version: 66.14
glider: 401
mission: 28
dive: 7
start: 5 23 118 1 11 57
data:
$ID,401
$MISSION,28
$DIVE,7
$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,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16
$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,1750
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3420
$C_VBD,2420
$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
$GPS1,230518,005558,4743.3311,-12224.6270,5,1.1,50,16.3,0.3,163.0,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-57.4
$GPS2,230518,011051,4743.2427,-12224.6143,6,1.0,51,16.3,0.0,172.9,8,3.0
$SPEED_LIMITS,0.143,0.329
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.126984,-0.303337
$KALMAN_X,339.434387,7.386078,-50.518368,316.280884,229.193542
$KALMAN_Y,-163.872131,-56.727119,-9.427207,1211.020264,3.325824
$MHEAD_RNG_PITCHd_Wd,186.4,1395,-13.3,-10.000,-16.91,4474
$D_GRID,177
$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,-1.27,-293.3,232,1746,1975,2045,0.0,0.0,0,19,0.00,0.00,-6.00,0.000,16390,0.000,0.000,228,1741,2742,2742,2046,0,0,0,0,0,0,26.47,25.18,26.48,10.41,51.02
$GC,21,-1.27,-293.3,236,1739,2741,2046,1.6,0.0,1,51,24.12,2.42,0.00,0.000,2308,0.120,0.044,2233,2682,2744,2744,2049,0,0,0,0,0,0,26.09,26.13,26.22,10.60,50.94
$GC,279,-1.27,-293.3,2228,2682,2747,2049,28.2,-6.7,44,284,0.00,2.42,0.00,0.000,1030,0.000,0.043,2232,1743,2747,2747,2046,0,0,0,0,0,0,26.46,26.34,26.44,10.55,50.55
$GC,345,-1.27,-293.3,2231,1743,2747,2046,32.9,-7.3,51,350,0.00,2.40,0.00,0.000,260,0.000,0.043,2233,2685,2754,2754,2045,0,0,0,0,0,0,26.72,26.38,26.77,10.56,50.51
$GC,447,-1.27,-293.3,2232,2685,2749,2045,40.3,-7.3,68,452,0.00,2.38,0.00,0.000,1030,0.000,0.042,2233,1760,2749,2749,2044,0,0,0,0,0,0,26.54,26.45,26.59,10.56,50.47
$GC,513,-1.27,-293.3,2232,1761,2751,2044,45.2,-7.5,75,518,0.00,2.67,0.00,0.000,516,0.000,0.084,2233,774,2750,2750,2045,0,0,0,0,0,0,26.83,26.40,26.82,10.55,50.82
$GC,573,-1.27,-293.3,2232,773,2752,2045,50.8,-9.8,85,578,0.00,2.33,0.00,0.000,1030,0.000,0.035,2240,1747,2752,2752,2046,0,0,0,0,0,0,26.64,26.63,26.66,10.55,50.74
$GC,639,-1.27,-293.3,2232,1762,2758,2046,56.0,-7.6,92,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1753,2754,2754,2046,0,0,0,0,0,0,26.91,26.86,26.88,10.54,50.90
$GC,699,-1.27,-293.3,2232,1748,2755,2046,60.6,-7.8,98,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1753,2758,2758,2045,0,0,0,0,0,0,26.86,26.89,26.88,10.54,51.69
$GC,759,-1.27,-293.3,2232,1753,2756,2045,65.2,-7.4,104,764,0.00,2.67,0.00,0.000,516,0.000,0.084,2232,778,2755,2755,2047,0,0,0,0,0,0,26.91,26.48,26.89,10.53,51.73
$GC,819,-1.27,-293.3,2232,778,2757,2047,70.2,-8.3,114,824,0.00,2.33,0.00,0.000,1030,0.000,0.035,2233,1754,2751,2751,2046,0,0,0,0,0,0,26.72,26.70,26.74,10.53,51.45
$GC,885,-1.27,-293.3,2232,1761,2758,2046,74.8,-6.9,121,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1761,2757,2757,2041,0,0,0,0,0,0,26.91,26.96,26.93,10.54,52.00
$GC,945,-1.27,-293.3,2232,1761,2759,2041,79.1,-7.0,127,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1762,2758,2758,2045,0,0,0,0,0,0,26.93,26.95,26.94,10.52,51.69
$GC,1032,-1.27,-293.3,2232,1766,2768,2045,84.2,-6.8,133,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1761,2760,2760,2046,0,0,0,0,0,0,26.88,26.90,26.94,10.54,51.77
$GC,1134,-1.27,-293.3,2232,1756,2753,2046,91.2,-7.3,140,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1761,2761,2761,2054,0,0,0,0,0,0,26.86,26.88,26.91,10.49,52.36
$GC,1235,-1.27,-293.3,2232,1761,2763,2054,98.3,-7.0,147,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1761,2763,2763,2046,0,0,0,0,0,0,26.84,26.86,26.86,10.58,51.61
$GC,1337,-1.27,-293.3,2232,1757,2764,2046,105.9,-6.7,154,1352,0.00,2.70,0.00,0.000,516,0.000,0.086,2232,767,2764,2764,2047,0,0,0,0,0,0,26.79,26.44,26.83,10.54,51.45
$GC,1454,-1.27,-293.3,2232,766,2766,2047,115.4,-8.4,162,1469,0.00,2.33,0.00,0.000,1030,0.000,0.036,2233,1751,2766,2766,2046,0,0,0,0,0,0,26.60,26.55,26.63,10.53,51.65
$GC,1569,-1.27,-293.3,2232,1748,2775,2046,124.7,-8.1,169,1585,0.00,2.38,0.00,0.000,260,0.000,0.043,2233,2692,2768,2768,2046,0,0,0,0,0,0,26.77,26.45,26.74,10.54,51.29
$GC,1643,-1.27,-293.3,2232,2692,2772,2046,130.3,-7.7,174,1659,0.00,2.42,0.00,0.000,1030,0.000,0.044,2233,1741,2770,2770,2046,0,0,0,0,0,0,26.48,26.42,26.51,10.51,50.59
$GC,1745,-1.27,-293.3,2232,1731,2774,2046,137.5,-7.0,181,1761,0.00,2.65,0.00,0.000,516,0.000,0.086,2233,759,2771,2771,2046,0,0,0,0,0,0,26.70,26.32,26.72,10.51,50.94
$STATE,1818,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1818,begin apogee
$GC,1824,-0.31,0.0,2225,1762,2772,2046,144.3,-9.3,186,1848,3.08,0.03,17.70,2.046,10244,0.061,0.219,2533,1743,2421,2421,2046,0,0,0,0,0,0,26.45,25.55,24.19,10.53,50.86
$STATE,1850,end apogee,CONTROL_FINISHED_OK
$STATE,1850,begin climb
$GC,1852,1.27,293.3,2533,1743,2419,2046,146.4,0.0,190,1877,5.30,0.00,16.45,1.984,11270,0.039,0.000,3040,1743,2105,2105,2054,0,0,0,0,0,0,25.82,25.98,23.71,10.45,50.39
$GC,1937,1.27,293.3,3040,1743,2099,2054,138.4,11.6,201,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1743,2099,2099,2049,0,0,0,0,0,0,25.95,25.99,25.96,10.41,50.23
$GC,1997,1.27,293.3,3040,1742,2098,2049,130.9,12.6,207,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1743,2098,2098,2046,0,0,0,0,0,0,26.17,26.22,26.15,10.42,50.47
$GC,2057,1.27,293.3,3040,1743,2096,2046,123.8,11.7,213,2062,0.00,2.72,0.00,0.000,516,0.000,0.087,3042,773,2095,2095,2046,0,0,0,0,0,0,26.30,25.94,26.32,10.39,50.39
$GC,2093,1.27,293.3,3040,774,2098,2046,119.3,13.0,219,2099,0.00,2.35,0.00,0.000,1030,0.000,0.036,3041,1746,2096,2096,2045,0,0,0,0,0,0,26.20,26.18,26.21,10.38,50.43
$GC,2159,1.27,293.3,3041,1752,2093,2045,111.2,12.2,226,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1749,2094,2094,2045,0,0,0,0,0,0,26.46,26.48,26.48,10.38,50.74
$GC,2219,1.27,293.3,3041,1752,2098,2045,103.4,12.9,232,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1752,2082,2082,2045,0,0,0,0,0,0,26.53,26.55,26.54,10.38,51.65
$GC,2279,1.27,293.3,3040,1753,2090,2045,96.3,11.5,238,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1753,2091,2091,2046,0,0,0,0,0,0,26.59,26.60,26.60,10.38,51.57
$GC,2339,1.27,293.3,3040,1752,2089,2046,89.4,11.4,244,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1753,2089,2089,2046,0,0,0,0,0,0,26.64,26.65,26.65,10.38,51.69
$GC,2399,1.27,293.3,3040,1753,2081,2046,82.8,11.4,250,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1753,2084,2084,2046,0,0,0,0,0,0,26.68,26.70,26.70,10.38,52.00
$GC,2459,1.27,293.3,3038,1753,2086,2046,75.1,12.8,256,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1753,2087,2087,2045,0,0,0,0,0,0,26.72,26.73,26.73,10.38,51.57
$GC,2519,1.27,293.3,3040,1752,2084,2045,67.6,12.3,262,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1754,2084,2084,2045,0,0,0,0,0,0,26.75,26.77,26.79,10.38,52.71
$GC,2579,1.27,293.3,3040,1753,2082,2045,60.3,12.3,268,2595,0.00,2.72,0.00,0.000,516,0.000,0.087,3041,769,2082,2082,2046,0,0,0,0,0,0,26.78,26.39,26.79,10.38,51.96
$GC,2611,1.27,293.3,3040,769,2082,2046,57.9,11.9,270,2627,0.00,2.33,0.00,0.000,1030,0.000,0.037,3041,1770,2081,2081,2046,0,0,0,0,0,0,26.59,26.58,26.61,10.38,51.77
$GC,2714,1.27,293.3,3040,1768,2080,2046,46.6,11.2,277,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1774,2079,2079,2046,0,0,0,0,0,0,26.74,26.76,26.75,10.34,51.73
$GC,2814,1.27,293.3,3040,1771,2076,2046,35.4,11.3,284,2830,0.00,2.72,0.00,0.000,516,0.000,0.086,3041,771,2076,2076,2046,0,0,0,0,0,0,26.72,26.39,26.74,10.41,51.92
$GC,2874,1.27,293.3,3040,772,2074,2046,28.5,11.8,288,2889,0.00,2.28,0.00,0.000,1030,0.000,0.037,3041,1746,2073,2073,2046,0,0,0,0,0,0,26.60,26.55,26.57,10.36,51.65
$GC,2975,1.27,293.3,3041,1747,2071,2046,17.3,10.7,295,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1747,2071,2071,2046,0,0,0,0,0,0,26.71,26.72,26.73,10.43,52.00
$GC,3057,1.27,293.3,3040,1746,2069,2046,7.5,10.4,302,3062,0.00,2.40,0.00,0.000,260,0.000,0.041,3041,2682,2073,2073,2046,0,0,0,0,0,0,26.74,26.44,26.74,10.31,51.18
$GC,3093,1.30,311.3,3040,2683,2068,2046,3.9,9.6,308,3098,0.00,2.38,0.00,0.000,1030,0.000,0.045,3039,1768,2068,2068,2046,0,0,0,0,0,0,26.50,26.44,26.52,10.38,51.96
$STATE,3128,end climb,SURFACE_DEPTH_REACHED
$STATE,3128,begin surface coast
$STATE,3158,end surface coast,CONTROL_FINISHED_OK
$STATE,3158,begin surface
$SM_CCo,3194,3.08,0.304,0,0,2037,350.89
$SM_GC,3.09,28.58,0.00,3.08,0.027,0.000,0.304,243,1768,2037,-7.52,0.87,350.89,0,0,0,0,0,0,26.44,26.81,25.74
$IRIDIUM_FIX,4807.77,-12056.72,220518,234607
$TT8_MAMPS,0.023219,0.860601
$HUMID,51.22
$INTERNAL_PRESSURE,10.336
$TCM_TEMP,10.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.1,999.0
$ALTIM_BOTTOM_PING,120.2,68.7
$SC_FREEKB,3905984
$24V_AH,23.71,4.812
$10V_AH,10.16,5.818
$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,61.075,54.450,34.150,3.075,0.000,25.335,18.860,682.244,180.250,0.000,52.941,341.316,1209.988,135.674,2353.188,71.285,33.429,613.918,0.000,462.502,0.000,1783.613,0.000
$DEVICE_MAMPS,120.105,218.790,2045.610,304.470,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3183.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.084,0.000,0.000,0.000
$MEM,312980
$DATA_FILE_SIZE,10462,315
$CAP_FILE_SIZE,137947,0
$CFSIZE,1023623168,1020346368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230518,020610,4742.630,-12224.896,4,0.9,14,16.3,0.0,0.0,9,4.5