version: 66.14
glider: 401
mission: 25
dive: 18
start: 5 1 118 15 12 45
data:
$ID,401
$MISSION,25
$DIVE,18
$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,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14
$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,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3400
$C_VBD,2575
$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
$GPS1,010518,145457,4742.9004,-12224.5635,5,0.9,50,16.3,0.3,79.0,8,3.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-47.3
$GPS2,010518,151153,4742.9438,-12224.3965,5,0.8,15,16.3,0.3,59.9,9,4.9
$SPEED_LIMITS,0.143,0.375
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.228218,-0.297492
$KALMAN_X,-3214.907471,683.632996,-318.158539,3133.271729,284.936462
$KALMAN_Y,-3335.749023,-70.198914,-472.062531,3809.122070,240.861328
$MHEAD_RNG_PITCHd_Wd,201.2,964,-14.6,-12.000,-17.75,4354
$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,-1.55,-342.1,243,2138,2071,1691,0.0,0.0,0,17,0.00,0.00,-7.10,0.000,16390,0.000,0.000,242,2137,2948,2948,2046,0,0,0,0,0,0,26.29,25.29,26.32,10.07,38.65
$GC,18,-1.55,-342.1,241,2138,2948,2046,1.6,0.0,1,42,18.58,2.33,-0.10,0.000,18692,0.119,0.075,1763,3000,2956,2956,2046,0,0,0,0,0,0,25.96,25.22,25.95,10.33,39.48
$GC,120,-1.55,-342.1,1764,3004,2950,2046,21.2,-13.3,18,125,0.00,2.15,0.00,0.000,1030,0.000,0.026,1763,2145,2950,2950,2044,0,0,0,0,0,0,26.22,26.16,26.25,10.29,39.17
$GC,186,-1.55,-342.1,1764,2150,2947,2044,30.3,-13.8,25,191,0.00,2.22,0.00,0.000,516,0.000,0.052,1766,1291,2946,2946,2046,0,0,0,0,0,0,26.48,26.18,26.49,10.29,38.38
$GC,239,-1.55,-342.1,1763,1292,2950,2046,37.5,-12.6,34,245,0.00,2.10,0.00,0.000,1030,0.000,0.027,1763,2133,2946,2946,2046,0,0,0,0,0,0,26.35,26.29,26.36,10.29,38.73
$GC,306,-1.55,-342.1,1763,2136,2945,2046,45.4,-12.0,41,307,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1764,2135,2976,2976,2046,0,0,0,0,0,0,26.59,25.53,25.74,10.29,38.14
$GC,365,-1.55,-342.1,1764,2135,2970,2046,52.8,-12.4,47,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2135,2970,2970,2045,0,0,0,0,0,0,26.63,26.64,26.64,10.29,38.81
$GC,426,-1.55,-342.1,1763,2136,2954,2045,59.9,-11.9,53,431,0.00,2.22,0.00,0.000,516,0.000,0.050,1763,1288,2959,2959,2046,0,0,0,0,0,0,26.66,26.36,26.67,10.34,38.93
$GC,485,-1.55,-342.1,1764,1289,2950,2046,67.5,-12.8,63,491,0.00,2.08,-0.03,0.000,17414,0.000,0.027,1763,2133,2967,2967,2049,0,0,0,0,0,0,26.51,26.45,26.20,10.28,38.65
$GC,552,-1.55,-342.1,1764,2133,3010,2049,75.7,-12.4,70,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2133,3012,3012,2046,0,0,0,0,0,0,26.72,26.74,26.74,10.30,38.77
$GC,611,-1.55,-342.1,1763,2134,3023,2046,83.9,-14.4,76,612,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2133,3021,3021,2046,0,0,0,0,0,0,26.75,26.77,26.77,10.30,38.50
$GC,671,-1.55,-342.1,1764,2133,3024,2046,92.1,-13.6,82,677,0.00,2.20,0.00,0.000,516,0.000,0.050,1763,1291,3026,3026,2048,0,0,0,0,0,0,26.78,26.46,26.79,10.35,39.44
$GC,755,-1.55,-342.1,1762,1292,3034,2048,103.6,-13.4,96,761,0.00,2.05,0.00,0.000,1030,0.000,0.028,1763,2122,3035,3035,2046,0,0,0,0,0,0,26.62,26.55,26.65,10.30,39.64
$GC,822,-1.55,-342.1,1763,2124,3044,2046,112.1,-12.7,103,823,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,2123,3042,3042,2046,0,0,0,0,0,0,26.83,26.84,26.84,10.30,38.97
$GC,884,-1.55,-342.1,1764,2123,3043,2046,120.3,-13.9,109,887,0.00,2.12,0.00,0.000,516,0.000,0.052,1767,1291,3043,3043,2046,0,0,0,0,0,0,26.77,26.54,26.80,10.29,38.97
$GC,942,-1.55,-342.1,1762,1294,3047,2046,129.2,-15.1,119,947,0.00,2.05,0.00,0.000,1030,0.000,0.028,1763,2123,3046,3046,2047,0,0,0,0,0,0,26.67,26.60,26.71,10.28,39.13
$GC,1008,-1.55,-342.1,1762,2125,3050,2047,138.6,-13.9,126,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2124,3048,3048,2046,0,0,0,0,0,0,26.87,26.89,26.89,10.30,38.93
$GC,1067,-1.55,-342.1,1763,2125,3049,2046,147.0,-13.9,132,1073,0.00,2.20,0.00,0.000,516,0.000,0.052,1764,1277,3048,3048,2046,0,0,0,0,0,0,26.92,26.55,26.90,10.30,39.13
$GC,1151,-1.55,-342.1,1764,1283,3050,2046,159.1,-14.7,146,1157,0.00,2.05,0.00,0.000,1030,0.000,0.029,1763,2109,3050,3050,2046,0,0,0,0,0,0,26.72,26.64,26.74,10.30,38.85
$GC,1218,-1.55,-342.1,1762,2119,3052,2046,167.3,-11.9,153,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2111,3050,3050,2046,0,0,0,0,0,0,26.91,26.94,26.94,10.30,38.93
$GC,1278,-1.55,-342.1,1764,2113,3051,2046,174.4,-13.2,159,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2112,3052,3052,2046,0,0,0,0,0,0,26.94,26.95,26.94,10.29,39.17
$STATE,1287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1287,begin apogee
$GC,1289,-0.36,0.0,1765,2170,3051,2046,175.8,-13.7,160,1318,4.18,0.00,20.67,2.362,10244,0.066,0.000,2150,2166,2585,2585,2052,0,0,0,0,0,0,26.65,25.44,24.21,10.30,39.99
$STATE,1319,end apogee,CONTROL_FINISHED_OK
$STATE,1319,begin climb
$GC,1320,1.55,342.1,2151,2170,2605,2052,177.3,0.0,163,1350,6.32,0.00,22.65,2.347,11270,0.033,0.000,2757,2169,2205,2205,2046,0,0,0,0,0,0,25.75,25.87,23.42,10.21,39.17
$GC,1408,1.59,366.7,2761,2170,2179,2046,168.3,11.4,174,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2170,2182,2182,2046,0,0,0,0,0,0,25.68,25.70,25.69,10.11,38.93
$GC,1468,1.59,366.7,2761,2170,2188,2046,160.2,13.9,180,1471,0.00,0.00,2.38,0.397,8198,0.000,0.000,2760,2169,2184,2184,2046,0,0,0,0,0,0,25.96,25.57,24.28,10.11,38.65
$GC,1528,1.59,366.7,2761,2170,2189,2046,152.0,14.1,186,1531,0.00,0.00,2.53,0.496,8198,0.000,0.000,2759,2168,2180,2180,2046,0,0,0,0,0,0,26.11,25.70,24.46,10.11,38.89
$GC,1587,1.59,366.7,2761,2170,2184,2046,143.9,13.4,192,1594,0.00,2.30,2.38,0.372,8708,0.000,0.054,2761,1292,2180,2180,2048,0,0,0,0,0,0,26.22,25.86,24.60,10.10,39.60
$GC,1641,1.59,366.7,2761,1292,2174,2048,136.6,13.5,201,1647,0.00,2.15,0.00,0.000,1030,0.000,0.027,2760,2149,2176,2176,2051,0,0,0,0,0,0,26.10,26.03,26.13,10.10,39.25
$GC,1708,1.59,366.7,2759,2148,2177,2051,127.8,13.3,208,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2147,2175,2175,2046,0,0,0,0,0,0,26.38,26.40,26.39,10.09,39.09
$GC,1768,1.59,366.7,2759,2148,2154,2046,120.0,13.0,214,1773,0.00,2.30,0.00,0.000,516,0.000,0.055,2760,1289,2154,2154,2045,0,0,0,0,0,0,26.45,26.15,26.46,10.09,39.17
$GC,1791,1.59,366.7,2759,1288,2143,2045,116.8,13.0,218,1797,0.00,2.17,0.00,0.000,1030,0.000,0.027,2760,2157,2137,2137,2046,0,0,0,0,0,0,26.29,26.22,26.31,10.10,39.05
$GC,1858,1.59,366.7,2759,2158,2134,2046,108.5,12.6,225,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2157,2134,2134,2046,0,0,0,0,0,0,26.53,26.55,26.55,10.09,39.25
$GC,1918,1.59,366.7,2760,2157,2133,2046,100.5,13.5,231,1923,0.00,2.30,0.00,0.000,516,0.000,0.054,2760,1292,2135,2135,2045,0,0,0,0,0,0,26.58,26.27,26.59,10.10,39.48
$GC,1953,1.59,366.7,2761,1293,2103,2045,95.6,13.7,237,1958,0.00,2.12,0.00,0.000,1030,0.000,0.026,2760,2148,2115,2115,2046,0,0,0,0,0,0,26.42,26.35,26.44,10.09,39.25
$GC,2020,1.59,366.7,2761,2148,2116,2046,86.9,13.0,244,2025,0.00,2.28,0.00,0.000,516,0.000,0.054,2760,1285,2122,2122,2046,0,0,0,0,0,0,26.65,26.34,26.65,10.09,39.17
$GC,2067,1.59,366.7,2759,1290,2110,2046,80.3,14.1,252,2073,0.00,2.10,0.00,0.000,1030,0.000,0.026,2760,2139,2115,2115,2046,0,0,0,0,0,0,26.48,26.42,26.51,10.10,39.36
$GC,2134,1.59,366.7,2759,2141,2103,2046,71.1,13.9,259,2139,0.00,2.25,0.00,0.000,516,0.000,0.055,2758,1290,2110,2110,2046,0,0,0,0,0,0,26.70,26.40,26.71,10.09,39.28
$GC,2170,1.59,366.7,2759,1290,2123,2046,66.0,14.5,265,2175,0.00,2.08,0.00,0.000,1030,0.000,0.026,2757,2130,2132,2132,2046,0,0,0,0,0,0,26.53,26.46,26.55,10.09,39.40
$GC,2236,1.59,366.7,2761,2131,2137,2046,56.6,13.6,272,2241,0.00,2.35,0.00,0.000,260,0.000,0.059,2760,3011,2141,2141,2047,0,0,0,0,0,0,26.74,26.44,26.76,10.08,39.60
$GC,2272,1.59,366.7,2761,3016,2135,2047,51.7,13.8,278,2277,0.00,2.17,0.00,0.000,1030,0.000,0.026,2755,2141,2137,2137,2048,0,0,0,0,0,0,26.58,26.49,26.60,10.08,40.07
$GC,2338,1.62,387.6,2756,2142,2139,2048,43.8,11.5,285,2339,0.05,0.00,0.00,0.000,2054,0.151,0.000,2774,2134,2138,2138,2046,0,0,0,0,0,0,26.55,26.63,26.61,10.08,39.44
$GC,2397,1.62,387.6,2773,2135,2140,2046,35.2,14.8,291,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2134,2136,2136,2046,0,0,0,0,0,0,26.81,26.82,26.82,10.09,39.32
$GC,2457,1.62,387.6,2773,2135,2144,2046,26.1,15.2,297,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2135,2141,2141,2046,0,0,0,0,0,0,26.82,26.84,26.84,10.09,39.64
$GC,2517,1.62,387.6,2773,2142,2151,2046,17.9,13.5,303,2523,0.00,2.22,0.00,0.000,516,0.000,0.057,2774,1285,2148,2148,2042,0,0,0,0,0,0,26.84,26.53,26.86,10.09,39.36
$GC,2542,1.62,387.6,2774,1286,2154,2042,14.8,13.1,307,2547,0.00,2.08,0.00,0.000,1030,0.000,0.026,2773,2134,2152,2152,2046,0,0,0,0,0,0,26.63,26.60,26.65,10.10,40.47
$GC,2608,1.62,387.6,2776,2139,2158,2046,6.1,13.1,314,2611,0.00,0.00,2.17,0.097,8198,0.000,0.000,2774,2138,2152,2152,2046,0,0,0,0,0,0,26.86,26.53,25.97,10.08,39.60
$STATE,2647,end climb,SURFACE_DEPTH_REACHED
$STATE,2647,begin surface coast
$STATE,2657,end surface coast,CONTROL_FINISHED_OK
$STATE,2657,begin surface
$SM_CCo,2747,0.00,0.000,0,0,2140,400.76
$SM_GC,1.48,25.75,0.00,0.00,0.024,0.000,0.000,243,2139,2140,-6.34,-0.55,400.76,0,0,0,0,0,0,26.62,26.88,26.67
$IRIDIUM_FIX,4808.40,-12337.82,010518,135420
$TT8_MAMPS,0.045689,0.402213
$HUMID,39.84
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,8.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.8,12.0
$ALTIM_BOTTOM_PING,120.3,12.0
$SC_FREEKB,3900000
$24V_AH,23.42,3.222
$10V_AH,10.50,4.562
$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,54.875,56.750,52.775,0.000,0.000,93.314,74.016,584.138,0.750,0.000,17.089,0.000,2087.087,186.599,1438.580,59.344,33.436,475.803,0.000,463.268,0.000,11.917,0.000
$DEVICE_MAMPS,151.470,104.805,2361.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2690.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,64.367,0.000,0.000,0.000
$MEM,312912
$DATA_FILE_SIZE,10461,319
$CAP_FILE_SIZE,76196,0
$CFSIZE,1023623168,1018363904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010518,155917,4742.671,-12224.536,8,0.8,23,16.3,0.4,43.8,9,5.0