version: 66.13
glider: 401
mission: 22
dive: 7
start: 7 26 117 19 33 52
data:
$ID,401
$MISSION,22
$DIVE,7
$N_DIVES,0
$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,1950
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,26
$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
$GPS1,260717,192725,5916.5718,-17025.8516,5,0.7,11,8.6,0.4,64.3,11,4.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-49.2
$GPS2,260717,193243,5916.6035,-17025.7852,6,0.8,15,8.6,0.0,0.0,10,4.6
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.282584,-0.061002
$KALMAN_X,862.306396,398.002045,241.314178,-1784.160889,200.618027
$KALMAN_Y,882.237793,469.171661,317.620087,715.175903,163.828400
$MHEAD_RNG_PITCHd_Wd,249.2,32208,-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,-243.8,239,1938,2148,4092,0.0,0.0,0,20,10.35,0.00,0.00,0.000,2049,0.120,0.000,1079,1934,2148,2148,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.29,50.51
$GC,22,-1.83,-243.8,1078,1934,2148,4094,1.2,0.0,1,41,8.07,0.00,-5.68,0.000,18694,0.076,0.000,1792,1935,2790,2790,4095,0,0,0,0,0,0,25.96,24.93,26.05,10.30,50.00
$GC,78,-1.83,-243.8,1791,1934,2791,4095,2.8,-8.7,8,87,0.00,3.35,0.00,0.000,260,0.000,0.068,1792,3138,2792,2792,4095,0,0,0,0,0,0,26.26,25.87,26.27,10.44,50.35
$GC,149,-1.83,-243.8,1791,3138,2793,4095,12.4,-14.0,18,157,0.00,3.08,0.00,0.000,1030,0.000,0.035,1792,1957,2793,2793,4095,0,0,0,0,0,0,26.08,26.03,26.10,10.44,49.88
$GC,195,-1.83,-243.8,1791,1956,2794,4095,18.3,-12.1,24,203,0.00,3.33,0.00,0.000,516,0.000,0.080,1792,757,2794,2794,4095,0,0,0,0,0,0,26.37,25.96,26.39,10.41,49.44
$GC,291,-1.83,-243.8,1791,756,2796,4095,31.1,-13.9,38,301,0.00,2.92,0.00,0.000,1030,0.000,0.037,1792,1912,2797,2797,4095,0,0,0,0,0,0,26.20,26.20,26.22,10.37,47.79
$GC,336,-1.83,-243.8,1791,1913,2798,4095,36.8,-12.1,44,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1913,2798,2798,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.37,46.69
$GC,384,-1.83,-243.8,1791,1913,2799,4094,42.8,-12.6,50,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1913,2799,2799,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.36,46.88
$GC,429,-1.83,-243.8,1791,1914,2800,4095,48.3,-12.3,56,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1915,2800,2800,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.35,46.41
$GC,475,-1.83,-243.8,1791,1914,2801,4095,54.1,-12.6,62,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1915,2802,2802,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.35,45.90
$GC,520,-1.83,-243.8,1791,1915,2802,4095,59.9,-12.8,68,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1915,2802,2802,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.34,45.35
$STATE,536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,536,begin apogee
$GC,541,-0.45,0.0,1792,2039,2803,4094,62.2,-12.3,70,567,4.85,0.00,15.48,1.204,10244,0.073,0.000,2231,2039,2500,2500,4094,0,0,0,0,0,0,26.23,25.71,24.76,10.34,45.03
$STATE,568,end apogee,CONTROL_FINISHED_OK
$STATE,568,begin climb
$GC,570,1.83,243.8,2230,2039,2500,4094,64.6,0.0,73,598,7.65,0.00,14.80,1.180,11270,0.041,0.000,2952,2040,2215,2215,4095,0,0,0,0,0,0,25.93,26.11,24.45,10.27,45.35
$GC,635,1.83,243.8,2951,2039,2215,4095,59.5,11.7,81,644,0.00,3.22,0.00,0.000,260,0.000,0.067,2952,3192,2214,2214,4094,0,0,0,0,0,0,25.94,25.58,25.96,10.21,44.64
$GC,693,1.83,243.8,2951,3191,2213,4094,50.9,14.7,89,703,0.00,3.08,0.00,0.000,1030,0.000,0.034,2952,2024,2212,2212,4095,0,0,0,0,0,0,25.82,25.77,25.86,10.20,45.11
$GC,740,1.83,243.8,2952,2023,2211,4095,44.3,14.2,95,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2024,2211,2211,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.20,46.10
$GC,784,1.83,243.8,2952,2023,2210,4094,38.1,13.5,101,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2024,2210,2210,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.19,45.78
$GC,828,1.83,243.8,2951,2023,2209,4094,32.2,13.6,107,838,0.00,3.45,0.00,0.000,516,0.000,0.095,2952,820,2209,2209,4094,0,0,0,0,0,0,26.27,25.86,26.28,10.18,45.86
$GC,886,1.83,243.8,2951,820,2207,4094,23.7,15.0,115,896,0.00,2.97,0.00,0.000,1030,0.000,0.037,2952,1985,2207,2207,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.18,45.98
$GC,933,1.83,243.8,2951,1985,2205,4094,17.1,14.2,121,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1986,2205,2205,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.19,46.45
$GC,976,1.83,243.8,2951,1986,2204,4094,12.2,10.4,127,985,0.00,3.33,0.00,0.000,516,0.000,0.090,2952,821,2205,2205,4094,0,0,0,0,0,0,26.40,26.01,26.41,10.22,47.59
$GC,1040,1.83,243.8,2952,821,2203,4094,4.4,12.5,136,1049,0.00,3.03,0.00,0.000,1030,0.000,0.038,2951,2008,2202,2202,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.25,48.81
$STATE,1057,end climb,SURFACE_DEPTH_REACHED
$STATE,1057,begin surface coast
$FINISH,0.3,1.024249
$STATE,1072,end surface coast,CONTROL_FINISHED_OK
$STATE,1072,begin surface
$SM_CCo,1109,4.10,0.377,0,0,2148,300.51
$SM_GC,2.13,28.27,0.17,4.10,0.028,0.076,0.377,239,1937,2148,-6.69,0.87,300.51,0,0,0,0,0,0,26.22,26.20,25.44
$IRIDIUM_FIX,5957.10,-16911.74,260717,190230
$TT8_MAMPS,0.025466,0.251664
$HUMID,49.92
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,4.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,40.6,6.7
$24V_AH,24.45,0.441
$10V_AH,10.30,0.379
$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,59.200,32.175,30.275,4.100,0.000,22.443,17.656,189.586,0.500,0.000,16.900,418.773,0.000,144.634,834.125,66.241,33.436,373.415,0.000,342.183,0.000,7.575,0.000
$DEVICE_MAMPS,120.105,94.860,1204.110,377.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.422,380.287,301.138,445.955,579.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,14330,140
$CAP_FILE_SIZE,35085,0
$CFSIZE,1024409600,1019150336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,195353,5916.675,-17025.770,4,0.9,50,8.6,0.2,85.5,8,3.0