version: 66.13
glider: 401
mission: 22
dive: 18
start: 7 27 117 0 22 18
data:
$ID,401
$MISSION,22
$DIVE,18
$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,350
$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,27
$R_STBD_OVSHOOT,22
$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
$GPS1,270717,000207,5916.6738,-17026.8496,7,1.1,52,8.6,0.4,219.8,8,3.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.2
$GPS2,270717,000207,5916.6738,-17026.8496,7,1.1,52,8.6,0.4,219.8,8,3.0
$SPEED_LIMITS,0.173,0.334
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.197461,0.268933
$KALMAN_X,2629.429443,1044.756226,169.557587,-5135.247559,-71.483215
$KALMAN_Y,291.224457,352.266998,-55.494938,1932.882690,-114.671295
$MHEAD_RNG_PITCHd_Wd,315.1,31302,-13.4,-10.000,-16.68,5143
$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,-1.73,-341.3,2403,1890,2406,4092,0.0,0.0,0,21,6.18,0.00,-4.45,0.000,20486,0.031,0.000,1811,1890,2904,2904,4094,0,0,0,0,0,0,26.06,25.08,26.10,10.33,50.31
$GC,23,-1.73,-341.3,1810,1890,2904,4094,0.2,0.0,1,32,0.00,3.28,0.00,0.000,516,0.000,0.081,1811,715,2904,2904,4095,0,0,0,0,0,0,26.28,25.92,26.29,10.43,50.11
$GC,41,-1.73,-341.3,1810,715,2904,4095,1.7,-6.3,3,51,0.00,3.03,0.00,0.000,1030,0.000,0.038,1811,1902,2904,2904,4094,0,0,0,0,0,0,26.09,26.06,26.12,10.43,49.84
$GC,86,-1.73,-341.3,1810,1903,2905,4094,7.2,-12.9,9,95,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1903,2905,2905,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.43,49.37
$GC,131,-1.73,-341.3,1810,1903,2906,4095,13.3,-13.8,15,138,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1904,2906,2906,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.44,49.33
$GC,175,-1.73,-341.3,1810,1905,2907,4094,19.0,-13.3,21,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1906,2908,2908,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.42,49.37
$GC,219,-1.73,-341.3,1810,1906,2908,4095,24.0,-11.1,27,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1906,2908,2908,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.38,49.01
$GC,263,-1.73,-341.3,1811,1906,2909,4094,29.2,-12.0,33,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,1906,2909,2909,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.37,47.44
$GC,306,-1.73,-341.3,1810,1906,2910,4094,34.2,-11.5,39,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,1906,2910,2910,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.36,47.48
$GC,351,-1.73,-341.3,1810,1906,2911,4094,39.5,-12.1,45,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,1906,2911,2911,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.35,46.02
$GC,394,-1.73,-341.3,1810,1906,2912,4094,45.0,-12.5,51,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1906,2912,2912,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.34,46.37
$GC,438,-1.73,-341.3,1810,1906,2913,4095,50.0,-11.5,57,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,1906,2913,2913,4094,0,0,0,0,0,0,26.54,26.56,26.55,10.33,45.70
$GC,482,-1.73,-341.3,1810,1906,2914,4094,55.8,-13.4,63,492,0.00,3.25,0.00,0.000,260,0.000,0.070,1810,3090,2914,2914,4095,0,0,0,0,0,0,26.56,26.18,26.58,10.33,45.66
$GC,501,-1.73,-341.3,1810,3089,2915,4095,58.3,-13.3,65,511,0.00,3.03,0.00,0.000,1030,0.000,0.036,1810,1914,2915,2915,4094,0,0,0,0,0,0,26.31,26.27,26.34,10.34,45.15
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,519,begin apogee
$GC,524,-0.45,0.0,1810,2043,2915,4094,60.7,-12.8,67,552,4.35,0.08,20.55,1.255,10244,0.071,0.103,2206,2005,2500,2500,4094,0,0,0,0,0,0,26.25,25.58,24.66,10.33,45.51
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,555,1.73,341.3,2206,2004,2500,4094,63.1,0.0,70,591,7.40,0.00,19.83,1.233,11270,0.043,0.000,2897,2004,2107,2107,4094,0,0,0,0,0,0,25.78,25.96,24.24,10.24,45.39
$GC,628,1.73,341.3,2897,2004,2106,4094,58.0,11.0,79,638,0.00,3.35,0.55,0.004,8452,0.000,0.067,2898,3183,2106,2106,4094,0,0,0,0,0,0,25.73,25.39,25.74,10.16,44.21
$GC,693,1.73,341.3,2898,3182,2105,4094,48.4,15.1,88,703,0.00,2.97,0.40,0.004,9222,0.000,0.034,2898,2057,2105,2105,4094,0,0,0,0,0,0,25.69,25.64,25.70,10.15,44.40
$GC,739,1.73,341.3,2898,2056,2104,4094,42.1,13.1,94,748,0.00,3.53,0.00,0.000,516,0.000,0.087,2898,820,2103,2103,4094,0,0,0,0,0,0,26.00,25.63,26.01,10.14,45.62
$GC,830,1.73,341.3,2897,819,2101,4094,29.9,13.3,107,839,0.00,3.03,0.00,0.000,1030,0.000,0.036,2898,1995,2100,2100,4095,0,0,0,0,0,0,25.90,25.86,25.91,10.13,45.27
$GC,876,1.73,341.3,2898,1995,2099,4095,24.0,12.9,113,885,0.00,3.38,0.00,0.000,260,0.000,0.073,2898,3212,2099,2099,4094,0,0,0,0,0,0,26.19,25.82,26.20,10.13,45.27
$GC,927,1.73,341.3,2898,3212,2098,4094,17.1,12.9,120,936,0.00,3.10,0.00,0.000,1030,0.000,0.035,2898,2023,2098,2098,4094,0,0,0,0,0,0,25.99,25.95,26.03,10.16,45.74
$GC,972,1.73,341.3,2898,2023,2096,4094,12.2,10.7,126,981,0.00,3.40,0.00,0.000,516,0.000,0.090,2898,824,2096,2096,4094,0,0,0,0,0,0,26.28,25.89,26.29,10.19,47.75
$STATE,1062,end climb,SURFACE_DEPTH_REACHED
$STATE,1062,begin surface coast
$FINISH,0.1,1.024094
$STATE,1077,end surface coast,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$SM_CCo,1176,0.00,0.000,0,0,2093,350.31
$SM_GC,1.27,27.92,2.80,0.00,0.028,0.037,0.000,230,1916,2093,-6.65,-0.87,350.31,0,0,0,0,0,0,26.02,26.11,26.12
$IRIDIUM_FIX,5957.10,-16911.74,260717,230940
$TT8_MAMPS,0.025466,0.237433
$HUMID,50.11
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.24,0.695
$10V_AH,10.29,0.785
$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,45.850,38.800,41.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,406.169,60.857,144.015,585.170,39.864,33.421,376.055,0.000,342.077,0.000,0.544,0.000
$DEVICE_MAMPS,71.145,103.275,1254.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.950,383.017,303.257,449.073,583.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331180
$DATA_FILE_SIZE,14362,141
$CAP_FILE_SIZE,31018,0
$CFSIZE,1024409600,1018626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,004317,5916.702,-17027.531,4,1.0,49,8.6,0.5,236.6,8,3.0