version: 66.13
glider: 401
mission: 22
dive: 123
start: 7 28 117 20 48 48
data:
$ID,401
$MISSION,22
$DIVE,123
$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,450
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,24
$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
$GPS1,280717,200425,5926.6924,-17052.2012,5,0.8,36,8.4,0.4,257.6,10,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-4.0
$GPS2,280717,200425,5926.6924,-17052.2012,5,0.8,36,8.4,0.4,257.6,10,4.1
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.086597,0.347137
$KALMAN_X,17692.214844,-1519.230103,-716.619141,-40745.957031,50.090210
$KALMAN_Y,5755.197266,1185.768555,299.915649,13840.087891,-102.362274
$MHEAD_RNG_PITCHd_Wd,337.6,16947,-10.4,-9.091,-14.26,7289
$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,-1.61,-438.8,2405,1918,2397,4092,0.0,0.0,0,18,5.80,0.00,-1.85,0.000,20482,0.030,0.000,1849,1918,2594,2594,4094,0,0,0,0,0,0,26.03,28.83,26.08,10.29,50.43
$GC,20,-1.61,-438.8,1849,1918,2593,4094,0.0,0.0,1,31,0.00,2.58,-3.95,0.000,16900,0.000,1.310,1849,1033,3015,3015,4094,0,0,0,0,0,0,26.25,24.96,26.25,10.33,50.27
$GC,104,-1.61,-438.8,1848,1033,3017,4094,7.9,-12.7,15,110,0.00,2.20,0.00,0.000,1030,0.000,0.033,1849,1909,3017,3017,4094,0,0,0,0,0,0,26.03,25.96,26.06,10.43,50.66
$GC,159,-1.61,-438.8,1848,1909,3018,4094,14.8,-12.0,24,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1909,3018,3018,4095,0,0,0,0,0,0,26.26,26.28,26.27,10.43,50.27
$GC,213,-1.61,-438.8,1848,1911,3019,4095,20.9,-9.7,33,219,0.00,2.28,0.00,0.000,260,0.000,0.058,1849,2761,3019,3019,4095,0,0,0,0,0,0,26.31,25.98,26.32,10.38,49.92
$GC,256,-1.61,-438.8,1848,2761,3020,4095,25.2,-10.3,40,262,0.00,2.12,0.00,0.000,1030,0.000,0.031,1849,1910,3021,3021,4095,0,0,0,0,0,0,26.14,26.07,26.16,10.36,49.84
$GC,311,-1.61,-438.8,1848,1910,3022,4095,31.0,-10.6,49,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1910,3021,3021,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.35,48.07
$GC,365,-1.61,-438.8,1848,1910,3023,4095,36.7,-10.0,58,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1910,3023,3023,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.34,47.24
$GC,419,-1.61,-438.8,1848,1910,3023,4095,42.7,-11.9,67,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1910,3024,3024,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,46.77
$GC,473,-1.61,-438.8,1848,1910,3025,4094,49.0,-11.4,76,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1910,3025,3025,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.33,46.61
$GC,527,-1.61,-438.8,1848,1910,3026,4095,55.4,-11.8,85,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1910,3026,3026,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.32,46.45
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,573,-0.45,0.0,1848,2037,3027,4095,60.1,-11.3,92,606,3.88,0.00,25.33,1.278,10244,0.060,0.000,2204,2038,2500,2500,4094,0,0,0,0,0,0,26.22,25.42,24.56,10.32,46.41
$STATE,607,end apogee,CONTROL_FINISHED_OK
$STATE,607,begin climb
$GC,609,1.61,438.8,2204,2038,2500,4094,62.1,0.0,98,648,7.00,0.00,25.23,1.255,11270,0.040,0.000,2857,2038,1988,1988,4094,0,0,0,0,0,0,25.63,25.78,24.05,10.20,46.10
$GC,697,1.61,438.8,2857,2038,1986,4094,55.3,11.7,113,703,0.00,2.47,0.00,0.000,516,0.000,0.067,2857,1154,1986,1986,4094,0,0,0,0,0,0,25.58,25.27,25.60,10.09,45.15
$GC,752,1.61,438.8,2857,1154,1985,4094,48.9,11.2,122,758,0.00,2.10,0.00,0.000,1030,0.000,0.029,2858,1988,1985,1985,4095,0,0,0,0,0,0,25.59,25.53,25.61,10.08,45.51
$GC,807,1.61,438.8,2857,1988,1984,4095,42.9,11.9,131,813,0.00,2.45,0.00,0.000,260,0.000,0.062,2857,2881,1983,1983,4094,0,0,0,0,0,0,25.89,25.58,25.90,10.08,45.62
$GC,875,1.61,438.8,2857,2880,1982,4094,34.2,11.9,142,881,0.00,2.20,0.00,0.000,1030,0.000,0.031,2857,2017,1982,1982,4094,0,0,0,0,0,0,25.82,25.75,25.84,10.07,46.18
$GC,930,1.61,438.8,2857,2017,1980,4094,27.4,12.6,151,936,0.00,2.33,0.00,0.000,516,0.000,0.066,2857,1152,1980,1980,4094,0,0,0,0,0,0,26.08,25.75,26.10,10.07,46.88
$GC,1009,1.61,438.8,2857,1150,1978,4094,18.3,11.6,164,1015,0.00,2.12,0.00,0.000,1030,0.000,0.030,2857,2005,1978,1978,4094,0,0,0,0,0,0,25.98,25.92,26.01,10.06,46.65
$GC,1065,1.81,571.4,2857,2005,1978,4094,13.1,7.2,173,1083,0.57,2.40,7.97,0.646,10500,0.040,0.062,2918,2881,1832,1832,4094,0,0,0,0,0,0,25.98,25.78,25.18,10.10,47.04
$GC,1140,1.81,571.4,2917,2880,1831,4094,5.2,11.6,185,1146,0.00,2.17,0.00,0.000,1030,0.000,0.031,2918,2027,1831,1831,4094,0,0,0,0,0,0,25.99,25.91,26.01,10.12,49.48
$STATE,1168,end climb,SURFACE_DEPTH_REACHED
$STATE,1169,begin surface coast
$FINISH,0.1,0.959928
$STATE,1182,end surface coast,CONTROL_FINISHED_OK
$STATE,1182,begin surface
$SM_CCo,1279,0.00,0.000,0,0,1829,576.98
$SM_GC,0.93,28.23,0.32,0.00,0.024,0.063,0.000,240,1900,1829,-6.61,1.00,576.98,0,0,0,0,0,0,26.01,25.96,26.05
$IRIDIUM_FIX,5957.10,-16911.74,280717,184137
$TT8_MAMPS,0.025466,0.087633
$HUMID,50.78
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.05,3.058
$10V_AH,10.54,4.643
$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,45.475,29.925,58.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.300,440.114,152.945,285.763,32.533,33.414,348.639,0.000,286.629,0.000,0.542,0.000
$DEVICE_MAMPS,59.670,1309.680,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330904
$DATA_FILE_SIZE,14279,192
$CAP_FILE_SIZE,31818,0
$CFSIZE,1024409600,1013465088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,211133,5927.641,-17051.574,7,1.3,52,8.4,0.7,32.3,8,3.0