version: 66.13
glider: 401
mission: 22
dive: 3
start: 7 26 117 17 33 16
data:
$ID,401
$MISSION,22
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,4
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,30
$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,0
$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,45
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$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,300
$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,2464
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$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,55
$C_ROLL_DIVE,2140
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$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,2
$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,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,40
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$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,0
$GPS1,260717,172833,5915.6509,-17025.8359,4,0.9,17,8.6,0.3,23.2,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-35.1
$GPS2,260717,173210,5915.6768,-17025.8457,7,0.8,20,8.6,0.0,52.1,10,4.7
$SPEED_LIMITS,0.100,0.313
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.291552,0.112851
$KALMAN_X,92.290016,45.165680,43.367290,-521.053894,46.551762
$KALMAN_Y,120.572952,83.091812,81.423447,382.824982,82.782913
$MHEAD_RNG_PITCHd_Wd,282.6,33136,-14.6,-10.000,-17.74,4419
$D_GRID,60
$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,-1.59,-292.5,238,2149,1596,4091,0.0,0.0,0,19,0.00,0.00,-9.77,0.000,16390,0.000,0.000,238,2150,2846,2846,4095,0,0,0,0,0,0,26.43,24.83,26.45,10.26,47.24
$GC,21,-1.59,-292.5,237,2150,2846,4095,0.8,0.0,1,48,20.70,3.22,0.00,0.000,2308,0.115,0.072,1944,3310,2848,2848,4095,0,0,0,0,0,0,26.00,25.96,26.12,10.54,47.32
$GC,64,-1.59,-292.5,1944,3309,2848,4095,9.8,-23.1,6,74,0.00,2.95,0.00,0.000,1030,0.000,0.032,1944,2154,2848,2848,4095,0,0,0,0,0,0,26.15,26.11,26.17,10.53,47.12
$GC,111,-1.59,-292.5,1944,2154,2850,4095,13.6,-7.9,12,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2154,2850,2850,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.54,46.77
$GC,157,-1.59,-292.5,1944,2150,2850,4095,18.3,-10.4,18,166,0.00,3.28,0.00,0.000,516,0.000,0.069,1944,945,2851,2851,4094,0,0,0,0,0,0,26.48,26.03,26.49,10.49,46.65
$GC,222,-1.59,-292.5,1944,945,2851,4094,24.7,-8.8,27,230,0.00,2.92,0.00,0.000,1030,0.000,0.034,1944,2103,2852,2852,4094,0,0,0,0,0,0,26.25,26.20,26.28,10.45,45.39
$GC,267,-1.59,-292.5,1944,2103,2852,4094,28.1,-7.5,33,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2104,2853,2853,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.44,45.31
$GC,311,-1.59,-292.5,1944,2103,2853,4095,31.8,-8.3,39,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2104,2853,2853,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.43,44.01
$GC,356,-1.59,-292.5,1944,2103,2854,4095,35.4,-7.7,45,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2103,2854,2854,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.43,43.89
$GC,401,-1.59,-292.5,1944,2103,2855,4095,39.0,-8.2,51,410,0.00,3.15,0.00,0.000,516,0.000,0.069,1945,946,2855,2855,4095,0,0,0,0,0,0,26.62,26.16,26.63,10.41,43.58
$GC,463,-1.59,-292.5,1944,946,2856,4095,44.6,-9.3,59,477,0.00,3.00,0.00,0.000,1030,0.000,0.036,1945,2132,2856,2856,4095,0,0,0,0,0,0,26.36,26.32,26.39,10.40,43.77
$GC,513,-1.59,-292.5,1944,2132,2857,4095,48.8,-8.2,65,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2132,2857,2857,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.40,43.73
$GC,559,-1.59,-292.5,1944,2131,2858,4094,52.6,-8.5,71,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2132,2858,2858,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.40,43.85
$GC,605,-1.59,-292.5,1944,2132,2858,4094,56.4,-8.1,77,615,0.00,3.22,0.00,0.000,516,0.000,0.069,1944,945,2858,2858,4095,0,0,0,0,0,0,26.70,26.22,26.71,10.39,44.40
$STATE,641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,641,begin apogee
$GC,649,-0.39,0.0,1944,2027,2859,4094,60.1,-9.3,82,675,4.18,0.00,17.65,1.175,10244,0.064,0.000,2328,2028,2501,2501,4095,0,0,0,0,0,0,26.35,25.76,24.79,10.38,44.40
$STATE,676,end apogee,CONTROL_FINISHED_OK
$STATE,676,begin climb
$GC,678,1.59,292.5,2327,2028,2500,4095,61.6,0.0,85,715,6.53,3.25,17.23,1.150,10500,0.036,0.070,2957,3207,2159,2159,4094,0,0,0,0,0,0,25.94,25.84,24.46,10.31,43.97
$GC,757,1.59,292.5,2956,3207,2158,4094,54.2,13.8,95,766,0.00,3.12,0.00,0.000,1030,0.000,0.036,2957,2024,2158,2158,4094,0,0,0,0,0,0,25.77,25.71,25.79,10.24,44.32
$GC,802,1.59,292.5,2956,2024,2157,4094,47.9,14.0,101,811,0.00,3.47,0.00,0.000,516,0.000,0.096,2957,821,2156,2156,4095,0,0,0,0,0,0,26.12,25.71,26.13,10.23,44.09
$GC,861,1.59,292.5,2956,821,2154,4095,39.1,15.6,109,870,0.00,3.00,0.00,0.000,1030,0.000,0.037,2957,1991,2154,2154,4094,0,0,0,0,0,0,25.97,25.92,26.00,10.23,44.76
$GC,907,1.59,292.5,2956,1993,2154,4094,32.2,14.5,115,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1993,2153,2153,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.22,44.80
$GC,953,1.59,292.5,2956,1992,2152,4095,25.6,14.2,121,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1993,2152,2152,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.22,45.07
$GC,997,1.59,292.5,2956,1993,2150,4094,19.0,14.3,127,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1993,2150,2150,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.21,45.58
$GC,1041,1.59,292.5,2956,1994,2149,4094,13.3,11.7,133,1051,0.00,3.35,0.00,0.000,260,0.000,0.067,2957,3212,2149,2149,4095,0,0,0,0,0,0,26.42,26.01,26.44,10.23,45.74
$GC,1087,1.59,292.5,2956,3212,2148,4095,7.4,13.6,139,1097,0.00,3.20,0.00,0.000,1030,0.000,0.037,2957,1984,2147,2147,4095,0,0,0,0,0,0,26.20,26.12,26.20,10.26,46.77
$STATE,1132,end climb,SURFACE_DEPTH_REACHED
$STATE,1132,begin surface coast
$FINISH,0.1,1.007693
$STATE,1147,end surface coast,CONTROL_FINISHED_OK
$STATE,1147,begin surface
$SM_CCo,1245,0.00,0.000,0,0,2145,304.80
$SM_GC,1.15,28.30,0.40,0.00,0.028,0.041,0.000,237,2147,2145,-6.94,-1.37,304.80,0,0,0,0,0,0,26.25,26.24,26.29
$IRIDIUM_FIX,5957.10,-16911.74,260717,172403
$TT8_MAMPS,0.025466,0.250166
$HUMID,49.25
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,8.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,45.5,22.3
$24V_AH,24.46,0.325
$10V_AH,10.34,0.229
$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,59.700,44.300,34.875,0.000,0.000,0.000,0.000,0.000,1.000,0.000,21.699,430.765,61.803,159.487,637.049,42.730,31.522,410.759,0.000,356.301,0.000,9.810,0.000
$DEVICE_MAMPS,114.750,95.625,1175.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.062,399.254,316.190,468.871,607.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,14371,147
$CAP_FILE_SIZE,46322,0
$CFSIZE,1024409600,1019346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,175454,5915.894,-17025.967,5,0.9,19,8.6,0.3,5.1,9,4.8