version: 66.14
glider: 401
mission: 28
dive: 5
start: 5 22 118 22 49 7
data:
$ID,401
$MISSION,28
$DIVE,5
$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,18
$R_STBD_OVSHOOT,61
$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
$GPS1,220518,223154,4743.2788,-12224.5576,5,1.0,17,16.3,0.0,0.0,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.6
$GPS2,220518,224801,4743.2832,-12224.5625,7,1.2,52,16.3,0.0,151.5,7,3.0
$SPEED_LIMITS,0.143,0.329
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.101003,0.312947
$KALMAN_X,-12.629333,-79.978897,-155.285797,918.588318,101.346184
$KALMAN_Y,-86.613068,-27.611763,-46.655437,1213.847290,-9.373180
$MHEAD_RNG_PITCHd_Wd,325.8,1360,-13.3,-10.000,-16.91,4474
$D_GRID,176
$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,-293.3,236,2055,1948,2045,0.0,0.0,0,17,0.00,0.00,-5.62,0.000,16390,0.000,0.000,224,2054,2674,2674,2045,0,0,0,0,0,0,26.58,25.20,26.60,10.44,53.30
$GC,19,-1.33,-293.3,232,2055,2670,2045,0.0,0.0,0,45,23.95,0.00,0.00,0.000,2054,0.116,0.000,2234,2058,2681,2681,2044,0,0,0,0,0,0,26.16,26.29,26.30,10.62,53.74
$GC,102,-1.33,-293.3,2228,2051,2677,2044,14.5,-9.5,9,103,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2050,2676,2676,2045,0,0,0,0,0,0,26.63,26.64,26.69,10.60,52.28
$GC,162,-1.33,-293.3,2232,2055,2689,2045,19.1,-7.7,15,163,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2051,2683,2683,2046,0,0,0,0,0,0,26.72,26.68,26.74,10.55,52.52
$GC,222,-1.33,-293.3,2233,2050,2679,2046,23.1,-6.8,21,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2051,2687,2687,2046,0,0,0,0,0,0,26.73,26.74,26.75,10.58,51.81
$GC,282,-1.33,-293.3,2232,2056,2688,2046,27.2,-6.7,27,287,0.00,2.62,0.00,0.000,516,0.000,0.072,2233,1073,2679,2679,2046,0,0,0,0,0,0,26.77,26.36,26.79,10.58,51.92
$GC,366,-1.33,-293.3,2233,1073,2681,2046,33.3,-7.5,41,371,0.00,2.33,0.00,0.000,1030,0.000,0.034,2234,2027,2680,2680,2043,0,0,0,0,0,0,26.58,26.59,26.60,10.58,52.40
$GC,432,-1.33,-293.3,2232,2020,2682,2043,37.7,-6.5,48,437,0.00,2.55,0.00,0.000,516,0.000,0.072,2238,1073,2682,2682,2045,0,0,0,0,0,0,26.85,26.45,26.86,10.57,52.24
$GC,534,-1.33,-293.3,2231,1072,2684,2045,45.7,-8.4,65,539,0.00,2.35,0.00,0.000,1030,0.000,0.032,2233,2035,2684,2684,2046,0,0,0,0,0,0,26.66,26.64,26.68,10.60,52.36
$GC,600,-1.33,-293.3,2238,2029,2692,2046,50.7,-7.2,72,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2040,2687,2687,2048,0,0,0,0,0,0,26.93,26.93,26.92,10.56,52.59
$GC,660,-1.33,-293.3,2233,2036,2686,2048,54.9,-7.0,78,665,0.00,2.58,0.00,0.000,516,0.000,0.072,2233,1071,2685,2685,2046,0,0,0,0,0,0,26.93,26.57,26.94,10.56,52.63
$GC,780,-1.33,-293.3,2233,1074,2684,2046,64.2,-7.9,98,785,0.00,2.33,0.00,0.000,1030,0.000,0.033,2234,2031,2688,2688,2047,0,0,0,0,0,0,26.72,26.72,26.74,10.55,53.15
$GC,846,-1.33,-293.3,2233,2032,2689,2047,68.8,-6.9,105,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2032,2689,2689,2046,0,0,0,0,0,0,26.97,26.99,27.01,10.56,52.83
$GC,906,-1.33,-293.3,2232,2032,2690,2046,72.9,-6.5,111,911,0.00,2.55,0.00,0.000,516,0.000,0.073,2233,1070,2689,2689,2046,0,0,0,0,0,0,26.99,26.55,27.00,10.59,53.58
$GC,1039,-1.33,-293.3,2232,1071,2692,2046,81.0,-6.8,130,1054,0.00,2.28,0.00,0.000,1030,0.000,0.031,2234,2024,2692,2692,2046,0,0,0,0,0,0,26.78,26.75,26.79,10.63,53.58
$GC,1142,-1.33,-293.3,2232,2024,2693,2046,87.1,-5.9,137,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2024,2694,2694,2046,0,0,0,0,0,0,26.94,26.94,26.96,10.55,53.46
$GC,1244,-1.33,-293.3,2233,2025,2693,2046,93.2,-6.0,144,1260,0.00,2.53,0.00,0.000,516,0.000,0.072,2234,1070,2694,2694,2046,0,0,0,0,0,0,26.91,26.58,26.95,10.51,52.95
$GC,1347,-1.33,-293.3,2233,1071,2695,2046,101.5,-8.6,151,1363,0.00,2.25,0.00,0.000,1030,0.000,0.032,2234,2015,2696,2696,2046,0,0,0,0,0,0,26.71,26.71,26.72,10.55,53.11
$GC,1449,-1.33,-293.3,2233,2016,2701,2046,109.0,-7.1,158,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2016,2698,2698,2046,0,0,0,0,0,0,26.88,26.86,26.84,10.55,52.59
$GC,1550,-1.33,-293.3,2233,2015,2699,2046,116.5,-7.2,165,1566,0.00,2.50,0.00,0.000,516,0.000,0.073,2234,1076,2699,2699,2046,0,0,0,0,0,0,26.82,26.46,26.84,10.49,52.48
$GC,1651,-1.33,-293.3,2233,1075,2701,2046,124.6,-8.4,171,1667,0.00,2.25,0.00,0.000,1030,0.000,0.034,2234,2012,2701,2701,2046,0,0,0,0,0,0,26.60,26.57,26.65,10.55,52.32
$GC,1753,-1.33,-293.3,2233,2011,2710,2046,132.3,-7.4,178,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2012,2702,2702,2046,0,0,0,0,0,0,26.77,26.79,26.83,10.55,52.00
$STATE,1825,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1826,begin apogee
$GC,1829,-0.33,0.0,2233,1894,2703,2040,137.7,-7.7,183,1855,3.35,0.00,17.60,1.971,10244,0.063,0.000,2556,1888,2354,2354,2047,0,0,0,0,0,0,26.51,25.53,24.30,10.55,52.16
$STATE,1857,end apogee,CONTROL_FINISHED_OK
$STATE,1857,begin climb
$GC,1858,1.33,293.3,2555,1890,2351,2047,139.4,0.0,187,1886,5.30,2.60,16.38,1.942,10500,0.037,0.048,3076,2878,2030,2030,2052,0,0,0,0,0,0,25.94,25.82,23.85,10.47,51.53
$GC,1915,1.33,293.3,3080,2878,2030,2052,134.7,11.2,197,1920,0.00,2.58,0.00,0.000,1030,0.000,0.041,3080,1914,2030,2030,2045,0,0,0,0,0,0,25.65,25.62,25.71,10.40,51.45
$GC,1981,1.33,293.3,3080,1914,2025,2045,126.3,12.9,204,1986,0.00,2.80,0.00,0.000,516,0.000,0.081,3080,907,2035,2035,2039,0,0,0,0,0,0,26.20,25.83,26.21,10.39,51.26
$GC,2053,1.33,293.3,3080,911,2026,2039,116.4,13.9,216,2058,0.00,2.47,0.00,0.000,1030,0.000,0.034,3080,1909,2026,2026,2046,0,0,0,0,0,0,26.17,26.19,26.20,10.39,51.53
$GC,2119,1.33,293.3,3080,1920,2025,2046,107.7,13.1,223,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1919,2024,2024,2046,0,0,0,0,0,0,26.48,26.51,26.50,10.39,51.96
$GC,2179,1.33,293.3,3080,1920,2023,2046,99.4,14.3,229,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1920,2023,2023,2046,0,0,0,0,0,0,26.57,26.59,26.58,10.39,51.61
$GC,2239,1.33,293.3,3080,1921,2021,2046,90.7,14.4,235,2244,0.00,2.75,0.00,0.000,516,0.000,0.081,3083,921,2022,2022,2046,0,0,0,0,0,0,26.65,26.27,26.64,10.39,51.92
$GC,2311,1.33,293.3,3080,921,2018,2046,79.9,15.1,247,2317,0.00,2.38,0.00,0.000,1030,0.000,0.033,3081,1895,2017,2017,2047,0,0,0,0,0,0,26.48,26.46,26.51,10.39,52.32
$GC,2377,1.33,293.3,3080,1905,2017,2047,71.1,12.9,254,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1904,2017,2017,2046,0,0,0,0,0,0,26.74,26.75,26.74,10.39,52.67
$GC,2437,1.33,293.3,3080,1903,2015,2046,63.5,12.5,260,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1904,2015,2015,2045,0,0,0,0,0,0,26.77,26.79,26.78,10.38,53.03
$GC,2520,1.33,293.3,3075,1904,2012,2045,54.9,12.1,266,2535,0.00,2.65,0.00,0.000,516,0.000,0.082,3081,919,2012,2012,2045,0,0,0,0,0,0,26.74,26.40,26.76,10.38,53.07
$GC,2621,1.33,293.3,3079,920,2009,2045,41.6,13.4,273,2637,0.00,2.28,0.00,0.000,1030,0.000,0.035,3080,1889,2009,2009,2046,0,0,0,0,0,0,26.58,26.60,26.61,10.38,52.87
$GC,2723,1.33,293.3,3083,1889,2006,2046,29.2,12.1,280,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1889,2006,2006,2046,0,0,0,0,0,0,26.76,26.77,26.77,10.38,52.95
$GC,2823,1.33,293.3,3080,1889,2013,2046,17.3,11.8,287,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1893,2002,2002,2046,0,0,0,0,0,0,26.74,26.76,26.75,10.41,52.28
$GC,2906,1.33,296.8,3076,1889,2001,2046,7.4,9.9,294,2911,0.00,2.67,0.00,0.000,516,0.000,0.084,3080,917,2001,2001,2046,0,0,0,0,0,0,26.79,26.39,26.79,10.38,51.92
$STATE,2982,end climb,SURFACE_DEPTH_REACHED
$STATE,2982,begin surface coast
$STATE,3006,end surface coast,CONTROL_FINISHED_OK
$STATE,3006,begin surface
$SM_CCo,3045,3.12,0.313,0,0,1967,350.89
$SM_GC,2.26,29.25,2.78,3.12,0.032,0.035,0.313,232,2030,1967,-7.62,-2.64,350.89,0,0,0,0,0,0,26.30,26.58,25.75
$IRIDIUM_FIX,4808.40,-12337.82,220518,213509
$TT8_MAMPS,0.02247,0.847119
$HUMID,52.32
$INTERNAL_PRESSURE,10.3555
$TCM_TEMP,10.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.7,999.0
$ALTIM_BOTTOM_PING,121.1,71.3
$SC_FREEKB,3907232
$24V_AH,23.85,4.631
$10V_AH,10.14,5.590
$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,61.850,55.375,33.975,3.125,0.000,46.549,37.200,669.961,170.250,0.000,53.733,330.418,1180.896,139.001,2319.065,68.342,33.432,583.589,0.000,456.879,0.000,1685.480,0.000
$DEVICE_MAMPS,116.280,84.150,1971.405,312.885,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3028.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.067,0.000,0.000,0.000
$MEM,313004
$DATA_FILE_SIZE,10473,311
$CAP_FILE_SIZE,131548,0
$CFSIZE,1023623168,1020641280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220518,234053,4743.795,-12224.590,5,0.9,16,16.3,0.0,0.0,9,4.7