version: 66.13
glider: 401
mission: 22
dive: 24
start: 7 27 117 2 49 42
data:
$ID,401
$MISSION,22
$DIVE,24
$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,22
$T_MISSION,32
$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,-3
$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,18
$R_STBD_OVSHOOT,47
$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
$GPS1,270717,020605,5917.0225,-17029.2188,7,0.8,15,8.6,0.4,270.4,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-0.1
$GPS2,270717,020605,5917.0225,-17029.2188,7,0.8,15,8.6,0.4,270.4,10,4.5
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127902,0.295113
$KALMAN_X,2541.053955,533.326355,-294.475586,-6315.920410,-14.041504
$KALMAN_Y,-851.335388,173.724899,-126.351105,3971.366455,-259.529175
$MHEAD_RNG_PITCHd_Wd,328.0,29102,-12.2,-9.091,-15.78,5644
$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,-1.62,-341.3,2406,1897,2409,4092,0.0,0.0,0,21,5.72,0.00,-4.40,0.000,20486,0.032,0.000,1856,1898,2904,2904,4095,0,0,0,0,0,0,26.03,25.10,26.08,10.32,51.06
$GC,23,-1.62,-341.3,1855,1897,2904,4095,0.2,0.0,1,31,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1898,2905,2905,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.42,50.31
$GC,66,-1.62,-341.3,1855,1897,2904,4095,4.3,-10.4,7,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1898,2905,2905,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.42,50.74
$GC,110,-1.62,-341.3,1855,1898,2906,4094,9.8,-12.8,13,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1898,2906,2906,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.42,50.66
$GC,154,-1.62,-341.3,1855,1898,2907,4095,15.4,-13.0,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,1898,2907,2907,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.41,50.00
$GC,198,-1.62,-341.3,1855,1897,2908,4094,20.1,-9.7,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1898,2908,2908,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.39,49.76
$GC,242,-1.62,-341.3,1855,1897,2909,4095,24.6,-10.4,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,1898,2909,2909,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.36,48.50
$GC,286,-1.62,-341.3,1855,1898,2910,4095,29.2,-10.5,37,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,1898,2910,2910,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.35,47.79
$GC,331,-1.62,-341.3,1855,1897,2910,4095,34.1,-11.2,43,340,0.00,3.22,0.00,0.000,260,0.000,0.067,1855,3064,2911,2911,4094,0,0,0,0,0,0,26.47,26.10,26.48,10.34,47.12
$GC,356,-1.62,-341.3,1855,3064,2912,4094,37.0,-11.3,46,366,0.00,3.03,0.00,0.000,1030,0.000,0.035,1856,1893,2911,2911,4094,0,0,0,0,0,0,26.23,26.18,26.26,10.34,46.77
$GC,403,-1.62,-341.3,1855,1892,2912,4094,42.1,-11.5,52,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,1892,2912,2912,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.34,46.37
$GC,447,-1.62,-341.3,1855,1892,2913,4094,47.2,-11.5,58,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1893,2913,2913,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.32,46.06
$GC,490,-1.62,-341.3,1855,1892,2914,4094,52.3,-12.2,64,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,1893,2914,2914,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.32,45.86
$GC,535,-1.62,-341.3,1855,1892,2915,4094,57.5,-12.5,70,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,1893,2915,2915,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.32,45.66
$STATE,559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,564,-0.45,0.0,1855,2022,2916,4094,60.3,-11.5,73,592,3.83,0.00,20.52,1.260,10244,0.067,0.000,2202,2022,2500,2500,4094,0,0,0,0,0,0,26.25,25.58,24.67,10.32,45.62
$STATE,593,end apogee,CONTROL_FINISHED_OK
$STATE,593,begin climb
$GC,594,1.62,341.3,2201,2022,2500,4094,62.7,0.0,76,630,7.18,3.38,19.98,1.233,10756,0.054,0.077,2859,825,2101,2101,4094,0,0,0,0,0,0,25.72,25.64,24.25,10.23,45.55
$GC,668,1.62,341.3,2858,824,2101,4094,57.4,12.6,85,677,0.00,3.05,0.00,0.000,1030,0.000,0.034,2859,1993,2101,2101,4094,0,0,0,0,0,0,25.48,25.46,25.52,10.14,44.92
$GC,714,1.63,343.3,2859,1994,2100,4094,53.1,9.1,91,723,0.00,3.45,0.00,0.000,260,0.000,0.072,2859,3212,2100,2100,4094,0,0,0,0,0,0,25.84,25.49,25.86,10.13,44.48
$GC,793,1.63,343.3,2859,3212,2098,4094,43.7,13.5,102,802,0.00,3.12,0.00,0.000,1030,0.000,0.034,2859,2027,2098,2098,4094,0,0,0,0,0,0,25.81,25.72,25.80,10.13,45.31
$GC,839,1.63,343.3,2858,2027,2097,4094,37.9,12.6,108,847,0.00,3.40,0.00,0.000,516,0.000,0.086,2859,818,2097,2097,4095,0,0,0,0,0,0,26.08,25.71,26.09,10.13,45.86
$GC,917,1.63,343.3,2859,818,2095,4095,28.5,12.2,119,926,0.00,3.12,0.00,0.000,1030,0.000,0.036,2859,2031,2095,2095,4094,0,0,0,0,0,0,25.94,25.89,25.96,10.12,45.74
$GC,963,1.63,343.3,2859,2032,2093,4094,23.1,11.4,125,973,0.00,3.33,0.00,0.000,260,0.000,0.074,2860,3216,2093,2093,4094,0,0,0,0,0,0,26.22,25.84,26.23,10.12,45.98
$GC,1048,1.63,343.3,2859,3216,2091,4094,11.9,12.4,137,1057,0.00,3.05,0.00,0.000,1030,0.000,0.034,2859,2042,2090,2090,4094,0,0,0,0,0,0,26.04,26.01,26.08,10.17,46.81
$GC,1093,1.63,343.3,2859,2042,2090,4094,7.0,10.4,143,1101,0.00,3.40,0.00,0.000,516,0.000,0.086,2860,822,2090,2090,4094,0,0,0,0,0,0,26.32,25.96,26.34,10.19,48.26
$STATE,1142,end climb,SURFACE_DEPTH_REACHED
$STATE,1142,begin surface coast
$FINISH,0.1,1.023886
$STATE,1164,end surface coast,CONTROL_FINISHED_OK
$STATE,1164,begin surface
$SM_CCo,1263,0.00,0.000,0,0,2088,355.46
$SM_GC,1.28,27.45,2.80,0.00,0.028,0.037,0.000,239,1918,2088,-6.61,-0.91,355.46,0,0,0,0,0,0,26.14,26.13,26.18
$IRIDIUM_FIX,5957.10,-16911.74,270717,013509
$TT8_MAMPS,0.025466,0.248668
$HUMID,50.63
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.25,0.831
$10V_AH,10.29,0.997
$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,44.175,42.000,40.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.143,60.678,149.991,634.740,41.953,33.411,393.008,0.000,369.911,0.000,0.543,0.000
$DEVICE_MAMPS,67.320,86.445,1259.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.348,415.582,329.079,487.736,632.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331116
$DATA_FILE_SIZE,14295,153
$CAP_FILE_SIZE,31602,0
$CFSIZE,1024409600,1018331136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,031143,5917.713,-17030.674,4,0.9,24,8.6,0.3,293.3,9,5.0