version: 66.13
glider: 401
mission: 22
dive: 87
start: 7 28 117 5 13 10
data:
$ID,401
$MISSION,22
$DIVE,87
$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,27
$R_STBD_OVSHOOT,49
$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
$GPS1,280717,042729,5924.2949,-17043.2168,9,0.8,17,8.5,0.0,269.2,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.5
$GPS2,280717,042729,5924.2949,-17043.2168,9,0.8,17,8.5,0.0,269.2,11,4.8
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.316124,0.059332
$KALMAN_X,12778.125977,-1072.343262,-650.436523,-27846.367188,45.021179
$KALMAN_Y,3057.797363,1255.155396,337.439789,11983.717773,43.568695
$MHEAD_RNG_PITCHd_Wd,272.1,11048,-12.2,-9.091,-15.78,5644
$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,-341.3,2408,1892,2401,4092,0.0,0.0,0,20,5.85,0.00,-4.50,0.000,20482,0.030,0.000,1841,1892,2894,2894,4095,0,0,0,0,0,0,26.22,28.83,26.25,10.30,49.80
$GC,22,-1.62,-341.3,1841,1892,2894,4095,0.1,0.0,1,32,0.00,2.75,-0.08,0.000,16900,0.000,1.323,1841,937,2904,2904,4095,0,0,0,0,0,0,26.41,25.10,26.03,10.40,50.35
$GC,107,-1.62,-341.3,1841,937,2905,4095,4.9,-12.8,13,116,0.00,2.38,0.00,0.000,1030,0.000,0.034,1841,1878,2906,2906,4094,0,0,0,0,0,0,26.10,26.06,26.14,10.41,50.43
$GC,152,-1.62,-341.3,1840,1882,2907,4094,11.2,-14.4,19,161,0.00,2.70,0.00,0.000,260,0.000,0.065,1841,2867,2907,2907,4095,0,0,0,0,0,0,26.34,25.98,26.34,10.42,50.39
$GC,216,-1.62,-341.3,1840,2866,2908,4095,19.2,-11.8,28,225,0.00,2.42,0.00,0.000,1030,0.000,0.034,1841,1924,2908,2908,4095,0,0,0,0,0,0,26.13,26.10,26.16,10.40,49.37
$GC,263,-1.62,-341.3,1840,1925,2909,4095,24.1,-10.9,34,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1925,2909,2909,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.37,49.48
$GC,308,-1.62,-341.3,1840,1925,2909,4094,28.9,-10.5,40,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1925,2910,2910,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.36,48.07
$GC,353,-1.62,-341.3,1840,1925,2911,4094,33.8,-10.6,46,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1925,2911,2911,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.34,47.75
$GC,397,-1.62,-341.3,1841,1925,2912,4094,38.8,-11.7,52,406,0.00,2.72,0.00,0.000,516,0.000,0.074,1841,927,2912,2912,4095,0,0,0,0,0,0,26.47,26.12,26.48,10.34,46.29
$GC,443,-1.62,-341.3,1841,927,2913,4095,44.6,-13.3,58,453,0.00,2.45,0.00,0.000,1030,0.000,0.033,1841,1902,2913,2913,4094,0,0,0,0,0,0,26.28,26.25,26.30,10.33,46.06
$GC,490,-1.62,-341.3,1840,1902,2914,4094,50.5,-12.1,64,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1902,2914,2914,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.33,45.86
$GC,536,-1.62,-341.3,1840,1902,2915,4095,55.7,-10.9,70,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1903,2915,2915,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.32,45.78
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,572,begin apogee
$GC,577,-0.45,0.0,1841,2042,2915,4095,60.2,-11.6,75,605,4.03,0.00,20.48,1.252,10244,0.066,0.000,2205,2042,2499,2499,4095,0,0,0,0,0,0,26.25,25.60,24.73,10.31,45.55
$STATE,606,end apogee,CONTROL_FINISHED_OK
$STATE,606,begin climb
$GC,608,1.62,341.3,2205,2041,2500,4095,62.1,0.0,78,644,7.03,0.00,19.95,1.230,11270,0.040,0.000,2865,2043,2101,2101,4094,0,0,0,0,0,0,25.78,25.95,24.31,10.23,45.94
$GC,681,1.62,341.3,2865,2043,2100,4094,56.3,12.2,87,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2043,2100,2100,4095,0,0,0,0,0,0,25.71,25.72,25.72,10.13,44.21
$GC,727,1.62,341.3,2865,2043,2099,4095,51.0,11.6,93,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2043,2099,2099,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.13,44.52
$GC,771,1.62,341.3,2865,2043,2098,4094,45.7,11.9,99,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2043,2098,2098,4095,0,0,0,0,0,0,25.93,25.94,25.94,10.13,44.80
$GC,815,1.62,341.3,2865,2045,2097,4095,40.5,11.3,105,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2046,2097,2097,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.12,45.27
$GC,860,1.62,341.3,2865,2045,2096,4094,35.5,11.0,111,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2046,2096,2096,4094,0,0,0,0,0,0,26.07,26.09,26.08,10.12,44.84
$GC,904,1.62,341.3,2865,2046,2095,4094,30.4,11.5,117,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2045,2096,2096,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.11,45.15
$GC,948,1.62,341.3,2865,2045,2094,4094,25.3,11.4,123,958,0.00,2.80,0.00,0.000,516,0.000,0.073,2866,1042,2093,2093,4094,0,0,0,0,0,0,26.17,25.82,26.19,10.12,44.99
$GC,995,1.62,341.3,2864,1042,2093,4094,19.8,12.5,129,1004,0.00,2.40,0.00,0.000,1030,0.000,0.031,2866,1992,2093,2093,4094,0,0,0,0,0,0,26.01,25.96,26.02,10.11,45.39
$GC,1042,1.67,374.3,2865,1991,2092,4094,15.3,8.5,135,1052,0.00,2.70,3.12,0.334,8452,0.000,0.063,2865,2994,2063,2063,4094,0,0,0,0,0,0,26.26,25.72,25.27,10.15,45.74
$GC,1133,1.67,374.3,2865,2993,2060,4094,5.4,12.1,148,1143,0.00,2.50,0.00,0.000,1030,0.000,0.033,2866,2027,2060,2060,4094,0,0,0,0,0,0,26.09,26.00,26.10,10.19,48.14
$STATE,1170,end climb,SURFACE_DEPTH_REACHED
$STATE,1170,begin surface coast
$FINISH,0.2,1.024298
$STATE,1192,end surface coast,CONTROL_FINISHED_OK
$STATE,1192,begin surface
$SM_CCo,1288,0.00,0.000,0,0,2059,379.50
$SM_GC,1.07,27.73,0.32,0.00,0.027,0.057,0.000,230,1891,2059,-6.65,0.91,379.50,0,0,0,0,0,0,25.94,26.09,26.09
$IRIDIUM_FIX,5957.10,-16911.74,280717,042002
$TT8_MAMPS,0.025466,0.253162
$HUMID,50.35
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.31,2.222
$10V_AH,10.28,3.318
$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,44.625,26.750,43.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,445.322,59.881,145.865,653.538,42.611,33.407,396.110,0.000,377.637,0.000,0.542,0.000
$DEVICE_MAMPS,65.790,1322.685,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.352,423.801,335.480,497.498,651.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330952
$DATA_FILE_SIZE,14326,156
$CAP_FILE_SIZE,31655,0
$CFSIZE,1024409600,1015234560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,053602,5924.958,-17044.652,4,1.1,50,8.5,0.5,38.6,9,6.5