version: 66.13
glider: 401
mission: 22
dive: 20
start: 7 27 117 1 13 18
data:
$ID,401
$MISSION,22
$DIVE,20
$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,15
$R_STBD_OVSHOOT,28
$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
$GPS1,270717,005225,5916.6450,-17027.6621,7,0.8,14,8.6,0.0,226.4,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-0.9
$GPS2,270717,005225,5916.6450,-17027.6621,7,0.8,14,8.6,0.0,226.4,10,5.0
$SPEED_LIMITS,0.173,0.334
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.167983,0.288267
$KALMAN_X,2553.572998,904.750122,-22.630171,-5496.555664,-83.745461
$KALMAN_Y,-230.438629,246.618820,-112.219254,2564.053711,-147.004745
$MHEAD_RNG_PITCHd_Wd,321.2,30703,-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,7,-1.73,-341.3,2408,1914,2402,4092,0.0,0.0,0,21,6.05,0.00,-4.45,0.000,20486,0.030,0.000,1825,1914,2904,2904,4095,0,0,0,0,0,0,26.05,25.07,26.07,10.32,49.92
$GC,23,-1.73,-341.3,1824,1914,2904,4095,0.1,0.0,1,30,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1914,2904,2904,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.44,49.80
$GC,65,-1.73,-341.3,1824,1913,2904,4095,4.2,-10.3,7,73,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1914,2905,2905,4095,0,0,0,0,0,0,26.29,26.32,26.31,10.44,49.13
$GC,109,-1.73,-341.3,1824,1914,2906,4095,9.8,-13.4,13,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1914,2906,2906,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.44,49.05
$GC,152,-1.73,-341.3,1824,1914,2907,4094,15.5,-13.2,19,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1914,2907,2907,4094,0,0,0,0,0,0,26.36,26.39,26.38,10.44,49.44
$GC,196,-1.73,-341.3,1824,1913,2908,4094,20.7,-11.1,25,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1914,2908,2908,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.41,49.17
$GC,240,-1.73,-341.3,1824,1914,2909,4095,25.5,-10.7,31,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1914,2909,2909,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.79
$GC,284,-1.73,-341.3,1824,1914,2910,4094,30.4,-10.9,37,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1914,2909,2909,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.24
$GC,328,-1.73,-341.3,1824,1914,2911,4094,35.6,-11.9,43,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1914,2911,2911,4095,0,0,0,0,0,0,26.47,26.49,26.48,10.36,46.14
$GC,372,-1.73,-341.3,1823,1914,2911,4095,40.8,-12.1,49,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1914,2912,2912,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.36,45.66
$GC,416,-1.73,-341.3,1824,1914,2912,4094,45.8,-11.6,55,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1914,2913,2913,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.35,45.58
$GC,460,-1.73,-341.3,1824,1914,2914,4094,51.3,-12.6,61,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1914,2914,2914,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.35,45.31
$GC,504,-1.73,-341.3,1824,1914,2915,4094,56.7,-12.2,67,514,0.00,3.20,0.00,0.000,260,0.000,0.070,1824,3082,2916,2916,4095,0,0,0,0,0,0,26.55,26.18,26.57,10.34,45.62
$GC,523,-1.73,-341.3,1824,3082,2915,4095,59.2,-12.9,69,532,0.00,3.05,0.00,0.000,1030,0.000,0.036,1825,1898,2915,2915,4094,0,0,0,0,0,0,26.30,26.27,26.33,10.34,45.03
$STATE,540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,540,begin apogee
$GC,545,-0.45,0.0,1824,2030,2916,4094,61.6,-13.1,71,580,4.18,0.00,20.50,1.261,10246,0.068,0.000,2206,2030,2501,2501,4094,0,0,0,0,0,0,26.25,25.34,24.65,10.34,45.03
$STATE,581,end apogee,CONTROL_FINISHED_OK
$STATE,581,begin climb
$GC,583,1.73,341.3,2205,2031,2502,4094,64.1,0.0,75,620,7.38,3.30,20.20,1.248,10500,0.042,0.066,2898,3202,2102,2102,4094,0,0,0,0,0,0,25.79,24.90,24.23,10.25,44.60
$GC,662,1.73,341.3,2898,3201,2100,4094,57.6,13.6,85,671,0.00,3.15,0.00,0.000,1030,0.000,0.034,2899,2019,2100,2100,4094,0,0,0,0,0,0,25.51,25.47,25.53,10.16,44.29
$GC,707,1.73,341.3,2898,2019,2099,4094,51.1,15.0,91,716,0.00,3.47,0.00,0.000,516,0.000,0.093,2898,824,2099,2099,4095,0,0,0,0,0,0,25.87,25.50,25.89,10.15,44.21
$GC,778,1.73,341.3,2898,823,2097,4095,41.4,13.2,101,788,0.00,3.05,0.00,0.000,1030,0.000,0.035,2898,2004,2097,2097,4095,0,0,0,0,0,0,25.78,25.75,25.81,10.15,44.52
$GC,825,1.73,341.3,2898,2003,2096,4095,35.7,12.5,107,834,0.00,3.40,0.00,0.000,260,0.000,0.073,2898,3211,2095,2095,4094,0,0,0,0,0,0,26.08,25.72,26.10,10.14,45.78
$GC,896,1.73,341.3,2898,3211,2093,4094,25.2,14.9,117,905,0.00,3.10,0.00,0.000,1030,0.000,0.034,2898,2026,2093,2093,4094,0,0,0,0,0,0,25.94,25.89,25.96,10.14,45.78
$GC,943,1.73,341.3,2898,2025,2092,4094,19.0,13.5,123,951,0.00,3.38,0.00,0.000,516,0.000,0.087,2899,823,2092,2092,4094,0,0,0,0,0,0,26.22,25.84,26.24,10.13,45.90
$GC,1065,1.73,341.3,2898,823,2088,4094,4.0,12.1,141,1074,0.00,3.03,0.00,0.000,1030,0.000,0.037,2898,2004,2088,2088,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.21,48.18
$STATE,1082,end climb,SURFACE_DEPTH_REACHED
$STATE,1082,begin surface coast
$FINISH,0.2,1.002880
$STATE,1097,end surface coast,CONTROL_FINISHED_OK
$STATE,1097,begin surface
$SM_CCo,1194,0.00,0.000,0,0,2087,355.46
$SM_GC,1.32,27.80,0.30,0.00,0.028,0.054,0.000,238,1887,2087,-6.61,0.77,355.46,0,0,0,0,0,0,26.11,26.10,26.16
$IRIDIUM_FIX,5957.10,-16911.74,270717,004713
$TT8_MAMPS,0.025466,0.249417
$HUMID,49.76
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.23,0.746
$10V_AH,10.30,0.855
$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,45.400,35.550,40.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,407.425,60.138,147.595,601.606,39.868,33.415,383.921,0.000,350.423,0.000,0.543,0.000
$DEVICE_MAMPS,68.085,92.565,1260.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.709,393.835,311.858,462.071,600.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331124
$DATA_FILE_SIZE,14333,145
$CAP_FILE_SIZE,30171,0
$CFSIZE,1024409600,1018527744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,013357,5916.869,-17028.537,4,0.8,11,8.6,0.6,250.5,10,4.8