version: 66.13
glider: 401
mission: 22
dive: 486
start: 8 4 117 11 4 38
data:
$ID,401
$MISSION,22
$DIVE,486
$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,24
$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,600
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,2340
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$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
$GPS1,040817,101406,6001.1245,-17240.5820,5,0.8,23,7.5,0.3,265.5,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-3.8
$GPS2,040817,101406,6001.1245,-17240.5820,5,0.8,23,7.5,0.3,265.5,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.368240,0.106641
$KALMAN_X,57265.105469,-2531.958984,-626.720947,-182016.390625,86.629639
$KALMAN_Y,40441.859375,772.979736,73.546051,43553.730469,-42.126160
$MHEAD_RNG_PITCHd_Wd,278.7,36643,-7.8,-8.333,-12.26,10266
$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,-1.58,-581.2,2395,1942,2356,4091,0.0,0.0,0,21,5.82,0.00,-5.15,0.000,20482,0.026,0.000,1833,1942,2912,2912,4095,0,0,0,0,0,0,26.08,28.83,26.10,10.30,51.73
$GC,24,-1.58,-581.2,1833,1942,2911,4095,0.0,0.0,1,34,0.00,1.12,-2.42,0.000,16644,0.000,1.281,1833,2344,3165,3165,4095,0,0,0,0,0,0,26.27,24.91,26.27,10.41,52.12
$GC,115,-1.58,-581.2,1832,2344,3167,4095,9.6,-14.7,14,124,0.00,1.00,0.00,0.000,1030,0.000,0.030,1833,1946,3166,3166,4095,0,0,0,0,0,0,26.01,25.98,26.02,10.47,51.14
$GC,162,-1.58,-581.2,1832,1946,3167,4095,14.9,-10.9,20,170,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1946,3167,3167,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.46,50.43
$GC,205,-1.58,-581.2,1832,1946,3168,4094,19.9,-11.4,26,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1946,3168,3168,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.43,50.31
$GC,250,-1.58,-581.2,1832,1946,3169,4095,24.9,-11.1,32,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1946,3169,3169,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.41,49.17
$GC,294,-1.58,-581.2,1832,1946,3170,4094,29.6,-10.5,38,303,0.00,1.05,0.00,0.000,260,0.000,0.043,1833,2342,3170,3170,4094,0,0,0,0,0,0,26.36,26.09,26.38,10.40,48.54
$GC,345,-1.58,-581.2,1832,2342,3170,4094,35.1,-10.6,45,355,0.00,1.00,0.00,0.000,1030,0.000,0.030,1833,1941,3171,3171,4095,0,0,0,0,0,0,26.17,26.14,26.20,10.38,47.87
$GC,392,-1.58,-581.2,1832,1940,3171,4095,40.0,-11.1,51,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1941,3171,3171,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.38,47.12
$GC,438,-1.58,-581.2,1832,1940,3172,4095,45.1,-11.2,57,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1941,3173,3173,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.38,46.65
$GC,482,-1.58,-581.2,1832,1941,3173,4094,50.0,-11.1,63,491,0.00,1.05,0.00,0.000,516,0.000,0.052,1833,1527,3174,3174,4094,0,0,0,0,0,0,26.46,26.17,26.47,10.37,47.24
$GC,534,-1.58,-581.2,1832,1526,3175,4094,56.0,-11.4,70,543,0.00,0.93,0.00,0.000,1030,0.000,0.027,1833,1931,3175,3175,4094,0,0,0,0,0,0,26.29,26.25,26.32,10.37,46.41
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,576,-0.45,0.0,1833,1931,3175,4095,60.4,-11.3,75,620,3.80,0.00,33.10,1.299,10244,0.055,0.000,2183,1931,2483,2483,4094,0,0,0,0,0,0,26.22,24.97,24.28,10.36,46.29
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,623,1.58,581.2,2183,1931,2483,4094,62.9,0.0,80,669,6.97,1.08,33.10,1.278,10756,0.038,0.051,2827,1528,1806,1806,4094,0,0,0,0,0,0,25.42,25.37,23.79,10.21,45.66
$GC,922,1.58,581.2,2827,1527,1802,4094,37.2,9.4,123,931,0.00,0.98,0.00,0.000,1030,0.000,0.026,2827,1953,1801,1801,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.05,46.18
$GC,967,1.58,581.2,2827,1953,1800,4094,33.0,9.2,129,975,0.00,1.10,0.00,0.000,260,0.000,0.043,2827,2367,1800,1800,4094,0,0,0,0,0,0,26.08,25.80,26.09,10.05,46.37
$GC,1229,1.66,631.4,2827,2366,1795,4094,9.9,7.8,168,1240,0.17,1.05,3.85,0.403,11270,0.037,0.032,2855,1954,1746,1746,4094,0,0,0,0,0,0,26.10,26.07,25.29,10.10,49.01
$GC,1277,1.68,648.3,2854,1954,1745,4094,6.0,8.2,174,1287,0.00,0.00,2.67,0.215,8198,0.000,0.000,2855,1954,1726,1726,4094,0,0,0,0,0,0,26.31,25.77,25.37,10.11,49.56
$GC,1324,1.77,709.5,2854,1954,1726,4094,2.3,7.7,180,1335,0.25,1.10,4.88,0.437,10500,0.042,0.040,2889,2363,1655,1655,4094,0,0,0,0,0,0,26.13,25.96,25.37,10.12,50.66
$STATE,1342,end climb,SURFACE_DEPTH_REACHED
$STATE,1343,begin surface coast
$FINISH,0.1,1.024042
$STATE,1372,end surface coast,CONTROL_FINISHED_OK
$STATE,1372,begin surface
$SM_CCo,1470,0.00,0.000,0,0,1654,713.50
$SM_GC,0.91,27.80,1.10,0.00,0.022,0.032,0.000,231,1952,1654,-6.59,1.09,713.50,0,0,0,0,0,0,26.01,26.05,26.10
$IRIDIUM_FIX,5952.82,-17420.78,040817,084537
$TT8_MAMPS,0.025466,0.253911
$HUMID,51.14
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.79,12.271
$10V_AH,10.17,15.523
$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,44.825,12.550,77.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,506.836,60.207,141.506,773.953,48.019,33.413,392.248,0.000,448.864,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1281.375,1298.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,128.080,505.215,400.110,593.343,773.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330904
$DATA_FILE_SIZE,17795,186
$CAP_FILE_SIZE,30736,0
$CFSIZE,1024409600,995606528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,113023,6001.381,-17242.275,36,0.8,40,7.5,0.4,232.6,10,4.4