version: 66.14
glider: 401
mission: 28
dive: 3
start: 5 22 118 20 42 38
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,300
$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,3775
$C_PITCH,2670
$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,250
$ROLL_MAX,3888
$ROLL_DEG,45
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3420
$C_VBD,2270
$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,-50.894402
$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
$GPS1,220518,202623,4742.5449,-12224.9922,5,0.8,12,16.3,0.0,0.0,10,4.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-51.4
$GPS2,220518,204135,4742.4741,-12225.0771,6,1.1,52,16.3,0.0,202.6,8,3.0
$SPEED_LIMITS,0.119,0.329
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.138478,0.298265
$KALMAN_X,-193.012222,-133.410233,-131.846741,495.198029,-190.432785
$KALMAN_Y,-67.322678,-34.769447,-34.120705,-304.842590,-55.748180
$MHEAD_RNG_PITCHd_Wd,8.6,2847,-13.3,-10.000,-16.91,4474
$D_GRID,178
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-1.33,-293.3,250,2051,1748,2046,0.0,0.0,0,18,0.00,0.00,-6.28,0.000,16390,0.000,0.000,243,2051,2585,2585,2046,0,0,0,0,0,0,26.79,25.28,26.81,10.49,54.44
$GC,19,-1.33,-293.3,244,2052,2592,2046,0.0,0.0,0,46,23.30,0.00,-0.03,0.000,19206,0.114,0.000,2232,2043,2599,2599,2046,0,0,0,0,0,0,26.35,25.21,26.13,10.67,55.15
$GC,102,-1.33,-293.3,2231,2044,2594,2046,8.1,-3.2,11,107,0.00,2.58,0.00,0.000,516,0.000,0.070,2232,1082,2598,2598,2052,0,0,0,0,0,0,26.84,26.41,26.82,10.66,54.88
$GC,156,-1.33,-293.3,2233,1080,2595,2052,10.5,-4.7,20,161,0.00,2.33,0.00,0.000,1030,0.000,0.032,2232,2037,2595,2595,2046,0,0,0,0,0,0,26.63,26.61,26.66,10.65,54.60
$GC,222,-1.33,-293.3,2231,2037,2595,2046,13.2,-3.7,27,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2039,2593,2593,2046,0,0,0,0,0,0,26.89,26.91,26.91,10.64,53.93
$GC,282,-1.33,-293.3,2231,2038,2592,2046,16.0,-4.8,33,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2032,2596,2596,2054,0,0,0,0,0,0,26.94,26.94,26.97,10.64,54.13
$GC,342,-1.33,-293.3,2230,2038,2597,2054,19.0,-5.0,39,347,0.00,2.53,0.00,0.000,260,0.000,0.053,2237,3013,2597,2597,2046,0,0,0,0,0,0,26.96,26.57,26.94,10.62,53.81
$GC,414,-1.33,-293.3,2231,3014,2597,2046,22.5,-4.8,51,419,0.00,2.38,0.00,0.000,1030,0.000,0.034,2232,2066,2598,2598,2043,0,0,0,0,0,0,26.70,26.63,26.72,10.62,53.81
$GC,480,-1.33,-293.3,2231,2070,2598,2043,26.0,-5.5,58,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2067,2606,2606,2047,0,0,0,0,0,0,26.98,27.03,27.01,10.58,53.62
$GC,540,-1.33,-293.3,2232,2071,2599,2047,28.9,-4.8,64,545,0.00,2.62,0.00,0.000,516,0.000,0.070,2242,1072,2592,2592,2053,0,0,0,0,0,0,27.01,26.62,27.03,10.62,54.09
$GC,726,-1.33,-293.3,2230,1072,2599,2053,41.1,-7.3,95,731,0.00,2.35,0.00,0.000,1030,0.000,0.033,2232,2036,2601,2601,2042,0,0,0,0,0,0,26.83,26.79,26.85,10.69,54.44
$GC,792,-1.33,-293.3,2231,2040,2603,2042,45.3,-6.3,102,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2040,2606,2606,2046,0,0,0,0,0,0,27.07,27.09,27.12,10.58,55.00
$GC,852,-1.33,-293.3,2232,2040,2604,2046,49.1,-6.4,108,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2040,2604,2604,2039,0,0,0,0,0,0,27.08,27.08,27.10,10.60,54.68
$GC,912,-1.33,-293.3,2232,2040,2605,2039,53.1,-6.6,114,917,0.00,2.58,0.00,0.000,516,0.000,0.070,2230,1075,2605,2605,2045,0,0,0,0,0,0,27.10,26.67,27.11,10.60,55.15
$GC,1020,-1.33,-293.3,2232,1075,2606,2045,60.5,-6.7,132,1025,0.00,2.33,0.00,0.000,1030,0.000,0.033,2239,2036,2606,2606,2046,0,0,0,0,0,0,26.85,26.85,26.91,10.60,55.23
$GC,1087,-1.33,-293.3,2232,2035,2607,2046,64.3,-6.0,139,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2036,2607,2607,2046,0,0,0,0,0,0,27.13,27.13,27.13,10.59,54.96
$GC,1146,-1.33,-293.3,2234,2036,2609,2046,68.1,-6.3,145,1151,0.00,2.55,0.00,0.000,516,0.000,0.071,2232,1078,2609,2609,2047,0,0,0,0,0,0,27.13,26.73,27.14,10.60,55.00
$STATE,1204,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1204,begin apogee
$GC,1210,-0.33,0.0,2232,1919,2610,2045,72.7,-8.0,155,1232,3.40,0.00,16.10,1.359,10244,0.066,0.000,2554,1926,2269,2269,2046,0,0,0,0,0,0,26.77,26.21,25.16,10.56,55.07
$STATE,1234,end apogee,CONTROL_FINISHED_OK
$STATE,1234,begin climb
$GC,1235,1.33,293.3,2554,1927,2269,2046,73.7,0.0,157,1258,5.35,0.00,15.02,1.344,11270,0.043,0.000,3077,1928,1951,1951,2045,0,0,0,0,0,0,26.42,26.60,24.83,10.51,55.15
$GC,1316,1.33,293.3,3076,1929,1950,2045,66.3,11.4,168,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1927,1955,1955,2041,0,0,0,0,0,0,26.48,26.50,26.53,10.44,54.25
$GC,1386,1.33,293.3,3076,1926,1949,2041,59.1,12.2,174,1402,0.00,2.70,0.00,0.000,516,0.000,0.080,3077,926,1948,1948,2046,0,0,0,0,0,0,26.58,26.26,26.59,10.43,54.29
$GC,1473,1.33,293.3,3076,926,1945,2046,48.3,12.7,180,1488,0.00,2.28,0.00,0.000,1030,0.000,0.035,3077,1890,1946,1946,2046,0,0,0,0,0,0,26.48,26.45,26.53,10.43,54.92
$GC,1572,1.33,293.3,3076,1890,1943,2046,36.8,11.4,187,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1890,1949,1949,2046,0,0,0,0,0,0,26.71,26.72,26.72,10.43,54.44
$GC,1671,1.33,293.3,3076,1890,1936,2046,25.0,11.8,194,1686,0.00,2.60,0.00,0.000,516,0.000,0.081,3077,926,1940,1940,2046,0,0,0,0,0,0,26.74,26.37,26.74,10.43,54.13
$GC,1771,1.33,293.3,3076,927,1937,2046,12.5,12.5,201,1786,0.00,2.25,0.00,0.000,1030,0.000,0.036,3077,1885,1937,1937,2046,0,0,0,0,0,0,26.57,26.54,26.56,10.43,53.85
$GC,1841,1.33,293.3,3076,1885,1929,2046,3.1,11.2,208,1846,0.00,2.47,0.00,0.000,260,0.000,0.046,3077,2844,1932,1932,2050,0,0,0,0,0,0,26.82,26.50,26.86,10.47,53.62
$STATE,1858,end climb,SURFACE_DEPTH_REACHED
$STATE,1858,begin surface coast
$STATE,1882,end surface coast,CONTROL_FINISHED_OK
$STATE,1882,begin surface
$SM_CCo,1919,3.78,0.383,0,0,1886,351.82
$SM_GC,2.23,28.48,2.03,3.78,0.020,0.032,0.383,244,2047,1886,-7.58,0.96,351.82,0,0,0,0,0,0,26.53,26.55,25.77
$IRIDIUM_FIX,4808.40,-12337.82,220518,202753
$TT8_MAMPS,0.023219,0.777462
$HUMID,54.13
$INTERNAL_PRESSURE,10.3946
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.3,999.0
$SC_FREEKB,3908480
$24V_AH,24.83,4.463
$10V_AH,10.14,5.373
$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,60.525,38.575,31.125,3.775,0.000,95.183,71.373,457.047,58.250,0.000,53.874,251.231,1072.965,118.822,1375.238,45.649,31.550,395.539,0.000,321.131,0.000,575.173,0.000
$DEVICE_MAMPS,113.985,81.090,1359.405,383.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1891.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,67.715,0.000,0.000,0.000
$MEM,312984
$DATA_FILE_SIZE,7061,215
$CAP_FILE_SIZE,75705,0
$CFSIZE,1023623168,1020985344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220518,211535,4742.776,-12224.784,4,0.9,12,16.3,0.0,0.0,9,4.6