version: 66.14
glider: 401
mission: 25
dive: 5
start: 4 30 118 23 47 49
data:
$ID,401
$MISSION,25
$DIVE,5
$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,18
$R_STBD_OVSHOOT,35
$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
$GPS1,300418,233553,4742.1069,-12225.8848,4,1.0,14,16.3,0.4,246.7,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-39.3
$GPS2,300418,234657,4742.0742,-12226.0205,8,1.0,18,16.3,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.408
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.241270,0.329513
$KALMAN_X,-1257.179688,-718.728577,-521.863220,776.235840,-239.952271
$KALMAN_Y,-414.169312,-310.920532,-180.240631,-755.070923,-135.718430
$MHEAD_RNG_PITCHd_Wd,19.9,3877,-9.7,-10.000,-13.76,7438
$D_GRID,183
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,7,-1.27,-488.8,243,2079,1751,1687,0.0,0.0,0,17,0.00,0.00,-9.30,0.000,16390,0.000,0.000,238,2078,2930,2930,2046,0,0,0,0,0,0,26.45,25.27,26.47,10.04,40.62
$GC,18,-1.27,-488.8,244,2080,2939,2046,1.3,0.0,1,43,20.58,2.60,0.00,0.000,2564,0.122,0.053,1933,1073,2931,2931,2056,0,0,0,0,0,0,26.09,26.13,26.22,10.35,41.65
$GC,270,-1.27,-488.8,1932,1077,2936,2056,30.6,-9.3,43,275,0.00,2.45,0.00,0.000,1030,0.000,0.032,1935,2061,2940,2940,2046,0,0,0,0,0,0,26.51,26.45,26.51,10.31,40.07
$GC,336,-1.27,-488.8,1933,2063,2937,2046,36.5,-8.9,50,341,0.00,2.62,0.00,0.000,516,0.000,0.066,1933,1081,2935,2935,2040,0,0,0,0,0,0,26.74,26.39,26.76,10.31,40.66
$GC,354,-1.27,-488.8,1932,1081,2937,2040,38.2,-9.5,53,359,0.00,2.42,0.00,0.000,1030,0.000,0.031,1933,2058,2937,2937,2046,0,0,0,0,0,0,26.56,26.48,26.58,10.31,40.66
$GC,420,-1.27,-488.8,1934,2058,2936,2046,43.7,-7.6,60,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2057,2936,2936,2046,0,0,0,0,0,0,26.79,26.80,26.80,10.31,39.95
$GC,480,-1.27,-488.8,1933,2059,2936,2046,47.5,-6.1,66,485,0.00,2.62,0.00,0.000,516,0.000,0.066,1933,1083,2936,2936,2042,0,0,0,0,0,0,26.82,26.50,26.83,10.32,40.70
$GC,504,-1.27,-488.8,1932,1084,2938,2042,49.3,-7.4,70,509,0.00,2.45,0.00,0.000,1030,0.000,0.033,1933,2065,2937,2937,2046,0,0,0,0,0,0,26.63,26.55,26.63,10.31,40.43
$GC,570,-1.27,-488.8,1934,2068,2937,2046,55.1,-8.9,77,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2067,2939,2939,2046,0,0,0,0,0,0,26.85,26.86,26.87,10.30,40.39
$GC,630,-1.27,-488.8,1934,2067,2938,2046,60.7,-9.8,83,635,0.00,2.62,0.00,0.000,516,0.000,0.064,1933,1085,2938,2938,2049,0,0,0,0,0,0,26.88,26.51,26.89,10.30,40.19
$GC,654,-1.27,-488.8,1932,1086,2940,2049,63.0,-9.7,87,659,0.00,2.42,0.00,0.000,1030,0.000,0.032,1933,2068,2939,2939,2046,0,0,0,0,0,0,26.68,26.61,26.70,10.30,40.78
$GC,720,-1.27,-488.8,1934,2064,2938,2046,68.9,-8.6,94,725,0.00,2.60,0.00,0.000,516,0.000,0.066,1933,1087,2934,2934,2045,0,0,0,0,0,0,26.91,26.54,26.91,10.30,40.31
$GC,738,-1.27,-488.8,1932,1089,2940,2045,70.5,-8.6,97,743,0.00,2.38,0.00,0.000,1030,0.000,0.031,1931,2055,2939,2939,2046,0,0,0,0,0,0,26.72,26.67,26.73,10.37,40.78
$GC,804,-1.27,-488.8,1933,2056,2941,2046,75.9,-7.9,104,809,0.00,2.58,0.00,0.000,516,0.000,0.062,1942,1084,2939,2939,2045,0,0,0,0,0,0,26.92,26.56,26.94,10.28,40.94
$GC,816,-1.27,-488.8,1932,1089,2941,2045,76.8,-8.1,106,821,0.00,2.38,0.00,0.000,1030,0.000,0.031,1931,2054,2940,2940,2046,0,0,0,0,0,0,26.75,26.67,26.75,10.30,40.27
$GC,882,-1.27,-488.8,1932,2055,2942,2046,81.6,-7.1,113,883,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2054,2941,2941,2046,0,0,0,0,0,0,26.94,26.96,26.95,10.30,40.39
$GC,942,-1.27,-488.8,1934,2051,2941,2046,86.0,-7.5,119,947,0.00,2.60,0.00,0.000,516,0.000,0.067,1931,1083,2933,2933,2046,0,0,0,0,0,0,26.95,26.60,26.96,10.30,40.54
$GC,960,-1.27,-488.8,1934,1084,2941,2046,87.6,-8.5,122,965,0.00,2.40,0.00,0.000,1030,0.000,0.031,1933,2057,2941,2941,2046,0,0,0,0,0,0,26.76,26.70,26.78,10.30,40.90
$STATE,985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,985,begin apogee
$GC,987,-0.28,0.0,1933,2058,2944,2046,90.0,-9.4,125,1032,3.35,0.00,39.20,1.412,10244,0.050,0.000,2258,2064,2402,2402,2046,0,0,0,0,0,0,26.68,25.50,24.65,10.30,41.17
$STATE,1033,end apogee,CONTROL_FINISHED_OK
$STATE,1033,begin climb
$GC,1033,1.27,488.8,2255,2059,2403,2046,91.5,0.0,129,1081,5.07,0.00,40.05,1.368,11270,0.037,0.000,2738,2058,1871,1871,2046,0,0,0,0,0,0,25.69,25.82,24.03,10.18,40.39
$GC,1140,1.31,511.2,2738,2060,1871,2046,83.6,9.7,144,1148,0.00,2.67,3.45,0.598,8708,0.000,0.067,2738,1082,1847,1847,2046,0,0,0,0,0,0,25.86,25.30,24.65,10.05,39.52
$GC,1170,1.31,511.2,2739,1082,1848,2046,80.6,10.2,149,1176,0.00,2.53,0.25,0.005,9222,0.000,0.031,2739,2065,1848,1848,2046,0,0,0,0,0,0,25.84,25.74,25.82,10.04,39.68
$GC,1236,1.31,511.2,2738,2067,1847,2046,73.2,11.8,156,1242,0.00,2.62,0.05,0.003,8452,0.000,0.057,2738,3037,1846,1846,2047,0,0,0,0,0,0,26.21,25.89,26.22,10.04,39.64
$GC,1278,1.31,511.2,2739,3038,1845,2047,67.7,13.5,163,1284,0.00,2.53,0.03,0.002,9222,0.000,0.031,2738,2067,1845,1845,2046,0,0,0,0,0,0,26.12,26.03,26.14,10.04,39.72
$GC,1344,1.31,511.2,2738,2064,1845,2046,59.6,12.6,170,1350,0.00,2.67,0.00,0.000,516,0.000,0.071,2741,1082,1844,1844,2045,0,0,0,0,0,0,26.43,26.08,26.44,10.03,40.66
$GC,1386,1.31,511.2,2738,1081,1844,2045,54.5,11.3,177,1392,0.00,2.47,0.00,0.000,1030,0.000,0.031,2738,2069,1843,1843,2046,0,0,0,0,0,0,26.32,26.24,26.32,10.03,39.88
$GC,1452,1.31,511.2,2739,2070,1841,2046,46.2,11.9,184,1457,0.00,2.55,0.00,0.000,260,0.000,0.054,2739,3035,1841,1841,2040,0,0,0,0,0,0,26.56,26.24,26.58,10.04,40.19
$GC,1506,1.31,511.2,2737,3035,1841,2040,37.4,15.8,193,1512,0.00,2.50,0.00,0.000,1030,0.000,0.031,2739,2056,1839,1839,2047,0,0,0,0,0,0,26.42,26.36,26.44,10.03,39.95
$GC,1572,1.31,511.2,2739,2056,1838,2047,28.3,13.1,200,1577,0.00,2.60,0.00,0.000,516,0.000,0.070,2738,1088,1837,1837,2046,0,0,0,0,0,0,26.67,26.33,26.68,10.02,40.23
$GC,1596,1.31,511.2,2738,1089,1837,2046,25.5,11.8,204,1601,0.00,2.45,0.00,0.000,1030,0.000,0.030,2739,2070,1842,1842,2043,0,0,0,0,0,0,26.50,26.44,26.53,10.02,40.27
$GC,1662,1.31,511.2,2738,2075,1838,2043,18.3,10.8,211,1668,0.00,2.58,0.00,0.000,260,0.000,0.057,2738,3040,1847,1847,2046,0,0,0,0,0,0,26.73,26.40,26.74,10.02,40.70
$GC,1710,1.31,511.2,2739,3041,1835,2046,13.1,11.0,219,1716,0.00,2.45,0.00,0.000,1030,0.000,0.031,2739,2079,1834,1834,2039,0,0,0,0,0,0,26.55,26.48,26.58,10.02,40.27
$GC,1776,1.39,569.2,2738,2080,1835,2039,6.7,9.2,226,1786,0.38,0.00,5.15,0.516,10246,0.036,0.000,2787,2074,1784,1784,2045,0,0,0,0,0,0,26.58,26.37,25.79,10.02,41.14
$STATE,1835,end climb,SURFACE_DEPTH_REACHED
$STATE,1835,begin surface coast
$STATE,1855,end surface coast,CONTROL_FINISHED_OK
$STATE,1855,begin surface
$SM_CCo,1946,0.00,0.000,0,0,1784,569.74
$SM_GC,0.94,26.02,0.00,0.00,0.025,0.000,0.000,232,2071,1784,-6.62,0.27,569.74,0,0,0,0,0,0,26.30,26.79,26.50
$IRIDIUM_FIX,4808.40,-12337.82,300418,225438
$TT8_MAMPS,0.047187,0.424683
$HUMID,40.98
$INTERNAL_PRESSURE,9.90628
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.4,12.1
$SC_FREEKB,3908160
$24V_AH,24.03,2.198
$10V_AH,10.53,3.471
$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,55.400,65.775,88.175,0.000,0.000,26.354,20.530,511.699,0.250,0.000,19.712,0.000,1277.283,218.007,1078.818,44.600,33.418,449.698,0.000,343.140,0.000,7.464,0.000
$DEVICE_MAMPS,121.635,71.145,1412.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1874.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,65.267,0.000,0.000,0.000
$MEM,313004
$DATA_FILE_SIZE,7048,234
$CAP_FILE_SIZE,59397,0
$CFSIZE,1023623168,1020313600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010518,002101,4742.108,-12226.035,4,1.0,24,16.3,0.2,296.2,9,4.4