version: 66.14
glider: 401
mission: 25
dive: 17
start: 5 1 118 14 8 26
data:
$ID,401
$MISSION,25
$DIVE,17
$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,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,25
$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
$GPS1,010518,135221,4743.2451,-12224.6260,5,0.8,14,16.3,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,3
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-50.1
$GPS2,010518,140734,4743.3496,-12224.5020,5,0.9,50,16.3,0.3,30.7,8,3.0
$SPEED_LIMITS,0.143,0.375
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.123901,-0.353884
$KALMAN_X,-3557.112061,552.637390,-287.131348,3445.586182,103.495605
$KALMAN_Y,-3544.663818,-95.179100,-478.153046,4799.543945,-75.559235
$MHEAD_RNG_PITCHd_Wd,183.0,1617,-14.6,-12.000,-17.75,4354
$D_GRID,176
$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,-1.48,-342.1,246,2159,2150,1690,0.0,0.0,0,16,0.00,0.00,-6.38,0.000,16390,0.000,0.000,242,2156,2904,2904,2046,0,0,0,0,0,0,26.32,25.30,26.35,10.09,39.32
$GC,17,-1.48,-342.1,248,2159,2932,2046,1.6,0.0,1,41,19.20,2.62,0.00,0.000,2308,0.121,0.064,1809,3119,2960,2960,2047,0,0,0,0,0,0,25.99,26.01,26.09,10.30,39.13
$GC,95,-1.48,-342.1,1811,3120,2964,2047,18.6,-13.6,14,101,0.00,2.47,0.00,0.000,1030,0.000,0.026,1814,2142,2963,2963,2046,0,0,0,0,0,0,26.20,26.16,26.25,10.29,38.58
$GC,162,-1.48,-342.1,1812,2142,2964,2046,26.5,-11.5,21,167,0.00,2.55,0.00,0.000,516,0.000,0.057,1806,1183,2966,2966,2046,0,0,0,0,0,0,26.48,26.14,26.49,10.30,39.05
$GC,245,-1.48,-342.1,1810,1179,2970,2046,37.5,-13.5,35,251,0.00,2.38,0.00,0.000,1030,0.000,0.028,1811,2127,2965,2965,2046,0,0,0,0,0,0,26.39,26.30,26.39,10.28,38.54
$GC,312,-1.48,-342.1,1812,2128,2968,2046,45.3,-11.3,42,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2128,2971,2971,2046,0,0,0,0,0,0,26.60,26.62,26.61,10.29,38.62
$GC,372,-1.48,-342.1,1812,2129,2970,2046,51.6,-10.4,48,377,0.00,2.53,0.00,0.000,516,0.000,0.054,1815,1174,2971,2971,2043,0,0,0,0,0,0,26.65,26.32,26.65,10.28,38.46
$GC,432,-1.48,-342.1,1810,1178,2974,2043,58.3,-11.5,58,437,0.00,2.33,0.00,0.000,1030,0.000,0.028,1818,2116,2973,2973,2042,0,0,0,0,0,0,26.48,26.42,26.51,10.28,38.18
$GC,498,-1.48,-342.1,1812,2117,2973,2042,65.5,-10.8,65,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2117,2974,2974,2046,0,0,0,0,0,0,26.71,26.72,26.72,10.29,39.05
$GC,558,-1.48,-342.1,1812,2118,2975,2046,72.0,-10.8,71,563,0.00,2.47,0.00,0.000,516,0.000,0.054,1811,1183,2986,2986,2044,0,0,0,0,0,0,26.74,26.41,26.77,10.29,38.85
$GC,605,-1.48,-342.1,1812,1182,2977,2044,77.9,-12.4,79,611,0.00,2.30,0.00,0.000,1030,0.000,0.028,1811,2110,2977,2977,2041,0,0,0,0,0,0,26.57,26.50,26.59,10.28,38.89
$GC,672,-1.48,-342.1,1812,2110,2979,2041,85.5,-11.5,86,673,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2110,2979,2979,2046,0,0,0,0,0,0,26.77,26.79,26.79,10.28,38.81
$GC,732,-1.48,-342.1,1811,2110,2981,2046,92.8,-12.0,92,732,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2110,2980,2980,2046,0,0,0,0,0,0,26.81,26.82,26.82,10.28,38.50
$GC,791,-1.48,-342.1,1811,2110,2984,2046,100.3,-12.8,98,797,0.00,2.45,0.00,0.000,516,0.000,0.056,1811,1184,2982,2982,2045,0,0,0,0,0,0,26.82,26.51,26.84,10.29,38.97
$GC,869,-1.48,-342.1,1810,1184,2984,2045,110.8,-13.5,111,875,0.00,2.28,0.00,0.000,1030,0.000,0.028,1810,2106,2983,2983,2046,0,0,0,0,0,0,26.66,26.59,26.68,10.29,38.62
$GC,936,-1.48,-342.1,1810,2107,2984,2046,118.8,-11.7,118,936,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2107,2983,2983,2046,0,0,0,0,0,0,26.86,26.88,26.87,10.28,38.85
$GC,995,-1.48,-342.1,1810,2107,2986,2046,126.6,-13.5,124,1001,0.00,2.42,0.00,0.000,516,0.000,0.055,1811,1180,2984,2984,2046,0,0,0,0,0,0,26.87,26.55,26.89,10.28,39.48
$GC,1026,-1.48,-342.1,1812,1183,2984,2046,130.8,-14.6,129,1031,0.00,2.25,0.00,0.000,1030,0.000,0.028,1812,2094,2984,2984,2046,0,0,0,0,0,0,26.69,26.62,26.71,10.29,39.32
$GC,1091,-1.48,-342.1,1811,2095,2985,2046,139.8,-13.8,136,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2094,2984,2984,2044,0,0,0,0,0,0,26.89,26.91,26.91,10.28,39.32
$GC,1152,-1.48,-342.1,1811,2095,2985,2044,148.3,-14.0,142,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2094,2985,2985,2046,0,0,0,0,0,0,26.91,26.92,26.91,10.28,39.52
$GC,1212,-1.48,-342.1,1812,2095,2986,2046,155.4,-11.4,148,1217,0.00,2.40,0.00,0.000,516,0.000,0.054,1811,1181,2992,2992,2045,0,0,0,0,0,0,26.92,26.60,26.94,10.29,39.25
$GC,1290,-1.48,-342.1,1812,1182,2987,2045,164.7,-11.9,161,1295,0.00,2.22,0.00,0.000,1030,0.000,0.028,1812,2086,2991,2991,2045,0,0,0,0,0,0,26.74,26.68,26.77,10.28,38.89
$GC,1356,-1.48,-342.1,1812,2088,2989,2045,172.4,-11.5,168,1361,0.00,2.75,0.00,0.000,260,0.000,0.063,1811,3124,2989,2989,2046,0,0,0,0,0,0,26.94,26.62,26.96,10.28,39.40
$STATE,1391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1391,begin apogee
$GC,1395,-0.33,0.0,1809,2151,2991,2046,176.7,-11.9,174,1424,3.95,0.00,22.80,2.398,10244,0.059,0.000,2185,2150,2542,2542,2046,0,0,0,0,0,0,26.68,25.43,24.10,10.26,39.21
$STATE,1425,end apogee,CONTROL_FINISHED_OK
$STATE,1425,begin climb
$GC,1426,1.48,342.1,2182,2151,2543,2046,178.1,0.0,177,1458,6.07,2.67,21.90,2.349,10500,0.041,0.061,2760,3123,2172,2172,2046,0,0,0,0,0,0,25.63,25.51,23.37,10.19,38.93
$GC,1470,1.60,421.3,2759,3124,2172,2046,174.7,10.1,185,1482,0.32,2.60,6.65,1.779,11270,0.040,0.026,2804,2148,2083,2083,2046,0,0,0,0,0,0,25.08,25.06,23.51,10.09,38.69
$GC,1542,1.60,421.3,2798,2147,2078,2046,164.0,15.5,193,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2146,2084,2084,2045,0,0,0,0,0,0,25.72,25.73,25.72,10.07,39.05
$GC,1602,1.60,421.3,2798,2147,2078,2045,154.7,15.5,199,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2146,2076,2076,2046,0,0,0,0,0,0,25.98,25.99,25.99,10.07,38.38
$GC,1661,1.60,421.3,2798,2147,2090,2046,146.1,14.2,205,1667,0.00,2.60,0.00,0.000,516,0.000,0.057,2795,1178,2088,2088,2050,0,0,0,0,0,0,26.14,25.83,26.15,10.06,38.93
$GC,1685,1.60,421.3,2798,1179,2082,2050,142.7,14.2,209,1691,0.00,2.47,0.00,0.000,1030,0.000,0.028,2805,2152,2083,2083,2054,0,0,0,0,0,0,25.99,25.94,26.03,10.06,38.77
$GC,1752,1.60,421.3,2800,2151,2078,2054,133.0,14.8,216,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2152,2079,2079,2046,0,0,0,0,0,0,26.31,26.32,26.32,10.06,39.13
$GC,1812,1.60,421.3,2800,2153,2077,2046,124.7,14.0,222,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2152,2077,2077,2046,0,0,0,0,0,0,26.38,26.41,26.40,10.06,39.01
$GC,1871,1.60,421.3,2796,2153,2073,2046,116.5,13.6,228,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2153,2072,2072,2046,0,0,0,0,0,0,26.46,26.48,26.47,10.06,39.05
$GC,1931,1.60,421.3,2798,2152,2063,2046,108.2,14.3,234,1937,0.00,2.62,0.00,0.000,516,0.000,0.057,2799,1173,2061,2061,2046,0,0,0,0,0,0,26.52,26.20,26.53,10.06,39.76
$GC,1949,1.60,421.3,2799,1175,2057,2046,105.4,15.0,237,1955,0.00,2.45,0.00,0.000,1030,0.000,0.028,2799,2152,2053,2053,2046,0,0,0,0,0,0,26.34,26.27,26.40,10.06,39.25
$GC,2016,1.60,421.3,2799,2153,2029,2046,95.5,15.2,244,2021,0.00,2.62,0.00,0.000,516,0.000,0.057,2797,1171,2028,2028,2055,0,0,0,0,0,0,26.58,26.25,26.60,10.05,39.36
$GC,2033,1.60,421.3,2798,1172,2017,2055,92.7,15.5,247,2039,0.00,2.42,0.00,0.000,1030,0.000,0.028,2799,2144,2023,2023,2046,0,0,0,0,0,0,26.41,26.32,26.41,10.06,39.09
$GC,2100,1.60,421.3,2798,2145,1989,2046,82.3,16.0,254,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2144,1988,1988,2046,0,0,0,0,0,0,26.63,26.65,26.65,10.05,39.36
$GC,2160,1.60,421.3,2798,2145,2002,2046,72.5,15.9,260,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2144,2002,2002,2046,0,0,0,0,0,0,26.67,26.69,26.68,10.06,39.64
$GC,2219,1.60,421.3,2800,2145,2013,2046,62.8,16.5,266,2225,0.00,2.58,0.00,0.000,516,0.000,0.057,2798,1174,2016,2016,2046,0,0,0,0,0,0,26.70,26.39,26.72,10.06,39.68
$GC,2249,1.60,421.3,2798,1175,2018,2046,57.5,17.8,271,2255,0.00,2.42,0.00,0.000,1030,0.000,0.028,2799,2148,2022,2022,2045,0,0,0,0,0,0,26.53,26.45,26.54,10.05,39.60
$GC,2316,1.60,421.3,2798,2149,2011,2045,45.9,17.4,278,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2148,2012,2012,2046,0,0,0,0,0,0,26.74,26.76,26.75,10.05,39.17
$GC,2375,1.60,421.3,2798,2153,2026,2046,36.3,16.1,284,2381,0.00,2.62,0.00,0.000,260,0.000,0.063,2801,3124,2028,2028,2045,0,0,0,0,0,0,26.77,26.45,26.78,10.05,40.31
$GC,2429,1.60,421.3,2799,3127,2030,2045,27.7,15.3,293,2435,0.00,2.47,0.00,0.000,1030,0.000,0.027,2800,2139,2031,2031,2046,0,0,0,0,0,0,26.60,26.53,26.63,10.05,39.48
$GC,2496,1.60,421.3,2800,2140,2033,2046,18.6,13.3,300,2501,0.00,2.53,0.00,0.000,516,0.000,0.059,2806,1177,2035,2035,2051,0,0,0,0,0,0,26.81,26.48,26.82,10.05,39.48
$GC,2513,1.60,421.3,2800,1178,2033,2051,16.1,13.9,303,2519,0.00,2.38,0.00,0.000,1030,0.000,0.028,2797,2142,2035,2035,2044,0,0,0,0,0,0,26.63,26.55,26.65,10.05,39.68
$GC,2580,1.60,421.3,2800,2137,2041,2044,6.8,14.0,310,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2136,2041,2041,2046,0,0,0,0,0,0,26.83,26.84,26.84,10.06,39.48
$STATE,2619,end climb,SURFACE_DEPTH_REACHED
$STATE,2619,begin surface coast
$STATE,2629,end surface coast,CONTROL_FINISHED_OK
$STATE,2629,begin surface
$SM_CCo,2719,0.00,0.000,0,0,2063,440.46
$SM_GC,1.26,26.08,0.00,0.00,0.025,0.000,0.000,242,2137,2063,-6.42,-0.59,440.46,0,0,0,0,0,0,26.58,26.86,26.63
$IRIDIUM_FIX,4808.40,-12337.82,010518,124656
$TT8_MAMPS,0.047187,0.706307
$HUMID,39.13
$INTERNAL_PRESSURE,9.92581
$TCM_TEMP,8.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,13.8,12.1
$ALTIM_BOTTOM_PING,121.2,12.0
$SC_FREEKB,3900576
$24V_AH,23.37,3.149
$10V_AH,10.26,4.490
$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,55.625,74.475,51.350,0.000,0.000,24.973,19.547,706.726,1.000,0.000,52.088,0.000,1917.840,198.080,1462.187,61.552,33.428,489.522,0.000,457.683,0.000,11.918,0.000
$DEVICE_MAMPS,120.870,74.970,2397.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2668.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,64.271,0.000,0.000,0.000
$MEM,312924
$DATA_FILE_SIZE,10494,315
$CAP_FILE_SIZE,75950,0
$CFSIZE,1023623168,1018494976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010518,145457,4742.900,-12224.563,5,0.9,50,16.3,0.3,79.0,8,3.0