version: 66.14
glider: 401
mission: 25
dive: 4
start: 4 30 118 22 58 29
data:
$ID,401
$MISSION,25
$DIVE,4
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,40
$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,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,3693
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,18
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,45
$C_ROLL_DIVE,2065
$C_ROLL_CLIMB,2065
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3400
$C_VBD,2400
$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,-51.021927
$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
$GPS1,300418,224939,4742.3325,-12225.9443,4,1.1,49,16.3,0.3,261.4,8,3.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-26.8
$GPS2,300418,225737,4742.3174,-12226.0459,8,0.9,15,16.3,0.0,45.0,9,4.7
$SPEED_LIMITS,0.173,0.408
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.401871,0.072719
$KALMAN_X,-944.191650,-484.241699,-445.271667,133.579498,-204.062531
$KALMAN_Y,-180.083176,-123.747238,-108.833977,-795.333069,-21.040291
$MHEAD_RNG_PITCHd_Wd,63.4,1589,-9.7,-10.000,-13.76,7438
$D_GRID,187
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.27,-488.8,244,2067,1383,1687,0.0,0.0,0,20,0.00,0.00,-12.30,0.000,16390,0.000,0.000,250,2071,2934,2934,2046,0,0,0,0,0,0,26.90,25.54,26.86,10.02,40.66
$GC,21,-1.27,-488.8,244,2064,2937,2046,1.0,0.0,1,48,20.15,2.62,0.00,0.000,2564,0.125,0.067,1923,1076,2935,2935,2047,0,0,0,0,0,0,26.43,26.46,26.58,10.35,42.08
$GC,276,-1.27,-488.8,1922,1077,2940,2047,29.4,-7.1,44,281,0.00,2.45,0.00,0.000,1030,0.000,0.034,1923,2067,2939,2939,2040,0,0,0,0,0,0,26.72,26.66,26.75,10.33,41.02
$GC,342,-1.27,-488.8,1922,2066,2941,2040,34.6,-8.1,51,347,0.00,2.62,0.00,0.000,516,0.000,0.067,1921,1082,2939,2939,2046,0,0,0,0,0,0,26.95,26.58,26.96,10.32,40.70
$GC,438,-1.27,-488.8,1923,1083,2938,2046,43.0,-8.2,67,443,0.00,2.42,0.00,0.000,1030,0.000,0.034,1923,2064,2940,2940,2046,0,0,0,0,0,0,26.77,26.70,26.79,10.32,41.10
$GC,504,-1.27,-488.8,1924,2064,2940,2046,47.0,-5.1,74,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2063,2939,2939,2046,0,0,0,0,0,0,26.99,27.01,27.00,10.31,40.66
$GC,564,-1.27,-488.8,1922,2064,2941,2046,50.0,-4.9,80,569,0.00,2.55,0.00,0.000,260,0.000,0.057,1923,3034,2940,2940,2046,0,0,0,0,0,0,27.00,26.65,27.03,10.31,40.94
$GC,582,-1.27,-488.8,1923,3035,2941,2046,50.9,-4.8,83,587,0.00,2.50,0.00,0.000,1030,0.000,0.033,1921,2046,2939,2939,2046,0,0,0,0,0,0,26.79,26.70,26.82,10.31,40.86
$GC,648,-1.27,-488.8,1922,2048,2941,2046,53.9,-4.5,90,649,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2046,2941,2941,2046,0,0,0,0,0,0,27.01,27.03,27.03,10.31,41.17
$GC,708,-1.27,-488.8,1926,2047,2942,2046,57.3,-5.9,96,708,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2046,2940,2940,2046,0,0,0,0,0,0,27.03,27.05,27.04,10.31,41.41
$GC,768,-1.27,-488.8,1922,2046,2942,2046,61.0,-6.4,102,768,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2046,2950,2950,2049,0,0,0,0,0,0,27.03,27.05,27.05,10.31,41.53
$GC,828,-1.27,-488.8,1923,2047,2943,2049,64.7,-6.2,108,833,0.00,2.55,0.00,0.000,516,0.000,0.071,1928,1084,2941,2941,2039,0,0,0,0,0,0,27.04,26.66,27.06,10.32,41.80
$GC,852,-1.27,-488.8,1924,1085,2941,2039,66.3,-6.6,112,857,0.00,2.40,0.00,0.000,1030,0.000,0.033,1924,2059,2941,2941,2046,0,0,0,0,0,0,26.85,26.77,26.87,10.31,40.94
$GC,918,-1.27,-488.8,1923,2061,2943,2046,70.3,-5.8,119,918,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2060,2942,2942,2046,0,0,0,0,0,0,27.05,27.07,27.07,10.31,41.06
$GC,978,-1.27,-488.8,1923,2061,2944,2046,73.9,-6.0,125,983,0.00,2.58,0.00,0.000,516,0.000,0.068,1920,1091,2946,2946,2046,0,0,0,0,0,0,27.06,26.70,27.09,10.34,41.69
$GC,1014,-1.27,-488.8,1923,1093,2943,2046,76.3,-7.1,131,1019,0.00,2.38,0.00,0.000,1030,0.000,0.033,1923,2059,2939,2939,2046,0,0,0,0,0,0,26.86,26.80,26.90,10.31,41.33
$GC,1080,-1.27,-488.8,1922,2060,2944,2046,80.7,-6.6,138,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2059,2942,2942,2046,0,0,0,0,0,0,27.08,27.09,27.09,10.31,41.61
$GC,1140,-1.27,-488.8,1924,2060,2942,2046,85.1,-7.4,144,1145,0.00,2.60,0.00,0.000,516,0.000,0.067,1923,1084,2944,2944,2046,0,0,0,0,0,0,27.08,26.69,27.10,10.31,41.53
$GC,1176,-1.27,-488.8,1922,1085,2945,2046,87.9,-7.8,150,1181,0.00,2.38,0.00,0.000,1030,0.000,0.034,1923,2052,2943,2943,2046,0,0,0,0,0,0,26.88,26.82,26.93,10.31,41.17
$STATE,1211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1211,begin apogee
$GC,1213,-0.28,0.0,1923,2053,2945,2046,90.5,-7.2,154,1257,3.47,0.00,39.30,1.411,10244,0.052,0.000,2253,2055,2402,2402,2050,0,0,0,0,0,0,26.80,25.60,24.75,10.31,42.08
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1259,1.27,488.8,2258,2055,2402,2050,91.3,0.0,158,1306,5.03,0.00,39.90,1.365,11270,0.036,0.000,2738,2052,1869,1869,2046,0,0,0,0,0,0,25.79,25.92,24.12,10.17,40.82
$GC,1366,1.27,488.8,2738,2055,1870,2046,80.6,11.7,173,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2054,1870,1870,2046,0,0,0,0,0,0,25.92,25.94,25.94,10.10,40.15
$GC,1425,1.27,488.8,2738,2055,1869,2046,73.5,11.9,179,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2054,1867,1867,2046,0,0,0,0,0,0,26.18,26.20,26.19,10.05,40.15
$GC,1485,1.27,488.8,2738,2054,1867,2046,66.6,11.4,185,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2054,1865,1865,2046,0,0,0,0,0,0,26.34,26.35,26.35,10.04,40.54
$GC,1545,1.27,488.8,2738,2055,1866,2046,60.1,10.7,191,1551,0.00,2.62,0.00,0.000,260,0.000,0.056,2739,3031,1866,1866,2042,0,0,0,0,0,0,26.45,26.11,26.46,10.04,41.14
$GC,1587,1.27,488.8,2739,3031,1863,2042,55.2,12.1,198,1593,0.00,2.47,0.00,0.000,1030,0.000,0.033,2739,2072,1867,1867,2045,0,0,0,0,0,0,26.30,26.22,26.34,10.05,41.49
$GC,1654,1.27,488.8,2740,2072,1862,2045,47.8,10.9,205,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2071,1861,1861,2046,0,0,0,0,0,0,26.59,26.60,26.60,10.04,40.82
$GC,1713,1.27,488.8,2739,2072,1861,2046,41.6,10.1,211,1719,0.00,2.60,0.00,0.000,260,0.000,0.056,2739,3032,1862,1862,2044,0,0,0,0,0,0,26.65,26.32,26.66,10.04,40.78
$GC,1743,1.27,488.8,2740,3034,1856,2044,38.3,11.1,216,1749,0.00,2.45,0.00,0.000,1030,0.000,0.032,2739,2078,1862,1862,2046,0,0,0,0,0,0,26.46,26.39,26.50,10.04,40.90
$GC,1810,1.31,517.1,2738,2078,1860,2046,31.9,9.6,223,1817,0.00,2.62,3.08,0.373,8708,0.000,0.072,2739,1082,1841,1841,2051,0,0,0,0,0,0,26.72,26.14,25.61,10.04,40.82
$GC,1845,1.36,550.3,2740,1082,1840,2051,28.4,9.5,229,1854,0.20,2.47,4.40,0.550,11270,0.050,0.032,2770,2079,1803,1803,2045,0,0,0,0,0,0,26.50,26.46,25.62,10.03,41.02
$GC,1912,1.36,550.3,2769,2078,1804,2045,21.5,10.7,236,1917,0.00,2.53,0.00,0.000,260,0.000,0.057,2770,3031,1802,1802,2046,0,0,0,0,0,0,26.71,26.38,26.72,10.02,41.02
$GC,1965,1.36,550.3,2771,3033,1801,2046,15.0,12.4,245,1972,0.00,2.42,0.00,0.000,1030,0.000,0.032,2770,2083,1801,1801,2046,0,0,0,0,0,0,26.55,26.46,26.57,10.04,41.25
$GC,2032,1.44,600.8,2771,2083,1800,2046,8.5,9.3,252,2038,0.17,0.00,5.18,0.522,10246,0.055,0.000,2799,2074,1749,1749,2046,0,0,0,0,0,0,26.58,26.36,25.77,10.03,40.98
$GC,2092,1.44,600.8,2799,2078,1750,2046,2.2,10.4,258,2097,0.00,2.65,0.00,0.000,516,0.000,0.069,2799,1081,1748,1748,2046,0,0,0,0,0,0,26.77,26.41,26.77,10.02,41.69
$STATE,2103,end climb,SURFACE_DEPTH_REACHED
$STATE,2103,begin surface coast
$STATE,2115,end surface coast,CONTROL_FINISHED_OK
$STATE,2115,begin surface
$SM_CCo,2208,0.00,0.000,0,0,1749,601.13
$SM_GC,0.92,26.00,2.45,0.00,0.024,0.033,0.000,244,2070,1749,-6.58,-1.46,601.13,0,0,0,0,0,0,26.50,26.53,26.56
$IRIDIUM_FIX,4808.40,-12337.82,300418,224447
$TT8_MAMPS,0.045689,0.836633
$HUMID,40.78
$INTERNAL_PRESSURE,9.91605
$TCM_TEMP,9.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.5,12.0
$SC_FREEKB,3908736
$24V_AH,24.12,2.131
$10V_AH,10.13,3.419
$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,55.025,55.350,91.850,0.000,0.000,0.000,0.000,0.000,0.250,0.000,16.967,0.000,1503.503,207.855,538.747,17.364,32.435,451.196,0.000,381.679,0.000,2.629,0.000
$DEVICE_MAMPS,124.695,71.910,1411.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2109.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,68.632,0.000,0.000,0.000
$MEM,313004
$DATA_FILE_SIZE,7047,262
$CAP_FILE_SIZE,86318,0
$CFSIZE,1023623168,1020411904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,832.80,0x2139ee,0,24
$GPS,300418,233553,4742.107,-12225.885,4,1.0,14,16.3,0.4,246.7,9,4.6