version: 66.13
glider: 401
mission: 22
dive: 60
start: 7 27 117 17 50 32
data:
$ID,401
$MISSION,22
$DIVE,60
$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,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,22
$T_MISSION,32
$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,350
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$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,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,29
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$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
$GPS1,270717,170516,5921.5337,-17036.7559,6,0.8,16,8.6,0.0,293.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-1.0
$GPS2,270717,170516,5921.5337,-17036.7559,6,0.8,16,8.6,0.0,293.6,10,4.7
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.310064,0.085445
$KALMAN_X,8458.853516,-608.723145,-521.457703,-18001.451172,89.262268
$KALMAN_Y,950.789062,964.506226,267.805634,9338.397461,51.729767
$MHEAD_RNG_PITCHd_Wd,276.8,18661,-12.2,-9.091,-15.78,5643
$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,-1.62,-341.3,2404,1905,2406,4093,0.0,0.0,0,21,5.82,0.00,-4.50,0.000,20486,0.030,0.000,1841,1905,2903,2903,4095,0,0,0,0,0,0,26.08,25.16,26.10,10.30,50.19
$GC,23,-1.62,-341.3,1840,1906,2903,4095,0.2,0.0,1,32,0.00,2.72,0.00,0.000,516,0.000,0.075,1841,926,2903,2903,4094,0,0,0,0,0,0,26.25,25.89,26.26,10.41,49.96
$GC,139,-1.62,-341.3,1840,926,2904,4094,7.8,-13.0,18,149,0.00,2.45,0.00,0.000,1030,0.000,0.034,1841,1896,2904,2904,4095,0,0,0,0,0,0,26.12,26.10,26.16,10.42,50.51
$GC,185,-1.62,-341.3,1840,1897,2905,4095,13.6,-13.0,24,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1897,2906,2906,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.42,49.40
$GC,229,-1.62,-341.3,1840,1898,2908,4094,18.8,-10.4,30,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1898,2906,2906,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.39,49.68
$GC,275,-1.62,-341.3,1840,1899,2908,4095,23.5,-10.7,36,284,0.00,2.62,0.00,0.000,260,0.000,0.063,1841,2867,2908,2908,4094,0,0,0,0,0,0,26.43,26.09,26.44,10.37,48.81
$GC,321,-1.62,-341.3,1840,2866,2908,4094,28.7,-11.0,42,331,0.00,2.45,0.00,0.000,1030,0.000,0.034,1841,1912,2909,2909,4095,0,0,0,0,0,0,26.21,26.17,26.24,10.35,47.95
$GC,368,-1.62,-341.3,1840,1912,2909,4095,34.0,-11.5,48,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1912,2910,2910,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.34,46.61
$GC,414,-1.62,-341.3,1840,1912,2910,4095,39.0,-10.8,54,423,0.00,2.70,0.00,0.000,516,0.000,0.074,1841,922,2911,2911,4095,0,0,0,0,0,0,26.49,26.13,26.51,10.34,46.29
$GC,460,-1.62,-341.3,1840,922,2912,4095,44.9,-13.6,60,469,0.00,2.47,0.00,0.000,1030,0.000,0.034,1841,1908,2912,2912,4095,0,0,0,0,0,0,26.29,26.25,26.31,10.33,46.22
$GC,507,-1.62,-341.3,1840,1909,2912,4095,50.5,-11.2,66,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1909,2912,2912,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.33,45.66
$GC,551,-1.62,-341.3,1840,1909,2914,4094,55.8,-11.0,72,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1909,2914,2914,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.32,45.66
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,587,begin apogee
$GC,592,-0.45,0.0,1840,2041,2914,4094,60.3,-12.1,77,620,4.00,0.00,20.38,1.255,10244,0.066,0.000,2204,2042,2500,2500,4094,0,0,0,0,0,0,26.25,25.60,24.73,10.32,45.51
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,623,1.62,341.3,2204,2041,2500,4094,62.4,0.0,80,659,7.03,0.00,19.95,1.233,11270,0.041,0.000,2865,2043,2102,2102,4094,0,0,0,0,0,0,25.79,25.96,24.33,10.22,44.99
$GC,696,1.62,341.3,2866,2043,2102,4094,57.3,10.1,89,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2043,2100,2100,4094,0,0,0,0,0,0,25.71,25.73,25.72,10.14,45.07
$GC,742,1.62,341.3,2866,2043,2100,4094,52.0,11.6,95,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2043,2100,2100,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.13,44.44
$GC,786,1.62,341.3,2866,2043,2099,4094,46.9,11.4,101,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2043,2099,2099,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.13,45.51
$GC,830,1.62,341.3,2866,2042,2098,4094,41.9,11.4,107,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2043,2098,2098,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.13,44.95
$GC,874,1.62,341.3,2866,2042,2096,4094,36.7,11.9,113,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2043,2096,2096,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.13,45.70
$GC,919,1.62,341.3,2866,2043,2096,4094,31.6,11.5,119,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2043,2095,2095,4095,0,0,0,0,0,0,26.13,26.15,26.14,10.12,45.15
$GC,963,1.62,341.3,2866,2043,2095,4095,26.6,11.0,125,972,0.00,2.80,0.00,0.000,516,0.000,0.073,2866,1043,2094,2094,4094,0,0,0,0,0,0,26.17,25.82,26.20,10.12,45.11
$GC,1009,1.62,341.3,2866,1043,2093,4094,21.3,11.9,131,1018,0.00,2.40,0.00,0.000,1030,0.000,0.032,2866,1989,2093,2093,4095,0,0,0,0,0,0,26.01,25.97,26.01,10.12,46.02
$GC,1055,1.62,341.3,2866,1989,2092,4095,15.9,11.6,137,1065,0.00,2.75,0.00,0.000,260,0.000,0.065,2866,2988,2092,2092,4094,0,0,0,0,0,0,26.26,25.91,26.27,10.12,45.43
$GC,1113,1.62,341.3,2866,2987,2091,4094,9.5,10.7,145,1123,0.00,2.50,0.00,0.000,1030,0.000,0.034,2866,2023,2090,2090,4095,0,0,0,0,0,0,26.07,26.03,26.09,10.17,47.63
$GC,1160,1.62,341.3,2866,2022,2089,4095,4.9,9.8,151,1168,0.00,2.70,0.00,0.000,516,0.000,0.077,2866,1049,2089,2089,4094,0,0,0,0,0,0,26.33,25.97,26.35,10.19,48.07
$STATE,1189,end climb,SURFACE_DEPTH_REACHED
$STATE,1189,begin surface coast
$FINISH,0.2,1.024369
$STATE,1210,end surface coast,CONTROL_FINISHED_OK
$STATE,1210,begin surface
$SM_CCo,1308,0.00,0.000,0,0,2088,354.60
$SM_GC,0.85,27.73,2.20,0.00,0.028,0.035,0.000,230,1926,2088,-6.65,-1.18,354.60,0,0,0,0,0,0,25.99,26.13,26.12
$IRIDIUM_FIX,5953.06,-17035.79,270717,154600
$TT8_MAMPS,0.025466,0.25466
$HUMID,50.51
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.33,1.637
$10V_AH,10.28,2.312
$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,44.575,33.225,40.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,451.575,60.503,152.215,660.862,43.409,33.404,407.772,0.000,382.250,0.000,0.545,0.000
$DEVICE_MAMPS,65.790,77.265,1255.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.736,429.211,339.937,503.576,658.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331024
$DATA_FILE_SIZE,14319,158
$CAP_FILE_SIZE,32346,0
$CFSIZE,1024409600,1016561664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,181347,5922.271,-17037.643,8,1.0,53,8.5,0.5,13.2,9,5.7