version: 66.13
glider: 401
mission: 22
dive: 4
start: 7 26 117 18 5 46
data:
$ID,401
$MISSION,22
$DIVE,4
$N_DIVES,4
$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,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12
$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,11
$R_STBD_OVSHOOT,31
$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
$GPS1,260717,180101,5915.9443,-17025.9531,4,0.8,30,8.6,0.0,44.0,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-48.2
$GPS2,260717,180439,5915.9736,-17025.9375,7,0.9,18,8.6,0.0,0.0,9,5.0
$SPEED_LIMITS,0.100,0.313
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.300552,0.086062
$KALMAN_X,229.802460,100.145355,89.050812,-845.962402,71.522774
$KALMAN_Y,303.549438,184.730438,168.511200,555.871094,99.550583
$MHEAD_RNG_PITCHd_Wd,277.4,32746,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.66,-292.5,237,2148,2146,4092,0.0,0.0,0,18,0.00,0.00,-5.55,0.000,16390,0.000,0.000,237,2148,2845,2845,4095,0,0,0,0,0,0,26.45,25.58,26.46,10.33,49.68
$GC,21,-1.66,-292.5,237,2147,2846,4095,1.1,0.0,1,48,19.98,3.25,0.00,0.000,2308,0.120,0.073,1861,3324,2848,2848,4094,0,0,0,0,0,0,25.90,25.89,25.99,10.48,50.07
$GC,70,-1.66,-292.5,1860,3323,2848,4094,12.5,-21.3,7,80,0.00,3.08,0.00,0.000,1030,0.000,0.034,1861,2129,2848,2848,4095,0,0,0,0,0,0,26.08,26.04,26.11,10.49,49.64
$GC,115,-1.66,-292.5,1860,2129,2850,4095,17.9,-11.8,13,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2128,2850,2850,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.47,49.17
$GC,160,-1.66,-292.5,1860,2126,2851,4095,22.5,-9.8,19,169,0.00,3.22,0.00,0.000,516,0.000,0.070,1861,948,2850,2850,4095,0,0,0,0,0,0,26.42,26.00,26.44,10.43,48.30
$GC,231,-1.66,-292.5,1860,947,2852,4095,30.4,-11.5,29,241,0.00,2.92,0.00,0.000,1030,0.000,0.037,1861,2096,2852,2852,4095,0,0,0,0,0,0,26.21,26.15,26.27,10.40,46.92
$GC,278,-1.66,-292.5,1860,2096,2852,4095,35.3,-10.7,35,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2096,2853,2853,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.40,46.73
$GC,326,-1.66,-292.5,1860,2096,2853,4094,40.1,-10.5,41,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2096,2854,2854,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.39,46.45
$GC,372,-1.66,-292.5,1860,2096,2855,4095,45.2,-10.3,47,381,0.00,3.15,0.00,0.000,516,0.000,0.070,1861,946,2855,2855,4095,0,0,0,0,0,0,26.55,26.13,26.57,10.38,45.70
$GC,443,-1.66,-292.5,1860,946,2856,4095,53.7,-12.1,57,452,0.00,2.95,0.00,0.000,1030,0.000,0.037,1860,2107,2856,2856,4094,0,0,0,0,0,0,26.32,26.31,26.34,10.38,45.19
$GC,490,-1.66,-292.5,1860,2107,2857,4094,58.8,-10.8,63,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2107,2858,2858,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.37,45.43
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,506,begin apogee
$GC,511,-0.42,0.0,1860,1998,2858,4095,61.0,-10.8,65,539,4.32,0.00,17.80,1.200,10244,0.068,0.000,2257,1998,2500,2500,4094,0,0,0,0,0,0,26.27,25.67,24.73,10.37,45.74
$STATE,540,end apogee,CONTROL_FINISHED_OK
$STATE,540,begin climb
$GC,541,1.66,292.5,2257,1998,2500,4094,62.9,0.0,68,577,6.93,3.40,17.23,1.174,10500,0.044,0.070,2913,3214,2160,2160,4094,0,0,0,0,0,0,25.84,25.76,24.37,10.29,45.55
$GC,626,1.66,292.5,2912,3213,2159,4094,55.7,13.6,79,635,0.00,3.08,0.00,0.000,1030,0.000,0.035,2913,2051,2158,2158,4094,0,0,0,0,0,0,25.72,25.66,25.75,10.21,45.03
$GC,673,1.66,292.5,2913,2050,2157,4094,49.8,12.7,85,682,0.00,3.58,0.00,0.000,516,0.000,0.096,2913,816,2157,2157,4094,0,0,0,0,0,0,26.06,25.66,26.08,10.20,45.19
$GC,731,1.66,292.5,2913,816,2156,4094,41.6,14.1,93,740,0.00,3.05,0.00,0.000,1030,0.000,0.037,2913,2003,2156,2156,4094,0,0,0,0,0,0,25.94,25.89,25.96,10.20,45.35
$GC,777,1.66,292.5,2912,2003,2154,4094,35.7,12.6,99,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2003,2154,2154,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.20,46.10
$GC,822,1.66,292.5,2913,2003,2153,4094,29.7,12.6,105,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2003,2154,2154,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.20,45.62
$GC,866,1.66,292.5,2913,2003,2152,4094,24.0,13.0,111,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2003,2152,2152,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.19,46.29
$GC,910,1.66,292.5,2913,2003,2152,4094,18.2,13.1,117,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2003,2150,2150,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.19,46.14
$GC,955,1.69,316.0,2913,2003,2150,4094,13.5,9.5,123,964,0.00,0.00,2.75,0.241,8198,0.000,0.000,2913,2005,2130,2130,4094,0,0,0,0,0,0,26.43,25.77,25.29,10.22,46.57
$GC,1001,1.69,316.0,2913,2005,2129,4094,8.7,10.7,129,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2005,2129,2129,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.24,47.79
$GC,1045,1.69,316.0,2913,2005,2128,4094,3.4,11.7,135,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2006,2127,2127,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.26,49.52
$STATE,1061,end climb,SURFACE_DEPTH_REACHED
$STATE,1062,begin surface coast
$FINISH,0.4,1.024043
$STATE,1076,end surface coast,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$SM_CCo,1173,0.00,0.000,0,0,2127,321.12
$SM_GC,1.11,28.05,0.32,0.00,0.029,0.044,0.000,230,2154,2127,-6.78,-1.28,321.12,0,0,0,0,0,0,26.18,26.27,26.26
$IRIDIUM_FIX,5957.10,-16911.74,260717,175606
$TT8_MAMPS,0.025466,0.247919
$HUMID,50.15
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,5.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,40.1,5.6
$24V_AH,24.37,0.356
$10V_AH,10.32,0.267
$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,59.275,32.225,37.775,0.000,0.000,0.000,0.000,0.000,0.500,0.000,19.283,403.901,59.930,150.018,604.014,40.064,32.441,391.908,0.000,337.988,0.000,5.446,0.000
$DEVICE_MAMPS,120.105,96.390,1199.520,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.478,377.452,298.990,443.302,579.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329572
$DATA_FILE_SIZE,14389,139
$CAP_FILE_SIZE,41277,0
$CFSIZE,1024409600,1019297792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,182609,5916.178,-17026.000,5,1.0,16,8.6,0.3,45.6,9,4.9