version: 66.13
glider: 401
mission: 22
dive: 270
start: 7 31 117 10 55 50
data:
$ID,401
$MISSION,22
$DIVE,270
$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,400
$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,25
$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
$GPS1,310717,101043,5947.3164,-17124.1895,5,0.8,23,8.2,0.3,71.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.1
$GPS2,310717,101043,5947.3164,-17124.1895,5,0.8,23,8.2,0.3,71.3,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.278829,-0.194499
$KALMAN_X,35071.343750,-1902.611206,-709.664185,-88037.320312,155.962769
$KALMAN_Y,14290.261719,2006.155640,472.592194,42495.199219,153.933075
$MHEAD_RNG_PITCHd_Wd,226.9,2920,-11.3,-9.091,-14.97,6444
$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,-1.61,-390.0,2357,1916,2507,4092,0.0,0.0,0,20,5.15,0.00,-3.97,0.000,20486,0.026,0.000,1858,1916,2960,2960,4095,0,0,0,0,0,0,26.13,25.24,26.16,10.35,50.70
$GC,23,-1.61,-390.0,1857,1916,2960,4095,0.1,0.0,1,32,0.00,2.40,0.00,0.000,516,0.000,0.071,1857,1045,2960,2960,4095,0,0,0,0,0,0,26.27,25.95,26.29,10.45,50.98
$GC,69,-1.61,-390.0,1857,1044,2961,4095,4.7,-11.4,7,77,0.00,2.15,0.00,0.000,1030,0.000,0.030,1857,1902,2961,2961,4094,0,0,0,0,0,0,26.12,26.09,26.13,10.45,50.59
$GC,115,-1.61,-390.0,1858,1902,2961,4094,10.4,-12.8,13,123,0.00,2.33,0.00,0.000,260,0.000,0.058,1858,2764,2962,2962,4094,0,0,0,0,0,0,26.36,26.03,26.38,10.45,50.78
$GC,172,-1.61,-390.0,1857,2763,2964,4094,17.8,-12.7,21,181,0.00,2.20,0.00,0.000,1030,0.000,0.031,1858,1903,2964,2964,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.46,50.03
$GC,218,-1.61,-390.0,1857,1903,2964,4095,23.0,-10.9,27,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1903,2964,2964,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.44,49.96
$GC,264,-1.61,-390.0,1857,1903,2965,4094,27.7,-10.5,33,274,0.00,2.38,0.00,0.000,516,0.000,0.069,1858,1030,2966,2966,4094,0,0,0,0,0,0,26.45,26.10,26.46,10.41,49.60
$GC,343,-1.61,-390.0,1857,1029,2967,4094,36.9,-11.2,44,353,0.00,2.12,0.00,0.000,1030,0.000,0.029,1858,1884,2967,2967,4094,0,0,0,0,0,0,26.29,26.25,26.32,10.38,48.42
$GC,390,-1.61,-390.0,1857,1887,2968,4094,41.8,-10.0,50,400,0.00,2.33,0.00,0.000,260,0.000,0.054,1857,2757,2968,2968,4094,0,0,0,0,0,0,26.51,26.19,26.52,10.36,47.04
$GC,455,-1.61,-390.0,1857,2757,2969,4094,48.3,-9.8,59,464,0.00,2.20,0.00,0.000,1030,0.000,0.031,1858,1893,2969,2969,4095,0,0,0,0,0,0,26.30,26.25,26.32,10.34,46.33
$GC,500,-1.61,-390.0,1857,1893,2970,4095,52.9,-10.6,65,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1893,2970,2970,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.35,45.70
$GC,544,-1.61,-390.0,1857,1893,2971,4095,57.6,-10.5,71,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1894,2971,2971,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.34,45.90
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,574,-0.45,0.0,1857,2043,2971,4094,60.3,-10.7,74,609,3.78,0.00,22.90,1.269,10244,0.059,0.000,2204,2044,2500,2500,4094,0,0,0,0,0,0,26.29,25.34,24.67,10.33,45.78
$STATE,610,end apogee,CONTROL_FINISHED_OK
$STATE,610,begin climb
$GC,612,1.61,390.0,2204,2044,2500,4094,62.7,0.0,78,647,6.97,0.00,22.55,1.252,11270,0.037,0.000,2861,2043,2044,2044,4094,0,0,0,0,0,0,25.77,25.94,24.20,10.23,44.80
$GC,684,1.61,390.0,2860,2043,2043,4094,57.4,11.2,87,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2043,2043,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.13,44.17
$GC,730,1.61,390.0,2860,2043,2041,4094,51.9,11.9,93,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2042,2042,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.12,44.32
$GC,776,1.61,390.0,2860,2043,2041,4094,46.5,11.7,99,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2041,2041,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.11,44.21
$GC,822,1.61,390.0,2860,2043,2040,4094,40.9,11.7,105,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2039,2039,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.11,45.39
$GC,867,1.61,390.0,2860,2043,2038,4094,35.6,11.8,111,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2038,2038,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.11,44.72
$GC,913,1.61,390.0,2860,2043,2037,4094,30.4,10.7,117,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2043,2037,2037,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.11,45.07
$GC,959,1.61,390.0,2860,2044,2035,4094,25.4,11.3,123,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2036,2036,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.12,46.10
$GC,1005,1.61,390.0,2860,2043,2035,4094,20.3,11.0,129,1014,0.00,2.45,0.00,0.000,516,0.000,0.067,2861,1156,2035,2035,4095,0,0,0,0,0,0,26.23,25.90,26.25,10.14,46.41
$GC,1089,1.61,390.0,2860,1155,2033,4095,11.3,10.0,141,1098,0.00,2.10,0.00,0.000,1030,0.000,0.029,2861,1996,2032,2032,4094,0,0,0,0,0,0,26.09,26.06,26.10,10.19,48.54
$GC,1134,1.61,390.0,2860,1995,2031,4094,6.8,9.8,147,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1996,2031,2031,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.20,48.93
$GC,1178,1.61,390.0,2860,1996,2030,4094,2.1,10.7,153,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2000,2030,2030,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.21,50.35
$STATE,1195,end climb,SURFACE_DEPTH_REACHED
$STATE,1195,begin surface coast
$FINISH,0.3,1.024291
$STATE,1216,end surface coast,CONTROL_FINISHED_OK
$STATE,1216,begin surface
$SM_CCo,1313,0.00,0.000,0,0,2029,405.26
$SM_GC,1.13,27.62,0.25,0.00,0.024,0.052,0.000,230,1875,2029,-6.65,0.87,405.26,0,0,0,0,0,0,26.03,26.18,26.15
$IRIDIUM_FIX,5955.74,-17228.01,310717,084927
$TT8_MAMPS,0.025466,0.244923
$HUMID,50.11
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.20,6.581
$10V_AH,10.23,8.327
$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,43.525,25.125,45.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,456.376,60.527,153.172,660.243,45.059,33.421,410.782,0.000,381.943,0.000,0.541,0.000
$DEVICE_MAMPS,58.905,71.145,1269.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.131,429.243,339.723,503.918,657.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330920
$DATA_FILE_SIZE,14341,158
$CAP_FILE_SIZE,32160,0
$CFSIZE,1024409600,1006239744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,111907,5947.464,-17124.562,5,1.0,50,8.2,0.3,107.0,8,3.2