version: 66.14
glider: 401
mission: 28
dive: 3
start: 5 7 118 21 8 14
data:
$ID,401
$MISSION,28
$DIVE,3
$N_DIVES,3
$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,350
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74293
$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,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$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,2050
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3400
$C_VBD,2500
$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,80
$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
$GPS1,070518,205855,4743.5859,-12223.9219,5,0.8,16,16.3,0.0,0.0,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-36.6
$GPS2,070518,210724,4743.6494,-12223.8701,5,0.8,25,16.3,0.4,33.3,10,5.0
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.212751,-0.279661
$KALMAN_X,263.301849,180.840012,178.732452,-209.925964,246.136322
$KALMAN_Y,278.904388,180.105423,177.738083,-356.461731,251.992340
$MHEAD_RNG_PITCHd_Wd,201.0,2424,-12.1,-10.000,-15.89,5218
$D_GRID,169
$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,-1.45,-342.1,244,2069,231,1686,0.0,0.0,0,31,0.00,0.00,-23.15,0.000,16390,0.000,0.000,243,2069,2877,2877,2046,0,0,0,0,0,0,26.53,25.37,26.55,10.20,43.34
$GC,32,-1.45,-342.1,240,2070,2912,2046,1.5,-5.5,2,57,21.30,2.42,0.00,0.000,2308,0.117,0.053,2020,2993,2906,2906,2046,0,0,0,0,0,0,26.18,26.22,26.32,10.96,45.94
$GC,69,-1.45,-342.1,2017,2993,2919,2046,21.8,-51.2,9,75,0.00,2.42,0.00,0.000,1030,0.000,0.032,2016,2041,2921,2921,2042,0,0,0,0,0,0,26.36,26.29,26.39,10.93,45.19
$GC,136,-1.45,-342.1,2015,2047,2925,2042,31.9,-13.9,16,141,0.00,2.60,0.00,0.000,516,0.000,0.072,2016,1076,2931,2931,2046,0,0,0,0,0,0,26.65,26.30,26.66,10.90,43.81
$GC,219,-1.45,-342.1,2016,1076,3044,2046,43.5,-14.2,30,225,0.00,2.30,0.00,0.000,1030,0.000,0.036,2013,2003,3044,3044,2046,0,0,0,0,0,0,26.54,26.48,26.56,10.90,44.13
$GC,285,-1.45,-342.1,2015,2005,3048,2046,52.0,-12.7,37,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1999,3046,3046,2043,0,0,0,0,0,0,26.78,26.79,26.79,10.89,44.68
$GC,346,-1.45,-342.1,2017,2004,3046,2043,59.4,-12.5,43,351,0.00,2.53,0.00,0.000,516,0.000,0.072,2016,1075,3046,3046,2046,0,0,0,0,0,0,26.82,26.46,26.88,10.88,44.17
$GC,394,-1.45,-342.1,2015,1076,3048,2046,65.3,-11.8,51,399,0.00,2.33,0.00,0.000,1030,0.000,0.035,2021,2018,3047,3047,2046,0,0,0,0,0,0,26.67,26.60,26.68,10.88,44.21
$GC,459,-1.45,-342.1,2015,2019,2935,2046,72.8,-11.6,58,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2019,2939,2939,2046,0,0,0,0,0,0,26.87,26.89,26.89,10.88,44.05
$GC,519,-1.45,-342.1,2016,2020,2938,2046,79.8,-11.6,64,525,0.00,2.55,0.00,0.000,516,0.000,0.072,2012,1079,2933,2933,2046,0,0,0,0,0,0,26.90,26.56,26.91,10.87,44.36
$GC,591,-1.45,-342.1,2015,1080,2936,2046,88.5,-12.2,76,597,0.00,2.30,0.00,0.000,1030,0.000,0.036,2016,2010,2935,2935,2046,0,0,0,0,0,0,26.74,26.69,26.77,10.87,45.19
$STATE,607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,607,begin apogee
$GC,610,-0.38,0.0,2017,1893,2937,2046,90.3,-11.7,78,637,3.60,0.00,20.58,1.540,10244,0.054,0.000,2359,1893,2507,2507,2046,0,0,0,0,0,0,26.63,25.86,24.87,10.87,45.19
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,639,1.45,342.1,2359,1894,2523,2046,91.5,0.0,81,669,5.85,2.62,18.50,1.506,10756,0.034,0.081,2942,943,2164,2164,2046,0,0,0,0,0,0,26.01,25.93,24.44,10.77,44.44
$GC,824,2.60,1112.5,2942,941,2193,2046,96.5,-5.1,112,879,3.65,2.42,46.97,1.664,11270,0.024,0.037,3308,1942,1305,1305,2045,0,0,0,0,0,0,26.24,26.25,23.96,10.68,44.76
$GC,938,2.60,1112.5,3307,1946,1336,2045,79.5,25.2,127,943,0.00,0.00,3.85,0.758,8198,0.000,0.000,3307,1948,1303,1303,2046,0,0,0,0,0,0,25.94,25.55,24.64,10.44,44.32
$GC,997,2.60,1112.5,3307,1946,1297,2046,64.5,25.0,133,1003,0.00,2.83,0.00,0.000,516,0.000,0.076,3307,927,1295,1295,2053,0,0,0,0,0,0,26.17,25.84,26.19,10.42,44.25
$GC,1021,2.60,1112.5,3307,930,1295,2053,58.4,25.7,137,1027,0.00,2.35,0.00,0.000,1030,0.000,0.035,3308,1860,1295,1295,2046,0,0,0,0,0,0,26.08,26.01,26.10,10.43,44.40
$GC,1088,2.60,1112.5,3309,1862,1291,2046,43.0,23.7,144,1093,0.00,2.65,0.00,0.000,260,0.000,0.049,3308,2867,1291,1291,2041,0,0,0,0,0,0,26.42,26.17,26.43,10.42,44.92
$GC,1123,2.60,1112.5,3309,2871,1287,2041,33.8,25.7,150,1129,0.00,2.45,0.00,0.000,1030,0.000,0.038,3303,1927,1285,1285,2053,0,0,0,0,0,0,26.29,26.18,26.31,10.42,44.56
$GC,1190,2.60,1112.5,3309,1933,1284,2053,17.8,24.5,157,1195,0.00,2.75,0.00,0.000,516,0.000,0.076,3309,925,1277,1277,2056,0,0,0,0,0,0,26.58,26.22,26.59,10.41,45.15
$GC,1207,2.60,1112.5,3309,926,1284,2056,13.3,24.8,160,1213,0.00,2.47,0.00,0.000,1030,0.000,0.035,3308,1917,1283,1283,2046,0,0,0,0,0,0,26.44,26.37,26.43,10.41,45.23
$STATE,1263,end climb,SURFACE_DEPTH_REACHED
$STATE,1263,begin surface coast
$STATE,1273,end surface coast,CONTROL_FINISHED_OK
$STATE,1273,begin surface
$SM_CCo,1369,0.00,0.000,0,0,1279,1127.47
$SM_GC,1.21,31.25,0.25,0.00,0.024,0.050,0.000,245,2048,1279,-7.01,-1.87,1127.47,0,0,0,0,0,0,26.36,26.42,26.44
$IRIDIUM_FIX,4808.40,-12337.82,070518,205440
$TT8_MAMPS,0.047187,0.693574
$HUMID,45.55
$INTERNAL_PRESSURE,10.336
$TCM_TEMP,11.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.8,12.2
$SC_FREEKB,3908832
$24V_AH,23.96,3.786
$10V_AH,10.26,4.913
$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,65.650,40.550,89.900,0.000,0.000,0.000,0.000,0.000,0.250,0.000,26.994,0.000,848.131,201.882,376.391,12.038,31.512,372.950,0.000,247.379,0.000,2.627,0.000
$DEVICE_MAMPS,117.045,81.090,1663.875,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1267.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,66.964,0.000,0.000,0.000
$MEM,312896
$DATA_FILE_SIZE,3607,167
$CAP_FILE_SIZE,56044,0
$CFSIZE,1023623168,1020510208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070518,213204,4743.474,-12223.922,5,0.8,39,16.3,0.3,44.7,10,5.0