version: 66.12
glider: 401
mission: 21
dive: 2
start: 6 20 117 17 41 25
data:
$ID,401
$MISSION,21
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,4
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,40
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73516
$MASS_COMP,0
$NAV_MODE,0
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2551
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$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,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2146
$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,-50.607449
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,0
$GPS1,200617,173626,4742.8052,-12224.5918,2,1.0,27,16.3,0.8,342.9,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-53.8
$GPS2,200617,174027,4742.7627,-12224.5928,5,1.0,29,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.102866,-0.068348
$KALMAN_X,-3.488637,-3.488637,-3.488637,-78.161400,-11.272404
$KALMAN_Y,-103.025368,-103.025368,-103.025368,-352.485687,-332.893127
$MHEAD_RNG_PITCHd_Wd,191.6,551,-21.0,-10.000,-23.55,2212
$D_GRID,175
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.87,-145.7,241,2192,1494,4094,0.0,0.0,0,30,0.00,0.00,-5.80,0.000,16390,0.000,0.000,240,2192,2320,2320,4094,0,0,0,0,0,0,26.91,25.23,26.92,10.57,50.23
$GC,32,-1.87,-145.7,241,2192,2321,4094,1.6,0.0,1,59,20.45,3.17,0.00,0.000,2308,0.387,0.221,1941,3359,2323,2323,4095,0,0,0,0,0,0,26.27,26.28,26.41,10.76,50.35
$GC,87,-1.87,-145.7,1941,3359,2325,4094,21.3,-30.1,8,96,0.00,2.95,0.00,0.000,1030,0.000,0.097,1942,2176,2325,2325,4094,0,0,0,0,0,0,26.47,26.44,26.51,10.75,50.51
$GC,126,-1.87,-145.7,1941,2175,2326,4094,28.4,-17.7,12,135,0.00,3.17,0.00,0.000,516,0.000,0.206,1941,973,2327,2327,4094,0,0,0,0,0,0,26.78,26.36,26.79,10.75,50.43
$GC,254,-1.87,-145.7,1941,973,2332,4094,51.9,-19.2,32,263,0.00,2.88,0.00,0.000,1030,0.000,0.107,1941,2135,2332,2332,4094,0,0,0,0,0,0,26.60,26.55,26.63,10.72,48.74
$GC,293,-1.87,-145.7,1941,2136,2333,4094,57.9,-15.3,36,302,0.00,3.30,0.00,0.000,260,0.000,0.228,1941,3361,2333,2333,4094,0,0,0,0,0,0,26.89,26.44,26.90,10.73,48.93
$GC,347,-1.87,-145.7,1941,3361,2335,4095,67.1,-16.8,44,357,0.00,3.05,0.00,0.000,1030,0.000,0.097,1942,2131,2335,2335,4094,0,0,0,0,0,0,26.65,26.60,26.67,10.73,49.40
$GC,388,-1.87,-145.7,1941,2130,2337,4094,73.3,-15.9,48,397,0.00,3.03,0.00,0.000,516,0.000,0.206,1941,977,2337,2337,4094,0,0,0,0,0,0,26.93,26.50,26.94,10.72,48.46
$GC,498,-1.87,-145.7,1941,977,2341,4094,94.7,-20.3,65,507,0.00,2.78,0.00,0.000,1030,0.000,0.104,1942,2105,2342,2342,4095,0,0,0,0,0,0,26.70,26.65,26.72,10.72,48.62
$GC,537,-1.87,-145.7,1941,2105,2343,4094,101.9,-17.9,69,546,0.00,3.40,0.00,0.000,260,0.000,0.243,1942,3363,2344,2344,4094,0,0,0,0,0,0,26.98,26.51,26.99,10.72,48.70
$GC,599,-1.87,-145.7,1941,3363,2346,4094,112.7,-18.8,78,608,0.00,3.12,0.00,0.000,1030,0.000,0.097,1942,2102,2346,2346,4094,0,0,0,0,0,0,26.72,26.68,26.74,10.71,48.58
$GC,638,-1.87,-145.7,1941,2101,2347,4094,119.4,-16.7,82,647,0.00,2.95,0.00,0.000,516,0.000,0.211,1941,976,2348,2348,4095,0,0,0,0,0,0,27.01,26.56,27.02,10.71,48.77
$STATE,654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,655,begin apogee
$GC,662,-0.39,0.0,1941,2082,2348,4095,122.6,-17.0,84,687,5.12,0.00,11.00,5.120,10244,0.231,0.000,2417,2082,2148,2148,4094,0,0,0,0,0,0,26.63,25.66,24.68,10.72,48.70
$STATE,688,end apogee,CONTROL_FINISHED_OK
$STATE,688,begin climb
$GC,690,1.87,145.7,2417,2082,2148,4094,126.9,0.0,87,716,7.25,3.20,9.88,4.981,10500,0.117,0.226,3136,3266,1974,1974,4094,0,0,0,0,0,0,26.28,26.20,24.44,10.67,48.89
$GC,824,2.32,446.5,3136,3266,1975,4094,126.3,-3.9,107,850,1.33,3.00,18.12,5.574,11270,0.097,0.097,3276,2074,1624,1624,4094,0,0,0,0,0,0,26.35,26.31,24.14,10.63,48.18
$GC,880,2.52,580.0,3275,2074,1624,4094,125.7,3.8,113,899,0.57,0.00,9.10,4.805,10246,0.119,0.000,3339,2075,1469,1469,4094,0,0,0,0,0,0,25.96,25.41,24.18,10.55,48.18
$GC,930,2.52,580.0,3338,2074,1468,4094,118.7,15.3,118,938,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2074,1467,1467,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.52,47.79
$GC,971,2.52,580.0,3338,2074,1466,4094,111.0,19.3,122,979,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2074,1466,1466,4094,0,0,0,0,0,0,26.35,26.37,26.36,10.52,48.14
$GC,1010,2.52,580.0,3338,2074,1464,4094,102.3,21.7,126,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2074,1463,1463,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.51,48.14
$GC,1051,2.52,580.0,3338,2074,1461,4094,93.2,22.8,130,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2074,1461,1461,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.50,48.38
$GC,1090,2.52,580.0,3338,2074,1460,4094,84.4,22.2,134,1099,0.00,3.25,0.00,0.000,516,0.000,0.253,3339,883,1459,1459,4094,0,0,0,0,0,0,26.60,26.19,26.61,10.51,47.99
$GC,1128,2.52,580.0,3338,883,1458,4094,76.8,21.4,139,1136,0.00,2.92,0.00,0.000,1030,0.000,0.099,3339,2062,1457,1457,4094,0,0,0,0,0,0,26.40,26.36,26.42,10.50,47.87
$GC,1166,2.52,580.0,3338,2064,1456,4094,69.1,19.3,143,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2063,1455,1455,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.50,47.91
$GC,1206,2.52,580.0,3338,2064,1454,4094,61.4,19.3,147,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2064,1453,1453,4094,0,0,0,0,0,0,26.72,26.74,26.74,10.50,48.07
$GC,1248,2.52,580.0,3338,2064,1451,4094,53.0,21.2,151,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2063,1451,1451,4094,0,0,0,0,0,0,26.76,26.78,26.77,10.49,47.99
$GC,1286,2.52,580.0,3338,2064,1450,4094,44.9,20.3,155,1295,0.00,3.20,0.00,0.000,260,0.000,0.201,3339,3265,1449,1449,4094,0,0,0,0,0,0,26.79,26.39,26.80,10.49,47.79
$GC,1316,2.52,580.0,3338,3265,1448,4094,38.6,20.3,159,1325,0.00,3.05,0.00,0.000,1030,0.000,0.107,3339,2057,1448,1448,4094,0,0,0,0,0,0,26.53,26.48,26.56,10.49,48.11
$GC,1355,2.52,580.0,3338,2057,1447,4094,31.1,19.6,163,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2057,1446,1446,4094,0,0,0,0,0,0,26.83,26.84,26.84,10.49,48.66
$GC,1397,2.52,580.0,3339,2057,1444,4094,23.8,18.5,167,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2057,1444,1444,4094,0,0,0,0,0,0,26.85,26.86,26.86,10.49,47.91
$GC,1435,2.52,580.0,3338,2057,1443,4094,16.9,17.5,171,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2057,1443,1443,4094,0,0,0,0,0,0,26.87,26.88,26.88,10.49,48.62
$GC,1475,2.52,580.0,3338,2057,1442,4094,10.3,16.6,175,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2057,1441,1441,4094,0,0,0,0,0,0,26.89,26.90,26.90,10.49,48.42
$GC,1517,4.35,1797.0,3338,2057,1440,4094,4.0,15.9,179,1536,3.33,0.00,13.48,1.703,10242,0.089,0.000,3678,2057,1151,1151,4094,0,0,0,0,0,0,26.67,28.83,26.70,10.49,48.50
$STATE,1537,end climb,SURFACE_DEPTH_REACHED
$STATE,1537,begin surface coast
$FINISH,0.2,0.960764
$STATE,1545,end surface coast,CONTROL_FINISHED_OK
$STATE,1545,begin surface
$SM_CCo,1649,0.00,0.000,0,0,1150,854.31
$SM_GC,1.30,35.08,0.30,0.00,0.084,0.139,0.000,232,2184,1150,-7.25,-1.05,854.31,0,0,0,0,0,0,26.30,26.52,26.46
$IRIDIUM_FIX,4748.51,-12337.82,200617,173159
$TT8_MAMPS,0.025466,0.339297
$HUMID,49.60
$INTERNAL_PRESSURE,10.3653
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,17.6
$ALTIM_BOTTOM_PING,100.1,6.8
$24V_AH,24.14,38.051
$10V_AH,10.43,15.853
$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,73.125,55.475,61.575,0.000,0.000,0.000,0.000,0.000,0.750,0.000,30.726,457.466,236.203,187.797,803.673,53.896,30.283,517.315,0.000,451.756,0.000,7.088,0.000
$DEVICE_MAMPS,387.348,253.266,5574.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,436.656,494.401,391.216,581.278,762.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,321936
$DATA_FILE_SIZE,17832,182
$CAP_FILE_SIZE,56745,1
$CFSIZE,1024409600,1020002304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,182
$GPS,200617,181002,4742.380,-12224.947,2,0.9,33,16.3,0.0,0.0,9,5.0