version: 66.13
glider: 401
mission: 22
dive: 16
start: 7 26 117 23 34 59
data:
$ID,401
$MISSION,22
$DIVE,16
$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,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,300
$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,-2
$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,55
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$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
$GPS1,260717,231355,5916.6675,-17026.1289,7,0.9,36,8.6,0.3,161.2,9,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-0.3
$GPS2,260717,231355,5916.6675,-17026.1289,7,0.9,36,8.6,0.3,161.2,9,3.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.203645,0.237206
$KALMAN_X,2729.855957,1083.916992,310.663574,-4731.832520,-14.172485
$KALMAN_Y,681.471558,460.871155,29.651587,1335.619507,-114.586678
$MHEAD_RNG_PITCHd_Wd,310.8,31873,-14.6,-10.000,-17.74,4419
$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,8,-1.77,-292.5,2404,1882,2408,4092,0.0,0.0,0,20,6.12,0.00,-3.92,0.000,20486,0.028,0.000,1809,1883,2848,2848,4094,0,0,0,0,0,0,26.22,25.18,26.25,10.32,49.96
$GC,22,-1.77,-292.5,1809,1882,2847,4094,0.2,0.0,1,31,0.00,3.25,0.00,0.000,516,0.000,0.082,1809,713,2847,2847,4094,0,0,0,0,0,0,26.44,26.11,26.45,10.41,49.80
$GC,40,-1.77,-292.5,1808,712,2848,4094,1.5,-5.7,3,50,0.00,3.03,0.00,0.000,1030,0.000,0.037,1809,1907,2848,2848,4094,0,0,0,0,0,0,26.22,26.17,26.25,10.41,50.00
$GC,85,-1.77,-292.5,1809,1907,2849,4094,6.6,-12.3,9,94,0.00,3.28,0.00,0.000,260,0.000,0.074,1809,3091,2849,2849,4095,0,0,0,0,0,0,26.48,26.09,26.49,10.41,49.60
$GC,124,-1.77,-292.5,1809,3091,2850,4095,11.8,-13.6,14,134,0.00,3.03,0.00,0.000,1030,0.000,0.037,1809,1920,2850,2850,4095,0,0,0,0,0,0,26.24,26.19,26.27,10.42,49.25
$GC,171,-1.77,-292.5,1808,1919,2851,4095,17.7,-12.0,20,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,1920,2850,2850,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.40,49.01
$GC,215,-1.77,-292.5,1809,1920,2852,4095,22.6,-10.9,26,224,0.00,3.38,0.00,0.000,516,0.000,0.083,1809,687,2852,2852,4095,0,0,0,0,0,0,26.54,26.13,26.55,10.37,48.62
$GC,240,-1.77,-292.5,1809,687,2852,4095,25.6,-12.0,29,249,0.00,3.03,0.00,0.000,1030,0.000,0.037,1809,1881,2853,2853,4094,0,0,0,0,0,0,26.30,26.27,26.33,10.36,47.99
$GC,286,-1.77,-292.5,1808,1883,2853,4094,31.1,-11.9,35,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,1884,2853,2853,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.35,47.36
$GC,331,-1.77,-292.5,1808,1883,2854,4094,36.6,-12.1,41,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,1884,2855,2855,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.34,46.41
$GC,374,-1.77,-292.5,1808,1883,2855,4095,41.9,-12.4,47,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,1884,2856,2856,4095,0,0,0,0,0,0,26.59,26.61,26.60,10.33,46.25
$GC,418,-1.77,-292.5,1808,1884,2856,4095,47.5,-12.5,53,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,1884,2857,2857,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.33,46.02
$GC,462,-1.77,-292.5,1808,1884,2858,4095,53.1,-12.7,59,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,1884,2857,2857,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.32,45.74
$GC,507,-1.77,-292.5,1808,1884,2858,4094,58.6,-12.2,65,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,1884,2858,2858,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.32,45.74
$STATE,523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,523,begin apogee
$GC,528,-0.45,0.0,1809,2038,2859,4095,60.8,-12.2,67,556,4.35,0.00,17.98,1.226,10244,0.073,0.000,2204,2038,2500,2500,4095,0,0,0,0,0,0,26.32,25.72,24.80,10.32,45.90
$STATE,557,end apogee,CONTROL_FINISHED_OK
$STATE,557,begin climb
$GC,559,1.77,292.5,2204,2038,2500,4095,63.1,0.0,70,587,7.47,0.00,17.40,1.206,11270,0.043,0.000,2908,2039,2159,2159,4094,0,0,0,0,0,0,25.92,26.11,24.41,10.24,45.86
$GC,624,1.77,292.5,2907,2039,2158,4094,58.7,10.9,78,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2039,2158,2158,4095,0,0,0,0,0,0,25.86,25.87,25.87,10.16,44.44
$GC,668,1.77,292.5,2907,2039,2156,4095,53.1,12.5,84,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2039,2157,2157,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.15,44.84
$GC,712,1.77,292.5,2907,2039,2156,4094,47.7,12.2,90,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2039,2156,2156,4094,0,0,0,0,0,0,26.05,26.07,26.06,10.16,45.39
$GC,756,1.77,292.5,2907,2039,2154,4094,42.2,12.6,96,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2039,2154,2154,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.15,45.58
$GC,801,1.77,292.5,2907,2039,2154,4094,36.5,12.8,102,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2039,2153,2153,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.15,45.90
$GC,845,1.77,292.5,2907,2039,2152,4094,30.6,13.0,108,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2039,2152,2152,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.15,45.66
$GC,889,1.77,292.5,2907,2039,2151,4094,24.7,13.2,114,899,0.00,3.47,0.00,0.000,516,0.000,0.086,2908,823,2151,2151,4094,0,0,0,0,0,0,26.27,25.88,26.29,10.14,45.51
$GC,974,1.77,292.5,2907,822,2148,4094,12.9,13.2,126,983,0.00,3.00,0.00,0.000,1030,0.000,0.036,2908,1997,2148,2148,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.17,46.61
$GC,1019,1.77,292.5,2907,1996,2147,4094,7.6,11.7,132,1028,0.00,3.38,0.00,0.000,260,0.000,0.073,2908,3210,2147,2147,4094,0,0,0,0,0,0,26.36,25.99,26.38,10.20,47.83
$STATE,1062,end climb,SURFACE_DEPTH_REACHED
$STATE,1062,begin surface coast
$FINISH,0.1,1.003079
$STATE,1078,end surface coast,CONTROL_FINISHED_OK
$STATE,1078,begin surface
$SM_CCo,1177,0.00,0.000,0,0,2145,305.66
$SM_GC,1.19,27.85,3.45,0.00,0.028,0.038,0.000,239,1900,2145,-6.61,0.96,305.66,0,0,0,0,0,0,26.16,26.10,26.20
$IRIDIUM_FIX,5957.10,-16911.74,260717,222330
$TT8_MAMPS,0.026215,0.250166
$HUMID,50.23
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.41,0.649
$10V_AH,10.30,0.717
$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,45.800,32.950,35.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,405.399,59.693,146.562,584.873,41.952,33.412,386.779,0.000,339.606,0.000,0.543,0.000
$DEVICE_MAMPS,72.675,86.445,1226.295,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.280,380.263,301.118,446.192,582.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331040
$DATA_FILE_SIZE,14373,140
$CAP_FILE_SIZE,30840,0
$CFSIZE,1024409600,1018724352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260717,235559,5916.722,-17026.803,4,1.1,49,8.6,0.2,211.1,8,3.0