version: 66.13
glider: 401
mission: 22
dive: 5
start: 7 26 117 18 42 14
data:
$ID,401
$MISSION,22
$DIVE,5
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$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,250
$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,2385
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$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,13
$R_STBD_OVSHOOT,37
$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
$GPS1,260717,183717,5916.2681,-17025.9277,4,1.0,49,8.6,0.6,49.6,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-48.0
$GPS2,260717,184104,5916.3013,-17025.8965,7,0.7,14,8.6,0.0,60.1,11,4.6
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.288601,0.016871
$KALMAN_X,428.677063,196.680786,151.224747,-1166.749023,113.352707
$KALMAN_Y,552.077759,309.929779,247.464569,708.370789,137.720093
$MHEAD_RNG_PITCHd_Wd,264.7,32432,-16.1,-10.000,-19.08,3691
$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,-1.83,-243.8,229,2154,2126,4091,0.0,0.0,0,20,11.18,0.00,0.00,0.000,2049,0.112,0.000,1158,2154,2127,2127,4095,0,0,0,0,0,0,26.53,28.83,28.83,10.33,49.33
$GC,23,-1.83,-243.8,1157,2154,2127,4095,1.1,0.0,1,43,6.97,3.53,-5.82,0.000,18948,0.070,1.294,1792,938,2792,2792,4094,0,0,0,0,0,0,26.17,24.89,26.26,10.33,49.60
$GC,66,-1.83,-243.8,1791,938,2793,4094,1.8,-3.8,6,75,0.00,3.03,0.00,0.000,1030,0.000,0.035,1792,2124,2793,2793,4094,0,0,0,0,0,0,26.15,26.10,26.17,10.47,49.21
$GC,111,-1.83,-243.8,1792,2124,2794,4094,6.9,-12.2,12,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2124,2794,2794,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.47,49.05
$GC,155,-1.83,-243.8,1791,2124,2795,4094,12.8,-13.6,18,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2124,2795,2795,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.47,48.70
$GC,199,-1.83,-243.8,1791,2124,2796,4095,18.5,-11.9,24,208,0.00,3.25,0.00,0.000,516,0.000,0.069,1792,937,2796,2796,4094,0,0,0,0,0,0,26.50,26.08,26.51,10.45,48.66
$GC,310,-1.83,-243.8,1791,936,2799,4094,32.6,-13.8,40,320,0.00,3.03,0.00,0.000,1030,0.000,0.036,1792,2129,2799,2799,4094,0,0,0,0,0,0,26.29,26.25,26.33,10.39,46.49
$GC,357,-1.83,-243.8,1791,2129,2800,4094,38.6,-12.2,46,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2129,2800,2800,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.38,46.33
$GC,403,-1.83,-243.8,1791,2129,2801,4095,44.5,-12.3,52,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2129,2801,2801,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.38,46.53
$GC,453,-1.83,-243.8,1791,2129,2803,4095,50.7,-12.6,58,462,0.00,3.25,0.00,0.000,516,0.000,0.069,1792,936,2803,2803,4095,0,0,0,0,0,0,26.62,26.19,26.63,10.37,45.07
$STATE,522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,522,begin apogee
$GC,530,-0.45,0.0,1792,2027,2805,4094,60.5,-13.2,68,557,4.82,0.00,15.55,1.178,10244,0.072,0.000,2231,2028,2499,2499,4094,0,0,0,0,0,0,26.29,25.50,24.79,10.36,44.95
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,560,1.83,243.8,2231,2027,2499,4094,63.0,0.0,71,588,7.62,0.00,14.70,1.151,11270,0.041,0.000,2954,2029,2215,2215,4094,0,0,0,0,0,0,26.01,26.19,24.52,10.29,45.27
$GC,625,1.83,243.8,2953,2029,2214,4094,57.5,12.5,79,634,0.00,3.30,0.00,0.000,260,0.000,0.067,2953,3211,2214,2214,4094,0,0,0,0,0,0,26.01,25.65,26.03,10.24,44.44
$GC,671,1.83,243.8,2953,3211,2213,4094,50.8,15.2,85,680,0.00,3.17,0.00,0.000,1030,0.000,0.035,2954,2005,2213,2213,4094,0,0,0,0,0,0,25.86,25.81,25.89,10.23,45.39
$GC,718,1.83,243.8,2953,2004,2212,4094,44.2,13.2,91,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2005,2211,2211,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.22,45.23
$GC,763,1.83,243.8,2953,2004,2210,4094,38.1,13.5,97,773,0.00,3.40,0.00,0.000,516,0.000,0.095,2954,819,2210,2210,4094,0,0,0,0,0,0,26.25,25.84,26.27,10.22,45.39
$GC,821,1.83,243.8,2953,819,2208,4094,29.4,14.8,105,831,0.00,3.00,0.00,0.000,1030,0.000,0.037,2953,1995,2208,2208,4094,0,0,0,0,0,0,26.08,26.03,26.10,10.21,45.23
$GC,868,1.83,243.8,2953,1995,2207,4094,23.0,13.9,111,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1996,2206,2206,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.20,46.22
$GC,912,1.83,243.8,2953,1995,2206,4094,16.7,13.9,117,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1996,2205,2205,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.20,45.62
$GC,956,1.83,243.8,2953,1997,2205,4094,11.7,10.1,123,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1997,2204,2204,4095,0,0,0,0,0,0,26.43,26.45,26.45,10.24,46.41
$GC,1000,1.83,243.8,2953,1998,2203,4095,6.8,11.4,129,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1998,2203,2203,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.26,47.40
$STATE,1042,end climb,SURFACE_DEPTH_REACHED
$STATE,1043,begin surface coast
$FINISH,0.2,0.999764
$STATE,1058,end surface coast,CONTROL_FINISHED_OK
$STATE,1058,begin surface
$SM_CCo,1096,4.10,0.373,0,0,2148,300.51
$SM_GC,2.18,28.42,0.38,4.10,0.029,0.043,0.373,230,2159,2148,-6.73,-0.73,300.51,0,0,0,0,0,0,26.20,26.26,25.46
$IRIDIUM_FIX,5957.10,-16911.74,260717,183226
$TT8_MAMPS,0.025466,0.250166
$HUMID,49.25
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,5.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,45.6,6.8
$24V_AH,24.52,0.391
$10V_AH,10.33,0.307
$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,59.025,32.100,30.250,4.100,0.000,0.000,0.000,0.000,1.000,0.000,15.239,405.828,0.000,145.959,593.824,39.145,33.435,371.465,0.000,333.762,0.000,9.737,0.000
$DEVICE_MAMPS,112.455,1294.380,1178.100,372.555,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.432,372.059,294.691,436.876,571.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329632
$DATA_FILE_SIZE,14275,137
$CAP_FILE_SIZE,42895,0
$CFSIZE,1024409600,1019248640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,190122,5916.432,-17025.900,4,0.8,11,8.6,0.0,0.0,10,4.8