version: 66.14
glider: 401
mission: 28
dive: 4
start: 5 22 118 21 39 25
data:
$ID,401
$MISSION,28
$DIVE,4
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,22
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3420
$C_VBD,2350
$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
$GPS1,220518,213133,4742.7373,-12224.8584,4,0.9,13,16.3,0.0,343.2,9,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-53.3
$GPS2,220518,213819,4742.7310,-12224.8740,6,0.9,16,16.3,0.0,0.0,9,4.8
$SPEED_LIMITS,0.143,0.329
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.047101,0.325453
$KALMAN_X,-181.459457,-145.364685,-144.750580,757.345154,-103.705124
$KALMAN_Y,-108.405357,-47.124580,-43.604214,231.512146,-59.884010
$MHEAD_RNG_PITCHd_Wd,351.9,2352,-13.3,-10.000,-16.91,4474
$D_GRID,180
$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,9,-1.33,-293.3,243,2047,1886,2046,0.0,0.0,0,19,0.00,0.00,-5.97,0.000,16390,0.000,0.000,240,2044,2677,2677,2054,0,0,0,0,0,0,26.87,25.41,26.87,10.54,54.37
$GC,21,-1.33,-293.3,244,2048,2668,2054,1.5,0.0,1,47,23.65,0.00,-0.03,0.000,18438,0.116,0.000,2235,2051,2679,2679,2046,0,0,0,0,0,0,26.41,25.30,26.19,10.64,54.56
$GC,102,-1.33,-293.3,2235,2043,2679,2046,11.6,-6.4,9,104,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2038,2680,2680,2044,0,0,0,0,0,0,26.86,26.88,26.87,10.64,53.70
$GC,162,-1.33,-293.3,2235,2039,2681,2044,15.1,-5.9,15,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2040,2680,2680,2046,0,0,0,0,0,0,26.89,26.90,26.90,10.63,52.83
$GC,222,-1.33,-293.3,2234,2039,2682,2046,19.1,-6.6,21,228,0.00,2.58,0.00,0.000,516,0.000,0.072,2235,1076,2682,2682,2046,0,0,0,0,0,0,26.92,26.52,26.94,10.58,52.95
$GC,276,-1.33,-293.3,2235,1076,2682,2046,23.3,-8.0,30,282,0.00,2.30,0.00,0.000,1030,0.000,0.033,2239,2018,2682,2682,2046,0,0,0,0,0,0,26.71,26.72,26.75,10.61,53.34
$GC,343,-1.33,-293.3,2235,2024,2684,2046,27.8,-6.7,37,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2027,2682,2682,2054,0,0,0,0,0,0,26.99,26.98,26.98,10.61,53.58
$GC,402,-1.33,-293.3,2235,2024,2684,2054,32.1,-7.1,43,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2024,2684,2684,2046,0,0,0,0,0,0,26.98,27.00,26.99,10.60,53.26
$GC,463,-1.33,-293.3,2235,2024,2685,2046,36.1,-6.3,49,467,0.00,2.53,0.00,0.000,516,0.000,0.072,2235,1085,2688,2688,2046,0,0,0,0,0,0,27.00,26.55,27.01,10.60,53.34
$GC,614,-1.33,-293.3,2234,1079,2688,2046,47.4,-7.8,74,618,0.00,2.30,0.00,0.000,1030,0.000,0.034,2236,2058,2687,2687,2048,0,0,0,0,0,0,26.82,26.75,26.85,10.60,54.37
$GC,679,-1.33,-293.3,2235,2059,2689,2048,52.0,-6.8,81,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2058,2689,2689,2046,0,0,0,0,0,0,27.05,27.05,27.05,10.65,54.01
$GC,738,-1.33,-293.3,2235,2056,2690,2046,56.1,-6.8,87,743,0.00,2.62,0.00,0.000,516,0.000,0.071,2236,1077,2690,2690,2046,0,0,0,0,0,0,27.05,26.64,27.07,10.59,53.97
$GC,810,-1.33,-293.3,2235,1077,2691,2046,61.9,-8.3,99,816,0.00,2.35,0.00,0.000,1030,0.000,0.032,2236,2045,2691,2691,2046,0,0,0,0,0,0,26.82,26.80,26.83,10.59,54.05
$GC,877,-1.33,-293.3,2235,2046,2692,2046,66.6,-7.3,106,881,0.00,2.60,0.00,0.000,516,0.000,0.071,2235,1072,2695,2695,2046,0,0,0,0,0,0,27.08,26.65,27.08,10.59,53.93
$GC,962,-1.33,-293.3,2235,1068,2689,2046,73.5,-8.7,120,966,0.00,2.30,0.00,0.000,1030,0.000,0.033,2231,2037,2694,2694,2046,0,0,0,0,0,0,26.87,26.79,26.91,10.58,54.37
$GC,1027,-1.33,-293.3,2236,2038,2695,2046,78.2,-6.9,127,1032,0.00,2.55,0.00,0.000,516,0.000,0.072,2236,1079,2692,2692,2046,0,0,0,0,0,0,27.09,26.67,27.10,10.56,54.25
$GC,1096,-1.33,-293.3,2232,1080,2696,2046,82.4,-7.3,134,1112,0.00,2.22,0.00,0.000,1030,0.000,0.031,2236,2018,2695,2695,2046,0,0,0,0,0,0,26.86,26.86,26.88,10.58,54.29
$GC,1199,-1.33,-293.3,2229,2019,2697,2046,89.3,-6.5,141,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2019,2698,2698,2046,0,0,0,0,0,0,27.00,27.03,27.05,10.58,54.13
$GC,1301,-1.33,-293.3,2234,2020,2695,2046,96.0,-6.6,148,1316,0.00,2.47,0.00,0.000,516,0.000,0.072,2236,1081,2699,2699,2046,0,0,0,0,0,0,27.02,26.61,26.98,10.58,54.09
$GC,1404,-1.33,-293.3,2229,1077,2699,2046,103.8,-7.5,155,1419,0.00,2.22,0.00,0.000,1030,0.000,0.033,2236,2019,2700,2700,2041,0,0,0,0,0,0,26.75,26.73,26.79,10.57,53.97
$GC,1506,-1.33,-293.3,2241,2012,2702,2041,111.4,-7.5,162,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2017,2702,2702,2050,0,0,0,0,0,0,26.89,26.97,26.91,10.58,53.85
$GC,1607,-1.33,-293.3,2239,2022,2704,2050,118.8,-7.0,169,1623,0.00,2.50,0.00,0.000,516,0.000,0.073,2235,1077,2704,2704,2046,0,0,0,0,0,0,26.87,26.53,26.89,10.63,53.38
$GC,1751,-1.33,-293.3,2231,1082,2697,2046,130.2,-8.3,178,1767,0.00,2.22,0.00,0.000,1030,0.000,0.034,2236,2013,2706,2706,2046,0,0,0,0,0,0,26.65,26.61,26.67,10.57,53.18
$STATE,1824,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1824,begin apogee
$GC,1828,-0.33,0.0,2236,1900,2716,2046,135.9,-7.4,183,1853,3.30,0.00,17.60,1.945,10244,0.063,0.000,2562,1900,2346,2346,2045,0,0,0,0,0,0,26.55,25.69,24.35,10.57,53.74
$STATE,1855,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1856,1.33,293.3,2554,1900,2354,2045,137.4,0.0,187,1883,5.43,0.00,16.30,1.899,11270,0.038,0.000,3091,1901,2033,2033,2050,0,0,0,0,0,0,25.99,26.14,23.93,10.50,52.83
$GC,1943,1.33,293.3,3081,1900,2032,2050,128.4,12.8,198,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1903,2031,2031,2045,0,0,0,0,0,0,26.14,26.16,26.14,10.42,52.71
$GC,2003,1.33,293.3,3081,1900,2030,2045,120.5,13.0,204,2008,0.00,2.70,0.00,0.000,516,0.000,0.081,3080,925,2030,2030,2046,0,0,0,0,0,0,26.35,25.98,26.36,10.41,52.79
$GC,2069,1.33,293.3,3082,925,2029,2046,111.4,13.6,215,2075,0.00,2.40,0.00,0.000,1030,0.000,0.034,3086,1902,2028,2028,2046,0,0,0,0,0,0,26.29,26.28,26.31,10.42,52.32
$GC,2135,1.33,293.3,3082,1910,2032,2046,103.1,12.3,222,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1909,2027,2027,2047,0,0,0,0,0,0,26.59,26.60,26.60,10.41,52.67
$GC,2195,1.33,293.3,3081,1910,2025,2047,95.5,12.8,228,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1910,2025,2025,2046,0,0,0,0,0,0,26.67,26.67,26.67,10.41,53.15
$GC,2255,1.33,293.3,3081,1910,2024,2046,87.7,13.0,234,2261,0.00,2.72,0.00,0.000,516,0.000,0.081,3082,926,2016,2016,2045,0,0,0,0,0,0,26.75,26.32,26.72,10.41,53.18
$GC,2315,1.33,293.3,3082,917,2022,2045,79.4,13.8,244,2321,0.00,2.38,0.00,0.000,1030,0.000,0.034,3082,1898,2021,2021,2047,0,0,0,0,0,0,26.51,26.53,26.58,10.41,53.22
$GC,2381,1.33,293.3,3082,1900,2020,2047,71.1,12.4,251,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1900,2020,2020,2045,0,0,0,0,0,0,26.79,26.82,26.82,10.41,54.17
$GC,2441,1.33,293.3,3081,1900,2018,2045,63.7,12.3,257,2446,0.00,2.67,0.00,0.000,516,0.000,0.082,3080,920,2018,2018,2044,0,0,0,0,0,0,26.84,26.46,26.84,10.40,54.05
$GC,2524,1.33,293.3,3081,921,2016,2044,54.4,13.2,265,2539,0.00,2.25,0.00,0.000,1030,0.000,0.035,3082,1881,2016,2016,2046,0,0,0,0,0,0,26.65,26.62,26.68,10.40,53.97
$GC,2625,1.33,293.3,3081,1879,2015,2046,42.1,11.9,272,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1881,2012,2012,2046,0,0,0,0,0,0,26.83,26.87,26.84,10.39,53.42
$GC,2726,1.33,293.3,3082,1881,2009,2046,30.1,11.9,279,2741,0.00,2.60,0.00,0.000,516,0.000,0.082,3081,917,2009,2009,2046,0,0,0,0,0,0,26.80,26.44,26.80,10.43,53.34
$GC,2827,1.33,293.3,3082,913,2004,2046,17.0,12.6,286,2842,0.00,2.25,0.00,0.000,1030,0.000,0.034,3082,1886,2006,2006,2046,0,0,0,0,0,0,26.63,26.61,26.64,10.37,53.26
$GC,2910,1.33,293.3,3081,1886,2003,2046,7.0,10.5,293,2915,0.00,2.62,0.00,0.000,516,0.000,0.080,3082,922,2009,2009,2046,0,0,0,0,0,0,26.82,26.45,26.84,10.47,53.34
$GC,2952,1.45,373.2,3081,922,2002,2046,3.5,8.2,300,2961,0.25,2.17,3.95,0.431,11270,0.035,0.034,3116,1844,1949,1949,2046,0,0,0,0,0,0,26.63,26.70,25.74,10.40,53.07
$STATE,2976,end climb,SURFACE_DEPTH_REACHED
$STATE,2977,begin surface coast
$STATE,2997,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3093,0.00,0.000,0,0,1948,371.21
$SM_GC,1.54,29.17,0.40,0.00,0.023,0.039,0.000,232,2047,1948,-7.62,-2.96,371.21,0,0,0,0,0,0,26.29,26.63,26.52
$IRIDIUM_FIX,4808.40,-12337.82,220518,212703
$TT8_MAMPS,0.023219,0.83139
$HUMID,52.71
$INTERNAL_PRESSURE,10.3653
$TCM_TEMP,11.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.6,999.0
$ALTIM_BOTTOM_PING,121.1,78.7
$SC_FREEKB,3907904
$24V_AH,23.93,4.546
$10V_AH,10.11,5.483
$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,61.800,59.225,37.850,0.000,0.000,0.000,0.000,0.000,164.250,0.000,18.104,331.147,1212.183,142.048,1457.059,34.975,32.438,570.704,0.000,446.680,0.000,1622.530,0.000
$DEVICE_MAMPS,116.280,81.855,1944.630,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2988.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,73.212,0.000,0.000,0.000
$MEM,312896
$DATA_FILE_SIZE,10472,305
$CAP_FILE_SIZE,138761,0
$CFSIZE,1023623168,1020788736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220518,223154,4743.279,-12224.558,5,1.0,17,16.3,0.0,0.0,9,4.8