version: 66.13
glider: 401
mission: 22
dive: 11
start: 7 26 117 21 26 11
data:
$ID,401
$MISSION,22
$DIVE,11
$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,25
$T_MISSION,35
$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,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,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,34
$R_STBD_OVSHOOT,17
$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
$GPS1,260717,211604,5916.7944,-17025.5879,4,1.0,50,8.6,0.2,92.0,8,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-48.7
$GPS2,260717,212503,5916.7881,-17025.4609,6,0.9,51,8.6,0.0,111.4,8,3.0
$SPEED_LIMITS,0.139,0.266
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.263557,0.035334
$KALMAN_X,1998.720093,793.947266,361.631195,-3127.397217,276.667938
$KALMAN_Y,1279.802979,640.567322,319.247955,489.739380,22.281036
$MHEAD_RNG_PITCHd_Wd,269.0,32279,-13.1,-8.000,-16.74,4579
$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,-1.55,-243.8,239,1893,2148,4092,0.0,0.0,0,21,11.45,0.00,0.00,0.000,2049,0.116,0.000,1172,1893,2147,2147,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.31,49.33
$GC,23,-1.55,-243.8,1172,1893,2147,4094,1.1,0.0,1,42,7.62,0.00,-5.75,0.000,18694,0.073,0.000,1853,1893,2790,2790,4095,0,0,0,0,0,0,25.97,24.98,26.06,10.31,49.60
$GC,79,-1.55,-243.8,1852,1893,2790,4095,2.5,-7.9,8,88,0.00,3.33,0.00,0.000,260,0.000,0.064,1852,3098,2790,2790,4094,0,0,0,0,0,0,26.25,25.87,26.26,10.44,48.66
$GC,117,-1.55,-243.8,1852,3098,2792,4094,6.7,-10.9,13,127,0.00,3.08,0.00,0.000,1030,0.000,0.034,1853,1913,2791,2791,4095,0,0,0,0,0,0,26.02,25.98,26.06,10.45,48.89
$GC,164,-1.55,-243.8,1852,1913,2792,4095,12.0,-11.8,19,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1913,2793,2793,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.45,48.11
$GC,208,-1.55,-243.8,1852,1912,2794,4094,17.2,-11.1,25,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1913,2793,2793,4094,0,0,0,0,0,0,26.36,26.37,26.38,10.44,48.26
$GC,252,-1.55,-243.8,1852,1912,2794,4094,21.1,-8.9,31,262,0.00,3.35,0.00,0.000,516,0.000,0.081,1853,704,2794,2794,4095,0,0,0,0,0,0,26.39,25.98,26.41,10.40,47.51
$GC,332,-1.55,-243.8,1852,703,2796,4095,29.9,-11.9,42,341,0.00,3.03,0.00,0.000,1030,0.000,0.035,1853,1902,2796,2796,4094,0,0,0,0,0,0,26.21,26.17,26.24,10.37,45.82
$GC,378,-1.55,-243.8,1852,1903,2796,4094,34.9,-10.5,48,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1902,2797,2797,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.37,46.18
$GC,422,-1.55,-243.8,1852,1903,2798,4094,39.8,-10.9,54,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1903,2798,2798,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.35,45.62
$GC,467,-1.55,-243.8,1852,1907,2798,4095,44.8,-11.8,60,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1907,2799,2799,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.35,45.39
$GC,510,-1.55,-243.8,1852,1906,2800,4094,49.5,-10.7,66,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1907,2800,2800,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.34,45.39
$GC,554,-1.55,-243.8,1852,1906,2801,4095,54.0,-10.3,72,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1907,2801,2801,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.34,44.56
$GC,599,-1.55,-243.8,1852,1907,2801,4094,58.8,-11.4,78,608,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1907,2801,2801,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.34,44.72
$STATE,615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,615,begin apogee
$GC,620,-0.45,0.0,1852,2041,2802,4095,60.7,-10.6,80,647,3.90,0.00,15.25,1.200,10244,0.070,0.000,2205,2042,2498,2498,4094,0,0,0,0,0,0,26.25,25.46,24.76,10.33,44.72
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,648,begin climb
$GC,650,1.55,243.8,2204,2042,2498,4094,63.0,0.0,83,677,6.78,0.00,14.43,1.177,11270,0.044,0.000,2841,2043,2215,2215,4095,0,0,0,0,0,0,25.94,26.14,24.48,10.27,44.99
$GC,714,1.55,243.8,2841,2043,2215,4095,59.3,9.8,91,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2042,2215,2215,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.20,44.25
$GC,760,1.55,243.8,2841,2043,2214,4094,54.5,10.3,97,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2043,2214,2214,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.20,44.72
$GC,806,1.55,243.8,2841,2043,2213,4094,49.8,10.3,103,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2043,2213,2213,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.19,44.80
$GC,850,1.55,243.8,2841,2043,2212,4094,44.9,10.5,109,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2043,2212,2212,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.19,44.64
$GC,894,1.55,243.8,2841,2043,2211,4095,40.3,10.4,115,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2043,2210,2210,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.18,45.39
$GC,938,1.55,243.8,2841,2043,2210,4094,35.5,10.8,121,948,0.00,3.53,0.00,0.000,516,0.000,0.094,2842,822,2210,2210,4094,0,0,0,0,0,0,26.29,25.89,26.30,10.18,44.95
$GC,990,1.55,243.8,2841,822,2209,4094,29.7,11.2,128,999,0.00,3.00,0.00,0.000,1030,0.000,0.037,2842,1998,2209,2209,4094,0,0,0,0,0,0,26.09,26.05,26.11,10.17,45.70
$GC,1035,1.55,243.8,2841,1998,2208,4094,24.9,10.3,134,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1998,2208,2208,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.17,46.06
$GC,1080,1.55,243.8,2841,1998,2206,4094,20.2,10.5,140,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1998,2207,2207,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.17,46.18
$GC,1125,1.55,243.8,2841,1998,2206,4094,15.9,9.5,146,1135,0.00,3.35,0.00,0.000,516,0.000,0.089,2842,822,2205,2205,4094,0,0,0,0,0,0,26.43,26.02,26.44,10.18,45.90
$GC,1184,1.65,306.2,2841,821,2205,4094,11.5,6.6,154,1195,0.20,3.05,4.57,0.475,11270,0.044,0.036,2868,2022,2141,2141,4094,0,0,0,0,0,0,26.21,26.17,25.37,10.22,47.71
$GC,1232,1.65,306.2,2868,2022,2140,4094,7.6,8.5,160,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2022,2141,2141,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.22,48.66
$GC,1276,1.65,306.2,2868,2022,2140,4095,3.1,10.0,166,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2022,2139,2139,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.24,49.88
$STATE,1293,end climb,SURFACE_DEPTH_REACHED
$STATE,1293,begin surface coast
$FINISH,0.2,1.011147
$STATE,1314,end surface coast,CONTROL_FINISHED_OK
$STATE,1314,begin surface
$SM_CCo,1410,0.00,0.000,0,0,2138,311.67
$SM_GC,1.24,27.48,0.35,0.00,0.028,0.053,0.000,230,1886,2138,-6.65,0.68,311.67,0,0,0,0,0,0,26.13,26.22,26.22
$IRIDIUM_FIX,5957.10,-16911.74,260717,211717
$TT8_MAMPS,0.025466,0.245672
$HUMID,49.76
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.48,0.548
$10V_AH,10.30,0.539
$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,57.425,26.325,34.250,0.000,0.000,48.221,39.221,253.226,0.000,0.000,53.160,491.098,105.253,164.771,1135.457,80.512,33.431,452.895,0.000,413.900,0.000,3.862,0.000
$DEVICE_MAMPS,116.280,94.095,1199.520,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.379,464.493,367.785,545.002,712.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329536
$DATA_FILE_SIZE,17763,171
$CAP_FILE_SIZE,42846,0
$CFSIZE,1024409600,1018937344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,215105,5916.774,-17025.561,5,1.1,50,8.6,0.3,100.3,7,3.0