version: 66.13
glider: 401
mission: 22
dive: 6
start: 7 26 117 19 7 46
data:
$ID,401
$MISSION,22
$DIVE,6
$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,13
$R_STBD_OVSHOOT,32
$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
$GPS1,260717,190122,5916.4316,-17025.9004,4,0.8,11,8.6,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-48.5
$GPS2,260717,190635,5916.4717,-17025.8496,7,0.8,13,8.6,0.5,25.6,10,4.8
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.285951,-0.042508
$KALMAN_X,594.584717,318.879974,215.150589,-1473.652222,146.728958
$KALMAN_Y,702.240112,398.311737,286.485962,751.711914,181.630371
$MHEAD_RNG_PITCHd_Wd,252.9,32292,-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,-243.8,230,1951,2147,4092,0.0,0.0,0,20,10.62,0.00,0.00,0.000,2049,0.116,0.000,1097,1943,2147,2147,4094,0,0,0,0,0,0,26.33,28.83,28.83,10.30,50.35
$GC,22,-1.83,-243.8,1097,1944,2148,4094,1.1,0.0,1,41,7.82,0.00,-5.60,0.000,18694,0.075,0.000,1790,1944,2788,2788,4095,0,0,0,0,0,0,25.97,24.92,26.06,10.31,49.76
$GC,78,-1.83,-243.8,1789,1943,2788,4095,2.3,-7.8,8,87,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1944,2789,2789,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.44,49.60
$GC,123,-1.83,-243.8,1789,1943,2789,4095,7.8,-13.2,14,132,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1944,2789,2789,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.45,49.64
$GC,168,-1.83,-243.8,1790,1943,2791,4094,14.1,-13.8,20,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1943,2791,2791,4094,0,0,0,0,0,0,26.36,26.39,26.37,10.45,50.00
$GC,211,-1.83,-243.8,1790,1943,2792,4094,19.5,-11.7,26,220,0.00,3.33,0.00,0.000,516,0.000,0.079,1790,747,2792,2792,4094,0,0,0,0,0,0,26.41,25.98,26.41,10.41,48.93
$GC,295,-1.83,-243.8,1790,747,2794,4094,30.7,-13.9,38,305,0.00,3.03,0.00,0.000,1030,0.000,0.037,1790,1942,2794,2794,4094,0,0,0,0,0,0,26.21,26.17,26.24,10.38,47.00
$GC,341,-1.83,-243.8,1789,1941,2795,4094,36.4,-12.4,44,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1941,2796,2796,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.37,46.61
$GC,388,-1.83,-243.8,1790,1941,2796,4094,42.3,-12.9,50,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1942,2796,2796,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.36,45.90
$GC,432,-1.83,-243.8,1790,1942,2798,4094,48.0,-12.7,56,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1942,2798,2798,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.36,45.82
$GC,476,-1.83,-243.8,1789,1942,2798,4095,53.5,-12.4,62,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1942,2799,2799,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.36,45.51
$GC,521,-1.83,-243.8,1790,1943,2800,4094,59.3,-13.0,68,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1943,2800,2800,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.35,45.58
$STATE,536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,536,begin apogee
$GC,541,-0.45,0.0,1790,2053,2801,4095,61.6,-13.2,70,568,4.82,0.12,15.38,1.189,10244,0.072,0.076,2229,1986,2499,2499,4095,0,0,0,0,0,0,26.24,25.72,24.78,10.35,45.62
$STATE,569,end apogee,CONTROL_FINISHED_OK
$STATE,569,begin climb
$GC,571,1.83,243.8,2228,1986,2499,4095,64.1,0.0,73,606,7.68,3.35,14.60,1.169,10500,0.042,0.071,2956,3185,2218,2218,4094,0,0,0,0,0,0,25.89,25.80,24.48,10.29,45.31
$GC,676,1.83,243.8,2956,3185,2215,4094,52.9,15.1,87,686,0.00,3.00,0.03,0.004,9222,0.000,0.035,2957,2047,2216,2216,4095,0,0,0,0,0,0,25.82,25.77,25.84,10.21,44.84
$GC,724,1.83,243.8,2956,2046,2215,4095,46.1,13.6,93,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2047,2215,2215,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.20,45.11
$GC,768,1.83,243.8,2956,2047,2214,4094,40.4,12.9,99,777,0.00,3.53,0.00,0.000,516,0.000,0.095,2957,820,2213,2213,4094,0,0,0,0,0,0,26.21,25.80,26.22,10.20,45.23
$GC,833,1.83,243.8,2956,819,2212,4094,31.0,14.5,108,842,0.00,2.97,0.00,0.000,1030,0.000,0.037,2957,1984,2212,2212,4094,0,0,0,0,0,0,26.02,26.01,26.07,10.20,45.74
$GC,878,1.83,243.8,2956,1984,2211,4094,24.6,13.4,114,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1984,2210,2210,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.19,46.02
$GC,922,1.83,243.8,2956,1984,2209,4095,18.7,13.5,120,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1984,2209,2209,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.19,46.25
$GC,966,1.83,243.8,2956,1985,2208,4094,13.5,10.5,126,976,0.00,3.33,0.00,0.000,516,0.000,0.090,2957,820,2208,2208,4094,0,0,0,0,0,0,26.41,25.98,26.42,10.21,46.14
$GC,1013,1.83,243.8,2956,820,2207,4094,8.2,12.4,132,1022,0.00,2.97,0.00,0.000,1030,0.000,0.038,2957,1989,2206,2206,4094,0,0,0,0,0,0,26.20,26.15,26.22,10.24,47.59
$GC,1059,1.83,243.8,2956,1989,2205,4094,2.7,11.7,138,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1992,2205,2205,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.26,48.93
$STATE,1076,end climb,SURFACE_DEPTH_REACHED
$STATE,1076,begin surface coast
$FINISH,0.1,1.005277
$STATE,1090,end surface coast,CONTROL_FINISHED_OK
$STATE,1091,begin surface
$SM_CCo,1128,4.22,0.383,0,0,2148,300.51
$SM_GC,2.19,28.38,0.12,4.22,0.029,0.092,0.383,239,1938,2148,-6.69,0.91,300.51,0,0,0,0,0,0,26.24,26.22,25.46
$IRIDIUM_FIX,5957.10,-16911.74,260717,183810
$TT8_MAMPS,0.025466,0.237433
$HUMID,49.68
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,4.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,40.3,7.0
$24V_AH,24.48,0.415
$10V_AH,10.31,0.343
$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,59.325,26.550,30.000,4.225,0.000,22.448,17.549,188.959,0.500,0.000,14.443,419.370,0.000,152.016,838.477,69.928,33.429,392.510,0.000,345.765,0.000,7.577,0.000
$DEVICE_MAMPS,116.280,94.860,1188.810,383.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.601,385.679,305.436,452.534,588.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329556
$DATA_FILE_SIZE,14351,142
$CAP_FILE_SIZE,36247,0
$CFSIZE,1024409600,1019199488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,192725,5916.572,-17025.852,5,0.7,11,8.6,0.4,64.3,11,4.4