version: 66.13
glider: 401
mission: 22
dive: 960
start: 8 13 117 3 14 15
data:
$ID,401
$MISSION,22
$DIVE,960
$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,19
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,2340
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$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
$GPS1,130817,023304,6121.0659,-17345.9004,5,0.8,16,7.1,0.9,185.1,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-5.0
$GPS2,130817,023304,6121.0659,-17345.9004,5,0.8,16,7.1,0.9,185.1,10,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.056976,0.297999
$KALMAN_X,65562.093750,61.878887,283.010345,-255645.796875,-30.399136
$KALMAN_Y,-52772.175781,2233.067139,720.548767,282714.343750,-200.118774
$MHEAD_RNG_PITCHd_Wd,3.7,6833,-16.2,-10.526,-19.13,3758
$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,9,-1.87,-261.1,2400,1965,2357,4092,0.0,0.0,0,21,6.70,0.00,-3.35,0.000,20482,0.028,0.000,1741,1968,2720,2720,4095,0,0,0,0,0,0,26.20,28.83,26.25,10.31,53.54
$GC,25,-1.87,-261.1,1740,1963,2720,4095,0.2,0.0,1,35,0.00,1.17,-0.62,0.000,16900,0.000,1.281,1741,1529,2791,2791,4095,0,0,0,0,0,0,26.41,24.87,26.33,10.39,53.74
$GC,156,-1.87,-261.1,1740,1529,2795,4095,18.1,-17.5,20,165,0.00,0.98,0.00,0.000,1030,0.000,0.027,1741,1947,2795,2795,4094,0,0,0,0,0,0,26.16,26.13,26.17,10.43,53.38
$GC,202,-1.87,-261.1,1740,1947,2796,4094,24.8,-13.6,26,211,0.00,1.10,0.00,0.000,516,0.000,0.051,1741,1525,2797,2797,4095,0,0,0,0,0,0,26.39,26.09,26.41,10.41,52.99
$GC,300,-1.87,-261.1,1740,1524,2798,4095,35.9,-12.9,40,310,0.00,0.90,0.00,0.000,1030,0.000,0.026,1741,1922,2798,2798,4094,0,0,0,0,0,0,26.29,26.23,26.27,10.35,50.63
$GC,347,-1.87,-261.1,1740,1922,2800,4094,41.5,-11.8,46,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,1922,2800,2800,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.33,50.00
$GC,392,-1.87,-261.1,1740,1922,2801,4094,46.8,-11.7,52,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,1922,2801,2801,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.32,48.70
$GC,437,-1.87,-261.1,1740,1922,2802,4094,52.2,-12.3,58,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,1922,2802,2802,4094,0,0,0,0,0,0,26.52,26.53,26.54,10.31,47.95
$GC,483,-1.87,-261.1,1740,1922,2803,4094,58.1,-13.1,64,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,1922,2803,2803,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.30,47.24
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,506,-0.45,0.0,1740,2135,2803,4094,60.6,-13.2,66,532,4.82,0.00,16.23,1.240,10244,0.064,0.000,2185,2135,2484,2484,4095,0,0,0,0,0,0,26.24,25.70,24.63,10.30,47.32
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,536,1.87,261.1,2184,2135,2484,4095,63.5,0.0,69,564,7.68,0.00,15.75,1.222,11270,0.033,0.000,2922,2135,2178,2178,4095,0,0,0,0,0,0,25.91,26.10,24.33,10.23,46.92
$GC,603,1.87,261.1,2921,2135,2177,4095,58.5,12.2,77,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2135,2177,2177,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.15,45.62
$GC,647,1.87,261.1,2921,2134,2176,4094,52.1,14.1,83,657,0.00,1.12,0.00,0.000,516,0.000,0.044,2922,1714,2176,2176,4094,0,0,0,0,0,0,26.01,25.71,26.03,10.15,45.86
$GC,713,1.87,261.1,2921,1714,2174,4094,42.5,14.6,92,722,0.00,0.98,0.00,0.000,1030,0.000,0.026,2922,2118,2174,2174,4094,0,0,0,0,0,0,25.91,25.93,25.96,10.13,46.29
$GC,759,1.87,261.1,2921,2117,2173,4094,36.2,13.3,98,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2118,2172,2172,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.13,46.61
$GC,805,1.87,261.1,2921,2117,2171,4094,30.1,12.8,104,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2118,2171,2171,4095,0,0,0,0,0,0,26.25,26.26,26.25,10.14,46.88
$GC,851,1.87,261.1,2921,2117,2170,4095,24.3,13.0,110,861,0.00,1.05,0.00,0.000,516,0.000,0.045,2922,1720,2170,2170,4094,0,0,0,0,0,0,26.29,26.03,26.30,10.14,47.48
$STATE,1087,end climb,SURFACE_DEPTH_REACHED
$STATE,1087,begin surface coast
$FINISH,0.1,1.023859
$STATE,1135,end surface coast,CONTROL_FINISHED_OK
$STATE,1135,begin surface
$SM_CCo,1174,3.20,0.293,0,0,2132,300.51
$SM_GC,1.79,27.73,0.55,3.20,0.021,0.031,0.293,230,1978,2132,-6.59,-1.64,300.51,0,0,0,0,0,0,26.20,26.29,25.39
$IRIDIUM_FIX,6149.06,-17422.35,130817,011714
$TT8_MAMPS,0.025466,0.243425
$HUMID,52.75
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,24.33,26.208
$10V_AH,10.17,29.304
$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,46.925,8.925,31.975,3.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,426.699,0.000,118.280,633.597,67.227,33.417,323.983,0.000,371.178,0.000,0.541,0.000
$DEVICE_MAMPS,64.260,1281.375,1240.065,292.995,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.900,413.047,326.867,485.103,631.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,14377,152
$CAP_FILE_SIZE,26351,0
$CFSIZE,1024409600,972324864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,033455,6121.300,-17346.025,5,0.8,22,7.1,0.6,281.8,10,4.7