version: 66.13
glider: 401
mission: 22
dive: 8
start: 7 26 117 20 0 31
data:
$ID,401
$MISSION,22
$DIVE,8
$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,2360
$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,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,24
$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,50
$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
$GPS1,260717,195353,5916.6748,-17025.7695,4,0.9,50,8.6,0.2,85.5,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-48.1
$GPS2,260717,195920,5916.7021,-17025.6934,6,0.8,13,8.6,0.0,24.7,10,4.6
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.283398,-0.057101
$KALMAN_X,1131.649170,495.916321,274.640320,-2097.520020,224.877014
$KALMAN_Y,1039.949463,537.862488,336.967468,652.520020,142.890991
$MHEAD_RNG_PITCHd_Wd,250.0,32181,-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,-243.8,238,1911,2148,4092,0.0,0.0,0,21,11.43,0.00,0.00,0.000,2049,0.116,0.000,1171,1910,2148,2148,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.29,50.15
$GC,23,-1.83,-243.8,1171,1909,2148,4094,1.1,0.0,1,42,6.68,3.42,-5.68,0.000,18692,0.076,1.284,1764,3091,2788,2788,4095,0,0,0,0,0,0,25.94,24.78,26.04,10.29,50.47
$GC,104,-1.83,-243.8,1764,3091,2790,4095,6.1,-12.6,12,113,0.00,3.10,0.00,0.000,1030,0.000,0.036,1764,1900,2790,2790,4094,0,0,0,0,0,0,26.00,25.95,26.03,10.43,49.80
$GC,150,-1.83,-243.8,1764,1900,2792,4094,12.5,-14.5,18,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1900,2791,2791,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.44,49.68
$GC,194,-1.83,-243.8,1764,1900,2792,4095,18.1,-11.0,24,204,0.00,3.33,0.00,0.000,516,0.000,0.081,1764,705,2792,2792,4094,0,0,0,0,0,0,26.35,25.94,26.36,10.42,49.80
$GC,292,-1.83,-243.8,1764,705,2795,4094,31.8,-14.7,38,301,0.00,3.05,0.00,0.000,1030,0.000,0.037,1764,1906,2795,2795,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.37,47.24
$GC,337,-1.83,-243.8,1764,1906,2796,4094,38.0,-13.3,44,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1907,2796,2796,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.36,46.69
$GC,381,-1.83,-243.8,1764,1907,2797,4094,43.8,-13.2,50,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1907,2798,2798,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.36,46.10
$GC,425,-1.83,-243.8,1764,1907,2798,4094,49.7,-13.3,56,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1908,2799,2799,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.34,45.47
$GC,475,-1.83,-243.8,1765,1909,2800,4094,56.5,-14.0,62,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1909,2800,2800,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.35,46.02
$STATE,504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,504,begin apogee
$GC,509,-0.45,0.0,1764,2049,2801,4094,60.7,-13.2,66,536,4.88,0.10,15.35,1.190,10244,0.074,0.086,2205,1999,2500,2500,4095,0,0,0,0,0,0,26.20,25.69,24.75,10.34,45.58
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,538,begin climb
$GC,539,1.83,243.8,2205,1999,2500,4095,63.3,0.0,69,567,7.68,0.00,14.80,1.174,11270,0.041,0.000,2927,1999,2215,2215,4094,0,0,0,0,0,0,25.91,26.10,24.44,10.28,45.35
$GC,604,1.83,243.8,2926,1999,2215,4094,58.6,10.6,77,614,0.00,3.33,0.00,0.000,260,0.000,0.067,2927,3185,2215,2215,4095,0,0,0,0,0,0,25.93,25.58,25.94,10.20,44.99
$GC,662,1.83,243.8,2927,3185,2213,4095,50.5,14.4,85,672,0.00,3.03,0.00,0.000,1030,0.000,0.034,2927,2035,2213,2213,4094,0,0,0,0,0,0,25.82,25.77,25.84,10.20,45.07
$GC,709,1.83,243.8,2926,2035,2212,4094,44.4,13.3,91,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2035,2212,2212,4095,0,0,0,0,0,0,26.13,26.15,26.15,10.19,44.92
$GC,753,1.83,243.8,2927,2035,2210,4095,38.5,12.9,97,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2035,2211,2211,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.19,45.90
$GC,797,1.83,243.8,2927,2035,2210,4094,32.7,12.8,103,807,0.00,3.47,0.00,0.000,516,0.000,0.095,2928,822,2210,2210,4095,0,0,0,0,0,0,26.25,25.85,26.27,10.19,45.47
$GC,869,1.83,243.8,2927,822,2207,4095,22.8,14.3,113,878,0.00,2.95,0.00,0.000,1030,0.000,0.037,2927,1980,2207,2207,4094,0,0,0,0,0,0,26.08,26.03,26.10,10.18,46.53
$GC,915,1.83,243.8,2927,1980,2206,4094,16.8,13.2,119,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1980,2206,2206,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.18,45.86
$GC,961,1.83,243.8,2927,1982,2205,4094,11.7,10.7,125,970,0.00,3.35,0.00,0.000,516,0.000,0.096,2927,822,2205,2205,4094,0,0,0,0,0,0,26.40,25.98,26.41,10.23,47.75
$GC,1026,1.83,243.8,2927,821,2203,4094,3.8,12.4,134,1035,0.00,2.97,0.00,0.000,1030,0.000,0.038,2927,1993,2203,2203,4094,0,0,0,0,0,0,26.20,26.16,26.22,10.25,48.97
$STATE,1043,end climb,SURFACE_DEPTH_REACHED
$STATE,1043,begin surface coast
$FINISH,0.2,0.999752
$STATE,1057,end surface coast,CONTROL_FINISHED_OK
$STATE,1057,begin surface
$SM_CCo,1094,4.10,0.375,0,0,2148,300.51
$SM_GC,2.12,28.10,0.28,4.10,0.030,0.065,0.375,239,1894,2148,-6.61,0.68,300.51,0,0,0,0,0,0,26.22,26.17,25.45
$IRIDIUM_FIX,5957.10,-16911.74,260717,192833
$TT8_MAMPS,0.025466,0.235935
$HUMID,49.40
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,4.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,6.6
$24V_AH,24.44,0.467
$10V_AH,10.31,0.415
$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,58.750,32.725,30.150,4.100,0.000,24.642,17.296,198.326,0.500,0.000,15.891,410.900,0.955,143.097,840.167,65.072,33.429,373.302,0.000,337.757,0.000,7.561,0.000
$DEVICE_MAMPS,115.515,1284.435,1190.340,374.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.143,374.863,296.842,440.025,574.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329540
$DATA_FILE_SIZE,14314,138
$CAP_FILE_SIZE,34504,0
$CFSIZE,1024409600,1019101184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,201937,5916.743,-17025.684,5,0.8,12,8.6,0.0,54.4,10,4.3