$STATE,1189,begin climb
$GC,1190,1.33,391.0,2499,1776,2514,2045,154.5,0.0,109,1221,5.57,0.00,21.73,2.079,11270,0.041,0.000,3022,1783,2089,2089,2046,0,0,0,0,0,0,25.55,25.69,23.43,10.47,48.70
$GC,1282,1.42,447.1,3027,1776,2087,2046,148.6,9.0,121,1291,0.25,0.00,4.50,1.250,10246,0.041,0.000,3058,1776,2032,2032,2045,0,0,0,0,0,0,25.56,25.24,23.96,10.35,48.42
$GC,1351,1.42,447.1,3055,1776,2031,2045,140.8,11.5,128,1353,0.00,0.00,0.08,0.002,8198,0.000,0.000,3057,1776,2031,2031,2046,0,0,0,0,0,0,25.96,25.96,25.96,10.36,49.05
$GC,1411,1.42,447.1,3055,1776,2029,2046,133.6,11.7,134,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1775,2030,2030,2046,0,0,0,0,0,0,26.13,26.13,26.14,10.35,48.97
$GC,1471,1.42,447.1,3063,1776,2028,2046,127.3,11.6,140,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1776,2028,2028,2043,0,0,0,0,0,0,26.26,26.29,26.29,10.35,49.25
$GC,1531,1.42,447.1,3055,1775,2027,2043,121.1,10.5,146,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1776,2027,2027,2046,0,0,0,0,0,0,26.34,26.40,26.36,10.36,49.92
$GC,1591,1.42,447.1,3055,1776,2025,2046,114.8,10.3,152,1597,0.00,2.78,0.00,0.000,516,0.000,0.086,3055,796,2025,2025,2043,0,0,0,0,0,0,26.43,26.09,26.44,10.37,49.88
$GC,1657,1.42,447.1,3055,790,2024,2043,107.5,11.4,163,1663,0.00,2.40,0.00,0.000,1030,0.000,0.034,3053,1790,2024,2024,2043,0,0,0,0,0,0,26.32,26.30,26.34,10.35,50.15
$GC,1723,1.42,447.1,3055,1796,2023,2043,100.8,10.0,170,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1797,2022,2022,2042,0,0,0,0,0,0,26.55,26.56,26.56,10.34,50.07
$GC,1783,1.42,447.1,3055,1796,2021,2042,94.7,10.1,176,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1796,2021,2021,2045,0,0,0,0,0,0,26.60,26.61,26.61,10.35,50.90
$GC,1844,1.42,451.4,3055,1796,2020,2045,88.8,9.9,182,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1796,2020,2020,2049,0,0,0,0,0,0,26.62,26.65,26.65,10.35,50.55
$GC,1904,1.45,470.3,3055,1797,2019,2049,83.1,9.7,188,1908,0.00,0.00,2.47,0.328,8198,0.000,0.000,3056,1796,2006,2006,2047,0,0,0,0,0,0,26.67,26.26,25.26,10.35,51.14
$GC,1963,1.45,470.3,3055,1796,2005,2047,77.1,10.1,194,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1796,2004,2004,2046,0,0,0,0,0,0,26.69,26.70,26.70,10.35,50.74
$GC,2024,1.46,474.4,3055,1796,2004,2046,71.0,9.9,200,2026,0.00,0.00,0.50,0.003,8198,0.000,0.000,3056,1795,2001,2001,2047,0,0,0,0,0,0,26.73,26.73,26.71,10.34,50.98
$GC,2083,1.46,474.4,3055,1797,2002,2047,64.9,10.0,206,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1796,2002,2002,2046,0,0,0,0,0,0,26.74,26.76,26.76,10.35,51.73
$GC,2158,1.46,474.4,3055,1796,2001,2046,58.0,11.2,212,2174,0.00,2.72,0.00,0.000,516,0.000,0.086,3056,790,2000,2000,2046,0,0,0,0,0,0,26.72,26.44,26.74,10.34,51.45
$GC,2260,1.46,474.4,3055,790,1998,2046,47.0,10.7,219,2276,0.00,2.30,0.00,0.000,1030,0.000,0.036,3055,1772,1997,1997,2046,0,0,0,0,0,0,26.63,26.56,26.57,10.35,50.98
$GC,2362,1.52,517.4,3055,1772,1995,2046,37.2,9.3,226,2379,0.17,2.42,3.53,0.506,10500,0.054,0.042,3084,2715,1955,1955,2046,0,0,0,0,0,0,26.53,26.17,25.60,10.34,51.18
$GC,2451,1.52,517.4,3084,2715,1953,2046,27.7,10.9,232,2467,0.00,2.38,0.00,0.000,1030,0.000,0.043,3085,1780,1953,1953,2046,0,0,0,0,0,0,26.45,26.39,26.48,10.33,50.82
$GC,2553,1.59,559.3,3084,1787,1951,2046,18.2,9.3,239,2569,0.12,2.75,3.70,0.435,10756,0.070,0.087,3110,783,1906,1906,2046,0,0,0,0,0,0,26.48,26.13,25.65,10.36,50.15
$GC,2637,1.59,559.3,3110,783,1903,2046,8.1,10.7,246,2642,0.00,2.38,0.00,0.000,1030,0.000,0.034,3110,1786,1904,1904,2046,0,0,0,0,0,0,26.46,26.46,26.45,10.29,50.39
$GC,2704,1.88,756.6,3109,1795,1902,2046,3.0,6.6,253,2717,0.85,0.00,10.00,0.617,10502,0.024,0.000,3207,1793,1694,1694,2045,0,0,0,0,0,0,26.49,26.22,25.69,10.33,50.19
$STATE,2724,end climb,SURFACE_DEPTH_REACHED
$STATE,2724,begin surface coast
$STATE,2744,end surface coast,CONTROL_FINISHED_OK
$STATE,2744,begin surface
$SM_CCo,2842,0.00,0.000,0,0,1692,759.96
$SM_GC,1.22,30.52,0.08,0.00,0.023,0.130,0.000,232,1768,1692,-7.45,0.55,759.96,0,0,0,0,0,0,26.12,26.36,26.32
$IRIDIUM_FIX,4808.40,-12337.82,230518,134258
$TT8_MAMPS,0.023219,0.752745
$HUMID,49.80
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,10.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,15.0,999.0
$ALTIM_BOTTOM_PING,121.1,48.1
$SC_FREEKB,3896864
$24V_AH,23.43,6.180
$10V_AH,10.21,6.964
$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,64.500,35.425,68.975,0.000,0.000,26.008,20.133,630.043,152.500,0.000,52.864,304.239,1131.709,147.523,2051.051,77.572,33.438,559.130,0.000,381.801,0.000,1505.847,0.000
$DEVICE_MAMPS,122.400,130.050,2102.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2773.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.078,0.000,0.000,0.000
$MEM,312912
$DATA_FILE_SIZE,7047,258
$CAP_FILE_SIZE,120623,0
$CFSIZE,1023623168,1018347520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,154639,4742.335,-12225.479,8,0.9,10,16.3,0.0,0.0,9,4.6