version: 66.14
glider: 401
mission: 25
dive: 15
start: 5 1 118 11 55 36
data:
$ID,401
$MISSION,25
$DIVE,15
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$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,350
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,2300
$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,200
$ROLL_MAX,3888
$ROLL_DEG,45
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3400
$C_VBD,2540
$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
$GPS1,010518,113613,4743.6157,-12224.8740,8,0.9,15,16.3,0.0,0.0,11,4.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-47.7
$GPS2,010518,115443,4743.6216,-12224.7637,5,0.9,18,16.3,0.0,0.0,10,4.7
$SPEED_LIMITS,0.143,0.375
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.008179,0.356855
$KALMAN_X,-3826.854736,204.307602,10.904676,3443.401611,-67.228348
$KALMAN_Y,-3316.407471,-131.442474,-185.092117,4831.875488,-346.247925
$MHEAD_RNG_PITCHd_Wd,345.0,702,-15.5,-12.000,-18.58,3894
$D_GRID,175
$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,-1.49,-305.9,242,2096,2029,1691,0.0,0.0,0,17,0.00,0.00,-6.90,0.000,16390,0.000,0.000,243,2095,2875,2875,2046,0,0,0,0,0,0,26.29,25.27,26.33,10.06,38.85
$GC,18,-1.49,-305.9,242,2102,2878,2046,1.5,0.0,1,41,19.12,2.55,0.00,0.000,2564,0.118,0.057,1812,1128,2880,2880,2052,0,0,0,0,0,0,25.96,25.98,26.07,10.28,39.05
$GC,269,-1.49,-305.9,1812,1132,2870,2052,36.5,-12.2,43,275,0.00,2.45,0.00,0.000,1030,0.000,0.028,1812,2104,2873,2873,2052,0,0,0,0,0,0,26.38,26.30,26.39,10.26,38.58
$GC,336,-1.52,-326.3,1812,2109,2870,2052,44.2,-11.5,50,341,0.00,2.58,-0.08,0.000,16900,0.000,0.068,1815,1131,2917,2917,2045,0,0,0,0,0,0,26.62,25.51,26.12,10.26,38.69
$GC,557,-1.52,-326.3,1813,1132,2909,2045,69.8,-12.3,87,563,0.00,2.38,0.00,0.000,1030,0.000,0.028,1812,2089,2913,2913,2046,0,0,0,0,0,0,26.52,26.47,26.58,10.27,38.81
$GC,624,-1.54,-339.6,1813,2091,2907,2046,77.5,-11.7,94,625,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1812,2090,2941,2941,2046,0,0,0,0,0,0,26.77,25.72,25.89,10.27,38.50
$GC,683,-1.54,-339.6,1813,2091,2932,2046,84.9,-12.4,100,689,0.00,2.55,0.00,0.000,516,0.000,0.057,1813,1126,2930,2930,2045,0,0,0,0,0,0,26.79,26.46,26.79,10.28,39.17
$GC,701,-1.54,-339.6,1812,1127,2937,2045,87.3,-13.1,103,707,0.00,2.40,0.00,0.000,1030,0.000,0.028,1813,2095,2934,2934,2046,0,0,0,0,0,0,26.60,26.53,26.63,10.28,38.54
$GC,768,-1.55,-342.1,1814,2097,2935,2046,94.5,-10.1,110,773,0.00,2.58,0.00,0.000,516,0.000,0.059,1807,1127,2935,2935,2045,0,0,0,0,0,0,26.82,26.48,26.82,10.27,39.13
$GC,786,-1.55,-342.1,1812,1129,2932,2045,96.3,-10.2,113,791,0.00,2.35,0.00,0.000,1030,0.000,0.028,1812,2078,2927,2927,2049,0,0,0,0,0,0,26.63,26.55,26.65,10.28,38.65
$GC,852,-1.55,-342.1,1809,2078,2930,2049,102.4,-9.2,120,852,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2078,2930,2930,2046,0,0,0,0,0,0,26.84,26.85,26.84,10.29,38.97
$GC,912,-1.55,-342.1,1812,2078,2901,2046,107.9,-9.5,126,917,0.00,2.50,-0.08,0.000,16900,0.000,0.070,1816,1128,2940,2940,2045,0,0,0,0,0,0,26.85,25.73,26.39,10.26,39.28
$GC,930,-1.55,-342.1,1813,1128,2961,2045,109.7,-10.1,129,935,0.00,2.35,0.00,0.000,1030,0.000,0.028,1809,2078,2973,2973,2045,0,0,0,0,0,0,26.67,26.64,26.69,10.30,39.56
$GC,996,-1.55,-342.1,1813,2082,2984,2045,116.3,-10.2,136,996,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2081,2983,2983,2052,0,0,0,0,0,0,26.86,26.89,26.89,10.38,38.77
$GC,1056,-1.55,-342.1,1813,2083,2991,2052,121.3,-8.5,142,1061,0.00,2.53,0.00,0.000,516,0.000,0.057,1813,1128,2988,2988,2046,0,0,0,0,0,0,26.88,26.55,26.89,10.30,38.97
$GC,1080,-1.55,-342.1,1810,1129,2997,2046,123.9,-10.7,146,1085,0.00,2.35,0.00,0.000,1030,0.000,0.028,1810,2079,2997,2997,2046,0,0,0,0,0,0,26.69,26.62,26.70,10.30,38.97
$GC,1146,-1.55,-342.1,1811,2080,2996,2046,131.6,-9.8,153,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2079,2994,2994,2046,0,0,0,0,0,0,26.89,26.91,26.91,10.30,38.85
$GC,1206,-1.55,-342.1,1813,2077,2991,2046,138.1,-10.8,159,1211,0.00,2.53,0.00,0.000,516,0.000,0.057,1812,1125,2987,2987,2046,0,0,0,0,0,0,26.91,26.60,26.91,10.30,39.72
$GC,1218,-1.55,-342.1,1811,1127,2992,2046,139.3,-9.5,161,1223,0.00,2.38,0.00,0.000,1030,0.000,0.027,1817,2089,2992,2992,2046,0,0,0,0,0,0,26.72,26.65,26.72,10.29,38.89
$GC,1284,-1.55,-342.1,1816,2090,2995,2046,146.1,-10.3,168,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2089,2994,2994,2046,0,0,0,0,0,0,26.92,26.94,26.93,10.30,39.32
$GC,1344,-1.55,-342.1,1814,2090,3001,2046,152.3,-10.3,174,1349,0.00,2.53,0.00,0.000,516,0.000,0.057,1812,1126,3003,3003,2046,0,0,0,0,0,0,26.93,26.60,26.94,10.30,39.32
$GC,1374,-1.55,-342.1,1811,1127,2997,2046,155.5,-11.3,179,1379,0.00,2.38,0.00,0.000,1030,0.000,0.028,1812,2086,2996,2996,2055,0,0,0,0,0,0,26.74,26.67,26.77,10.30,39.21
$GC,1440,-1.55,-342.1,1814,2089,2999,2055,162.4,-10.3,186,1445,0.00,2.55,0.00,0.000,516,0.000,0.057,1812,1123,3001,3001,2046,0,0,0,0,0,0,26.94,26.60,26.96,10.30,39.28
$GC,1458,-1.55,-342.1,1812,1124,3000,2046,164.3,-10.6,189,1463,0.00,2.38,0.00,0.000,1030,0.000,0.028,1813,2087,2996,2996,2046,0,0,0,0,0,0,26.74,26.69,26.80,10.29,38.93
$GC,1524,-1.55,-342.1,1818,2088,3007,2046,171.5,-11.1,196,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2087,3006,3006,2046,0,0,0,0,0,0,26.96,26.97,26.97,10.29,39.01
$STATE,1563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1563,begin apogee
$GC,1565,-0.33,0.0,1811,2088,3011,2046,176.1,-11.5,200,1597,3.97,0.00,26.42,2.407,10244,0.060,0.000,2184,2093,2550,2550,2046,0,0,0,0,0,0,26.67,25.32,23.96,10.30,39.09
$STATE,1598,end apogee,CONTROL_FINISHED_OK
$STATE,1598,begin climb
$GC,1599,1.55,342.1,2184,2089,2546,2046,177.0,0.0,203,1632,6.30,2.67,21.65,2.329,10500,0.041,0.060,2779,3076,2170,2170,2046,0,0,0,0,0,0,25.50,25.37,23.32,10.18,38.77
$GC,1647,1.55,342.1,2779,3072,2171,2046,172.6,12.7,212,1653,0.00,2.60,0.00,0.000,1030,0.000,0.028,2778,2098,2170,2170,2046,0,0,0,0,0,0,25.14,25.07,25.15,10.10,38.85
$GC,1714,1.55,342.1,2778,2099,2171,2046,162.6,15.4,219,1719,0.00,2.62,0.00,0.000,516,0.000,0.059,2778,1127,2169,2169,2046,0,0,0,0,0,0,25.79,25.51,25.80,10.09,38.69
$GC,1773,1.55,342.1,2778,1131,2166,2046,152.3,17.5,229,1779,0.00,2.45,0.00,0.000,1030,0.000,0.027,2779,2093,2165,2165,2044,0,0,0,0,0,0,25.85,25.78,25.86,10.09,38.62
$GC,1840,1.55,342.1,2778,2094,2167,2044,140.9,17.0,236,1845,0.00,2.65,0.00,0.000,260,0.000,0.060,2782,3070,2164,2164,2050,0,0,0,0,0,0,26.17,25.88,26.20,10.09,38.89
$GC,1869,1.55,342.1,2778,3070,2167,2050,136.0,16.5,241,1875,0.00,2.53,0.00,0.000,1030,0.000,0.027,2783,2087,2165,2165,2046,0,0,0,0,0,0,26.03,26.01,26.08,10.09,38.97
$GC,1936,1.55,342.1,2779,2089,2165,2046,125.5,15.5,248,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2088,2163,2163,2046,0,0,0,0,0,0,26.35,26.34,26.36,10.09,39.17
$GC,1996,1.55,342.1,2779,2088,2163,2046,116.0,15.9,254,2001,0.00,2.58,0.00,0.000,516,0.000,0.060,2778,1126,2162,2162,2046,0,0,0,0,0,0,26.42,26.12,26.44,10.08,39.44
$GC,2050,1.55,342.1,2785,1127,2162,2046,107.2,16.0,263,2055,0.00,2.42,0.00,0.000,1030,0.000,0.028,2781,2092,2162,2162,2046,0,0,0,0,0,0,26.30,26.23,26.32,10.08,38.97
$GC,2116,1.55,342.1,2778,2093,2163,2046,96.9,15.5,270,2121,0.00,2.65,0.00,0.000,260,0.000,0.058,2778,3080,2157,2157,2046,0,0,0,0,0,0,26.54,26.22,26.55,10.09,39.21
$GC,2163,1.55,342.1,2779,3081,2161,2046,88.9,16.8,278,2169,0.00,2.50,0.00,0.000,1030,0.000,0.028,2780,2094,2160,2160,2047,0,0,0,0,0,0,26.39,26.32,26.41,10.08,39.32
$GC,2230,1.55,342.1,2778,2094,2161,2047,78.6,15.1,285,2235,0.00,2.58,0.00,0.000,516,0.000,0.062,2775,1128,2156,2156,2047,0,0,0,0,0,0,26.62,26.29,26.63,10.05,39.44
$GC,2283,1.55,342.1,2779,1125,2158,2047,70.6,15.1,294,2289,0.00,2.40,0.00,0.000,1030,0.000,0.027,2777,2094,2158,2158,2045,0,0,0,0,0,0,26.46,26.40,26.49,10.08,39.28
$GC,2350,1.55,342.1,2779,2090,2158,2045,60.9,14.7,301,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2090,2157,2157,2046,0,0,0,0,0,0,26.69,26.70,26.70,10.08,39.28
$GC,2410,1.55,342.1,2778,2090,2159,2046,52.5,14.2,307,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2090,2153,2153,2046,0,0,0,0,0,0,26.72,26.73,26.73,10.07,39.44
$GC,2469,1.55,342.1,2779,2090,2154,2046,43.8,14.7,313,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2090,2155,2155,2046,0,0,0,0,0,0,26.73,26.77,26.76,10.08,39.68
$GC,2529,1.55,342.1,2778,2090,2155,2046,34.6,15.2,319,2535,0.00,2.60,0.00,0.000,260,0.000,0.058,2773,3069,2145,2145,2045,0,0,0,0,0,0,26.77,26.46,26.78,10.13,39.76
$GC,2583,1.55,342.1,2778,3070,2162,2045,27.0,13.7,328,2589,0.00,2.50,0.00,0.000,1030,0.000,0.028,2778,2082,2152,2152,2056,0,0,0,0,0,0,26.60,26.53,26.63,10.06,39.48
$GC,2650,1.65,411.2,2778,2079,2153,2056,19.9,10.2,335,2656,0.28,0.00,4.40,0.566,10246,0.045,0.000,2813,2084,2092,2092,2046,0,0,0,0,0,0,26.60,26.44,25.79,10.07,39.52
$GC,2709,1.65,411.2,2813,2076,2092,2046,11.8,14.2,341,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2076,2092,2092,2046,0,0,0,0,0,0,26.77,26.79,26.79,9.99,39.60
$GC,2769,1.65,411.2,2811,2080,2092,2046,3.4,13.4,347,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2076,2090,2090,2046,0,0,0,0,0,0,26.80,26.82,26.81,10.06,39.48
$STATE,2789,end climb,SURFACE_DEPTH_REACHED
$STATE,2789,begin surface coast
$STATE,2799,end surface coast,CONTROL_FINISHED_OK
$STATE,2799,begin surface
$SM_CCo,2890,0.00,0.000,0,0,2090,415.53
$SM_GC,1.25,26.17,0.00,0.00,0.024,0.000,0.000,244,2071,2090,-6.42,-1.32,415.53,0,0,0,0,0,0,26.54,26.82,26.60
$IRIDIUM_FIX,4808.40,-12337.82,010518,103301
$TT8_MAMPS,0.046438,0.33705
$HUMID,40.07
$INTERNAL_PRESSURE,9.94535
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.7,12.0
$ALTIM_BOTTOM_PING,122.5,81.3
$SC_FREEKB,3901824
$24V_AH,23.32,2.992
$10V_AH,10.58,4.339
$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,55.850,80.025,52.475,0.000,0.000,111.203,60.121,662.286,1.250,0.000,19.674,0.000,2150.155,211.841,1582.240,63.029,33.419,526.207,0.000,507.260,0.000,16.516,0.000
$DEVICE_MAMPS,117.810,70.380,2407.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2837.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,64.483,0.000,0.000,0.000
$MEM,312948
$DATA_FILE_SIZE,10483,350
$CAP_FILE_SIZE,81449,0
$CFSIZE,1023623168,1018789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010518,124501,4743.815,-12224.795,8,1.0,53,16.3,0.3,106.4,8,3.0