version: 66.12
glider: 401
mission: 21
dive: 3
start: 6 20 117 18 30 8
data:
$ID,401
$MISSION,21
$DIVE,3
$N_DIVES,3
$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,17
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2000
$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
$GPS1,200617,182528,4742.2358,-12225.0186,3,0.9,27,16.3,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-49.0
$GPS2,200617,182909,4742.1943,-12225.0449,5,0.9,29,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.092441,0.274165
$KALMAN_X,-91.741714,-113.888451,-101.893097,-338.642242,-85.251007
$KALMAN_Y,-363.247742,-419.459473,-389.254730,-541.744324,-318.360229
$MHEAD_RNG_PITCHd_Wd,12.0,643,-16.1,-10.000,-19.07,3691
$D_GRID,78
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.63,-244.4,232,2185,1152,4094,0.0,0.0,0,30,0.00,0.00,-8.25,0.000,16390,0.000,0.000,232,2184,2288,2288,4094,0,0,0,0,0,0,26.91,26.06,26.91,10.46,51.41
$GC,32,-1.63,-244.4,231,2185,2288,4094,1.4,0.0,1,64,21.38,3.15,0.00,0.000,2820,0.382,0.228,2018,3349,2291,2291,4094,0,0,0,0,0,0,26.34,26.33,26.47,10.72,51.57
$GC,73,-1.63,-244.4,2017,3348,2291,4094,15.8,-37.7,6,82,0.00,2.95,0.00,0.000,1030,0.000,0.097,2018,2165,2292,2292,4094,0,0,0,0,0,0,26.51,26.48,26.53,10.71,51.81
$GC,114,-1.63,-244.4,2017,2164,2292,4094,22.1,-15.8,10,122,0.00,3.22,0.00,0.000,260,0.000,0.223,2018,3350,2293,2293,4095,0,0,0,0,0,0,26.79,26.39,26.81,10.70,50.66
$GC,212,-1.63,-244.4,2017,3350,2296,4094,36.9,-15.3,25,221,0.00,3.03,0.00,0.000,1030,0.000,0.097,2018,2130,2297,2297,4094,0,0,0,0,0,0,26.60,26.56,26.63,10.69,49.92
$GC,251,-1.63,-244.4,2017,2130,2297,4094,42.4,-13.6,29,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2130,2297,2297,4094,0,0,0,0,0,0,26.88,26.89,26.89,10.69,49.40
$GC,292,-1.63,-244.4,2017,2130,2298,4095,47.4,-12.6,33,301,0.00,3.03,0.00,0.000,516,0.000,0.211,2018,983,2298,2298,4094,0,0,0,0,0,0,26.89,26.48,26.91,10.69,49.37
$GC,342,-1.63,-244.4,2017,983,2300,4095,54.3,-13.9,40,351,0.00,2.78,0.00,0.000,1030,0.000,0.104,2018,2111,2300,2300,4094,0,0,0,0,0,0,26.65,26.60,26.67,10.68,49.29
$GC,380,-1.63,-244.4,2017,2110,2301,4094,59.5,-13.2,44,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2110,2302,2302,4094,0,0,0,0,0,0,26.92,26.94,26.94,10.68,49.37
$GC,422,-1.63,-244.4,2017,2110,2302,4094,64.4,-12.3,48,431,0.00,3.00,0.00,0.000,516,0.000,0.206,2018,979,2301,2301,4094,0,0,0,0,0,0,26.94,26.51,26.95,10.68,49.44
$GC,472,-1.63,-244.4,2017,979,2304,4094,70.8,-13.3,55,480,0.00,2.75,0.00,0.000,1030,0.000,0.104,2018,2100,2304,2304,4095,0,0,0,0,0,0,26.69,26.65,26.71,10.68,48.74
$GC,510,-1.63,-244.4,2017,2100,2305,4094,75.8,-12.3,59,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2100,2305,2305,4094,0,0,0,0,0,0,26.96,26.97,26.97,10.67,48.85
$STATE,528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,528,begin apogee
$GC,533,-0.39,0.0,2017,2100,2306,4094,78.4,-12.9,61,560,4.25,0.00,15.18,4.134,10244,0.216,0.000,2418,2100,2003,2003,4095,0,0,0,0,0,0,26.61,25.74,24.96,10.67,48.77
$STATE,561,end apogee,CONTROL_FINISHED_OK
$STATE,561,begin climb
$GC,563,1.63,244.4,2417,2100,2003,4094,80.6,0.0,64,588,6.60,0.00,14.70,4.077,11270,0.132,0.000,3061,2101,1714,1714,4094,0,0,0,0,0,0,26.30,26.48,24.66,10.61,48.54
$GC,618,1.63,244.4,3061,2101,1713,4094,76.5,10.1,70,627,0.00,3.12,0.00,0.000,260,0.000,0.199,3061,3254,1713,1713,4094,0,0,0,0,0,0,26.30,25.95,26.32,10.54,48.30
$GC,680,1.63,244.4,3061,3255,1712,4094,69.1,13.2,79,688,0.00,2.92,0.00,0.000,1030,0.000,0.097,3061,2101,1711,1711,4094,0,0,0,0,0,0,26.22,26.18,26.25,10.54,48.11
$GC,718,1.63,244.4,3061,2101,1710,4094,64.6,11.5,83,727,0.00,3.35,0.00,0.000,516,0.000,0.256,3061,881,1711,1711,4094,0,0,0,0,0,0,26.53,26.12,26.55,10.54,48.42
$GC,821,1.64,246.8,3061,881,1708,4094,53.9,9.9,99,830,0.00,2.97,0.00,0.000,1030,0.000,0.102,3061,2084,1708,1708,4094,0,0,0,0,0,0,26.43,26.39,26.45,10.53,48.62
$GC,861,1.71,294.7,3061,2084,1708,4094,50.5,8.7,103,871,0.12,3.17,4.22,2.009,10500,0.206,0.199,3083,3267,1655,1655,4094,0,0,0,0,0,0,26.50,26.23,25.29,10.53,48.46
$GC,901,1.72,303.0,3082,3267,1654,4094,46.9,9.8,108,910,0.00,3.00,2.30,0.544,9222,0.000,0.102,3083,2082,1645,1645,4094,0,0,0,0,0,0,26.42,26.37,25.31,10.52,48.46
$GC,941,1.81,360.0,3083,2082,1644,4094,43.5,8.4,112,959,0.20,3.33,4.68,2.024,10756,0.181,0.268,3109,874,1578,1578,4095,0,0,0,0,0,0,26.45,26.22,25.34,10.51,48.85
$GC,1029,1.81,360.0,3108,874,1576,4094,34.6,10.3,125,1038,0.00,2.95,0.00,0.000,1030,0.000,0.099,3109,2068,1576,1576,4094,0,0,0,0,0,0,26.47,26.44,26.47,10.50,48.26
$GC,1070,1.87,401.1,3108,2069,1575,4094,31.2,8.9,129,1078,0.15,0.00,3.83,1.497,10502,0.196,0.000,3133,2069,1529,1529,4094,0,0,0,0,0,0,26.53,26.26,25.49,10.50,49.25
$GC,1108,1.92,434.0,3133,2069,1529,4094,27.6,9.1,133,1118,0.00,0.00,3.50,1.304,8198,0.000,0.000,3134,2069,1491,1491,4094,0,0,0,0,0,0,26.74,26.03,25.52,10.49,48.38
$GC,1148,1.92,434.0,3133,2069,1489,4094,23.5,10.3,137,1158,0.00,3.22,0.00,0.000,260,0.000,0.214,3134,3269,1489,1489,4094,0,0,0,0,0,0,26.74,26.36,26.74,10.48,48.74
$GC,1222,1.92,434.0,3133,3269,1487,4094,14.8,12.3,148,1231,0.00,3.08,0.00,0.000,1030,0.000,0.107,3134,2052,1487,1487,4094,0,0,0,0,0,0,26.53,26.48,26.55,10.48,48.74
$GC,1261,1.92,434.0,3133,2052,1487,4094,10.5,11.1,152,1270,0.00,3.22,0.00,0.000,516,0.000,0.271,3134,873,1486,1486,4094,0,0,0,0,0,0,26.81,26.39,26.82,10.48,48.70
$STATE,1358,end climb,SURFACE_DEPTH_REACHED
$STATE,1358,begin surface coast
$FINISH,0.2,0.960764
$STATE,1384,end surface coast,CONTROL_FINISHED_OK
$STATE,1385,begin surface
$SM_CCo,1486,0.00,0.000,0,0,1484,443.04
$SM_GC,1.48,29.30,3.25,0.00,0.082,0.102,0.000,240,2174,1484,-7.21,-1.18,443.04,0,0,0,0,0,0,26.63,26.57,26.66
$IRIDIUM_FIX,4748.51,-12337.82,200617,182106
$TT8_MAMPS,0.024717,0.319823
$HUMID,50.35
$INTERNAL_PRESSURE,10.4239
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$24V_AH,24.66,38.121
$10V_AH,10.42,15.904
$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,62.000,61.500,48.400,0.000,0.000,0.000,0.000,0.000,0.250,0.000,30.896,436.100,183.097,158.594,750.328,47.694,31.510,444.896,0.000,425.045,0.000,2.649,0.000
$DEVICE_MAMPS,382.382,270.647,4134.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,409.968,464.537,367.628,546.015,711.505,0.000,0.000,0.000,0.000,0.000
$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,17772,171
$CAP_FILE_SIZE,56042,0
$CFSIZE,1024409600,1019953152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,171
$GPS,200617,185555,4742.129,-12225.087,3,0.8,27,16.3,2.7,4.2,10,5.0