version: 66.13
glider: 401
mission: 22
dive: 9
start: 7 26 117 20 26 38
data:
$ID,401
$MISSION,22
$DIVE,9
$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,19
$R_STBD_OVSHOOT,19
$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,55
$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
$GPS1,260717,201937,5916.7432,-17025.6836,5,0.8,12,8.6,0.0,54.4,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-49.2
$GPS2,260717,202529,5916.7617,-17025.5938,7,1.2,52,8.6,0.2,114.2,7,3.0
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.287085,-0.034022
$KALMAN_X,1400.806519,601.849060,313.301392,-2416.477051,223.109619
$KALMAN_Y,1160.890991,587.226807,342.809082,587.718201,118.423920
$MHEAD_RNG_PITCHd_Wd,254.6,32200,-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,-243.8,239,1893,2148,4092,0.0,0.0,0,20,10.20,0.00,0.00,0.000,2049,0.117,0.000,1073,1893,2148,2148,4094,0,0,0,0,0,0,26.33,28.83,28.83,10.29,50.03
$GC,22,-1.83,-243.8,1072,1893,2148,4094,1.1,0.0,1,42,7.88,3.50,-5.68,0.000,18692,0.080,1.287,1765,3099,2789,2789,4094,0,0,0,0,0,0,25.98,24.81,26.08,10.29,49.60
$GC,123,-1.83,-243.8,1764,3100,2790,4094,8.9,-14.2,15,132,0.00,3.10,0.00,0.000,1030,0.000,0.035,1765,1905,2791,2791,4095,0,0,0,0,0,0,26.04,25.99,26.08,10.44,49.33
$GC,169,-1.83,-243.8,1764,1905,2792,4095,15.5,-14.6,21,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1905,2792,2792,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.44,48.97
$GC,213,-1.83,-243.8,1764,1905,2793,4095,21.0,-11.6,27,223,0.00,3.35,0.00,0.000,516,0.000,0.081,1765,698,2793,2793,4094,0,0,0,0,0,0,26.38,25.98,26.39,10.40,49.01
$GC,298,-1.83,-243.8,1765,698,2796,4094,33.2,-15.2,39,307,0.00,3.05,0.00,0.000,1030,0.000,0.037,1765,1902,2796,2796,4095,0,0,0,0,0,0,26.20,26.15,26.22,10.37,47.16
$GC,343,-1.83,-243.8,1764,1902,2797,4095,39.4,-13.6,45,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1902,2797,2797,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.36,46.37
$GC,387,-1.83,-243.8,1764,1902,2798,4095,45.4,-12.9,51,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1903,2798,2798,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.35,45.78
$GC,432,-1.83,-243.8,1765,1903,2799,4095,51.2,-13.8,57,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1903,2800,2800,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.35,45.66
$GC,480,-1.83,-243.8,1764,1905,2801,4094,57.7,-12.7,63,489,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1905,2802,2802,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.34,44.95
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,502,-0.45,0.0,1765,2035,2801,4094,60.2,-13.1,65,528,4.88,0.00,15.38,1.190,10244,0.074,0.000,2203,2035,2500,2500,4095,0,0,0,0,0,0,26.20,25.45,24.76,10.34,44.84
$STATE,529,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,531,1.83,243.8,2203,2035,2501,4095,63.1,0.0,68,558,7.72,0.00,14.77,1.177,11270,0.043,0.000,2929,2036,2215,2215,4095,0,0,0,0,0,0,25.90,26.10,24.44,10.26,44.88
$GC,595,1.83,243.8,2928,2036,2215,4095,59.0,10.6,76,605,0.00,3.25,0.00,0.000,260,0.000,0.067,2929,3197,2214,2214,4094,0,0,0,0,0,0,25.92,25.56,25.93,10.20,44.52
$GC,647,1.83,243.8,2928,3197,2213,4094,51.5,15.0,83,656,0.00,3.10,0.00,0.000,1030,0.000,0.034,2929,2020,2213,2213,4094,0,0,0,0,0,0,25.79,25.73,25.82,10.20,45.51
$GC,692,1.83,243.8,2929,2020,2212,4094,45.3,13.4,89,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2020,2212,2212,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.20,45.23
$GC,736,1.83,243.8,2928,2019,2211,4094,39.4,13.1,95,746,0.00,3.42,0.00,0.000,516,0.000,0.095,2929,825,2210,2210,4094,0,0,0,0,0,0,26.18,25.79,26.19,10.19,44.92
$GC,783,1.83,243.8,2928,825,2209,4094,33.3,14.0,101,792,0.00,3.00,0.00,0.000,1030,0.000,0.037,2929,1997,2209,2209,4095,0,0,0,0,0,0,26.00,25.96,26.03,10.19,45.07
$GC,829,1.83,243.8,2928,1996,2208,4095,27.1,13.0,107,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1997,2208,2208,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.19,45.47
$GC,875,1.83,243.8,2928,1997,2207,4095,21.1,13.3,113,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1997,2206,2206,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.18,46.49
$GC,919,1.83,243.8,2928,1996,2206,4094,15.4,12.1,119,929,0.00,3.38,0.00,0.000,516,0.000,0.093,2929,823,2206,2206,4094,0,0,0,0,0,0,26.36,25.96,26.37,10.19,46.49
$GC,998,1.83,243.8,2928,823,2204,4094,6.2,12.4,130,1006,0.00,3.00,0.00,0.000,1030,0.000,0.037,2929,2005,2203,2203,4094,0,0,0,0,0,0,26.21,26.14,26.20,10.24,48.14
$STATE,1034,end climb,SURFACE_DEPTH_REACHED
$STATE,1034,begin surface coast
$FINISH,0.1,1.000430
$STATE,1049,end surface coast,CONTROL_FINISHED_OK
$STATE,1049,begin surface
$SM_CCo,1085,4.10,0.377,0,0,2148,300.51
$SM_GC,2.07,28.05,0.30,4.10,0.028,0.061,0.377,238,1894,2148,-6.61,0.82,300.51,0,0,0,0,0,0,26.20,26.17,25.45
$IRIDIUM_FIX,5957.10,-16911.74,260717,195504
$TT8_MAMPS,0.026215,0.253911
$HUMID,49.44
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,4.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.5,6.7
$24V_AH,24.44,0.493
$10V_AH,10.29,0.451
$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,58.725,32.725,30.150,4.100,0.000,22.287,21.607,181.797,0.500,0.000,53.530,411.281,0.396,140.790,856.408,65.001,33.431,364.979,0.000,335.473,0.000,7.574,0.000
$DEVICE_MAMPS,117.045,1286.730,1190.340,377.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.415,372.125,294.678,436.885,567.413,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329524
$DATA_FILE_SIZE,14350,137
$CAP_FILE_SIZE,34056,0
$CFSIZE,1024409600,1019052032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,204541,5916.790,-17025.602,4,0.9,16,8.6,0.0,71.3,9,4.8