version: 66.12
glider: 401
mission: 21
dive: 4
start: 6 20 117 19 10 48
data:
$ID,401
$MISSION,21
$DIVE,4
$N_DIVES,4
$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,2140
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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,1950
$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
$GPS1,200617,190609,4742.0503,-12225.1895,1,0.7,11,16.3,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-56.6
$GPS2,200617,190948,4742.0234,-12225.2285,3,0.7,15,16.3,0.0,0.0,11,4.8
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.109029,0.268000
$KALMAN_X,-234.269440,-229.537643,-181.061630,-229.770660,-105.550125
$KALMAN_Y,-639.695190,-663.453552,-561.593994,-166.530365,-306.112366
$MHEAD_RNG_PITCHd_Wd,14.9,1032,-16.1,-10.000,-19.07,3691
$D_GRID,75
$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,-1.63,-244.4,240,2133,1485,4094,0.0,0.0,0,30,0.00,0.00,-5.43,0.000,16390,0.000,0.000,240,2132,2243,2243,4094,0,0,0,0,0,0,26.82,25.36,26.83,10.51,50.66
$GC,32,-1.63,-244.4,240,2133,2243,4095,1.6,0.0,1,61,21.23,3.22,0.00,0.000,2308,0.380,0.206,2016,3337,2245,2245,4094,0,0,0,0,0,0,26.21,26.20,26.30,10.68,50.74
$GC,138,-1.63,-244.4,2015,3337,2248,4095,25.6,-14.6,16,147,0.00,3.00,0.00,0.000,1030,0.000,0.092,2016,2132,2248,2248,4094,0,0,0,0,0,0,26.46,26.42,26.48,10.67,50.51
$GC,177,-1.63,-244.4,2015,2132,2249,4094,31.0,-13.4,20,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2132,2249,2249,4094,0,0,0,0,0,0,26.73,26.74,26.74,10.67,49.68
$GC,218,-1.63,-244.4,2015,2132,2250,4094,36.3,-13.2,24,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2132,2251,2251,4094,0,0,0,0,0,0,26.76,26.77,26.77,10.66,49.29
$GC,256,-1.63,-244.4,2016,2132,2252,4094,42.6,-15.6,28,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2132,2252,2252,4095,0,0,0,0,0,0,26.79,26.80,26.79,10.66,49.05
$GC,298,-1.63,-244.4,2014,2132,2253,4094,48.0,-13.4,32,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2132,2253,2253,4094,0,0,0,0,0,0,26.81,26.82,26.82,10.66,48.46
$GC,336,-1.63,-244.4,2015,2133,2254,4095,53.2,-13.1,36,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2132,2254,2254,4094,0,0,0,0,0,0,26.83,26.84,26.84,10.65,48.38
$GC,378,-1.63,-244.4,2015,2132,2255,4095,58.6,-13.5,40,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2131,2256,2256,4095,0,0,0,0,0,0,26.85,26.86,26.86,10.65,48.77
$GC,416,-1.63,-244.4,2015,2131,2257,4094,65.0,-15.8,44,426,0.00,3.12,0.00,0.000,516,0.000,0.211,2016,950,2257,2257,4094,0,0,0,0,0,0,26.86,26.46,26.88,10.65,48.34
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,489,-0.39,0.0,2015,2031,2259,4095,75.3,-19.0,54,514,4.28,0.00,15.55,4.174,10244,0.221,0.000,2415,2031,1948,1948,4094,0,0,0,0,0,0,26.54,25.94,24.86,10.65,48.38
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,517,1.63,244.4,2416,2031,1948,4095,79.8,0.0,57,550,6.68,3.15,14.38,4.122,10500,0.149,0.201,3058,3201,1668,1668,4094,0,0,0,0,0,0,26.14,26.06,24.55,10.58,48.14
$GC,604,1.93,443.6,3057,3201,1667,4093,76.9,4.5,69,630,0.88,3.00,12.25,3.906,11270,0.092,0.097,3149,2023,1436,1436,4094,0,0,0,0,0,0,26.09,26.05,24.54,10.51,47.63
$GC,660,2.26,664.3,3149,2023,1436,4094,75.5,3.9,75,686,1.05,3.35,13.65,3.898,10756,0.097,0.253,3258,827,1175,1175,4094,0,0,0,0,0,0,26.01,25.47,24.45,10.47,47.83
$GC,744,2.29,679.8,3256,826,1174,4094,68.9,9.6,87,754,0.00,3.00,2.72,1.217,9222,0.000,0.097,3257,2024,1156,1156,4094,0,0,0,0,0,0,26.01,25.98,24.79,10.40,47.79
$GC,784,2.47,804.8,3257,2030,1156,4094,66.3,6.5,91,803,0.60,3.25,8.30,3.250,10500,0.109,0.196,3324,3215,1011,1011,4094,0,0,0,0,0,0,26.09,25.45,24.75,10.40,47.36
$GC,844,2.47,804.8,3324,3215,1009,4094,58.6,15.0,99,852,0.00,3.03,0.00,0.000,1030,0.000,0.104,3325,2040,1009,1009,4094,0,0,0,0,0,0,26.07,26.02,26.09,10.37,47.48
$GC,882,2.47,804.8,3324,2039,1007,4094,51.9,16.9,103,892,0.00,3.42,0.00,0.000,516,0.000,0.288,3325,820,1007,1007,4094,0,0,0,0,0,0,26.40,26.01,26.41,10.37,48.03
$GC,932,2.47,804.8,3324,819,1005,4094,43.5,15.9,110,941,0.00,3.05,0.00,0.000,1030,0.000,0.104,3325,2037,1005,1005,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.37,47.28
$GC,971,2.47,804.8,3324,2038,1004,4094,37.7,14.5,114,980,0.00,3.17,0.00,0.000,260,0.000,0.216,3325,3208,1004,1004,4094,0,0,0,0,0,0,26.54,26.15,26.55,10.37,47.44
$GC,1038,2.47,804.8,3324,3208,1001,4094,27.2,15.3,124,1047,0.00,2.97,0.00,0.000,1030,0.000,0.104,3325,2039,1001,1001,4094,0,0,0,0,0,0,26.35,26.31,26.36,10.37,47.87
$GC,1077,2.47,804.8,3324,2039,1000,4094,21.5,14.4,128,1086,0.00,3.35,0.00,0.000,516,0.000,0.271,3325,820,999,999,4094,0,0,0,0,0,0,26.65,26.25,26.66,10.37,48.03
$GC,1126,2.47,804.8,3324,820,998,4094,14.3,14.2,135,1135,0.00,3.03,0.00,0.000,1030,0.000,0.102,3325,2044,997,997,4094,0,0,0,0,0,0,26.46,26.41,26.48,10.37,48.11
$GC,1165,2.47,804.8,3324,2044,997,4094,9.1,13.3,139,1174,0.00,3.12,0.00,0.000,260,0.000,0.214,3325,3206,996,996,4094,0,0,0,0,0,0,26.71,26.32,26.72,10.37,48.46
$STATE,1218,end climb,SURFACE_DEPTH_REACHED
$STATE,1218,begin surface coast
$FINISH,0.2,0.960764
$STATE,1232,end surface coast,CONTROL_FINISHED_OK
$STATE,1232,begin surface
$SM_CCo,1334,0.00,0.000,0,0,994,819.96
$SM_GC,1.28,31.50,2.72,0.00,0.082,0.094,0.000,231,2123,994,-7.25,0.68,819.96,0,0,0,0,0,0,26.31,26.48,26.46
$IRIDIUM_FIX,4748.51,-12337.82,200617,190155
$TT8_MAMPS,0.025466,0.325815
$HUMID,49.64
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,11.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,17.7
$24V_AH,24.45,38.217
$10V_AH,10.41,15.947
$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,66.200,55.650,66.850,0.000,0.000,0.000,0.000,0.000,0.250,0.000,16.898,378.899,176.670,163.994,647.333,43.011,32.430,441.828,0.000,373.152,0.000,2.644,0.000
$DEVICE_MAMPS,379.899,288.028,4173.923,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,357.996,404.811,320.335,475.236,622.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,321896
$DATA_FILE_SIZE,14345,149
$CAP_FILE_SIZE,49425,0
$CFSIZE,1024409600,1019920384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,149
$INTR,0,40.75,0x237eac,0,24
$GPS,200617,193351,4742.003,-12225.310,2,0.8,15,16.3,0.7,148.9,10,4.9