version: 66.13
glider: 401
mission: 22
dive: 17
start: 7 27 117 0 3 13
data:
$ID,401
$MISSION,22
$DIVE,17
$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,20
$T_MISSION,30
$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,350
$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,-2
$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,55
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,23
$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
$GPS1,260717,235559,5916.7217,-17026.8027,4,1.1,49,8.6,0.2,211.1,8,3.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-49.7
$GPS2,270717,000207,5916.6738,-17026.8496,7,1.1,52,8.6,0.4,219.8,8,3.0
$SPEED_LIMITS,0.173,0.334
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.135832,0.304738
$KALMAN_X,2486.975342,1023.648926,234.006836,-5022.506348,-129.917984
$KALMAN_Y,472.437988,442.253876,2.353949,1602.493530,-168.194733
$MHEAD_RNG_PITCHd_Wd,327.4,31302,-13.4,-10.000,-16.68,5143
$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,-1.73,-341.3,238,1899,2144,4092,0.0,0.0,0,21,11.05,0.00,0.00,0.000,2049,0.120,0.000,1134,1895,2145,2145,4095,0,0,0,0,0,0,26.29,28.83,28.83,10.28,49.48
$GC,23,-1.73,-341.3,1134,1895,2145,4095,1.1,0.0,1,51,7.50,3.53,-6.82,0.000,18948,0.079,1.309,1796,701,2903,2903,4095,0,0,0,0,0,0,25.95,24.77,26.03,10.28,49.44
$GC,257,-1.73,-341.3,1796,701,2908,4095,30.5,-13.6,35,267,0.00,3.05,0.00,0.000,1030,0.000,0.035,1796,1899,2908,2908,4094,0,0,0,0,0,0,26.04,26.01,26.07,10.38,46.92
$GC,303,-1.73,-341.3,1795,1900,2909,4094,36.7,-13.8,41,312,0.00,3.35,0.00,0.000,516,0.000,0.080,1796,701,2910,2910,4095,0,0,0,0,0,0,26.30,25.92,26.32,10.38,46.33
$GC,438,-1.73,-341.3,1795,701,2913,4095,57.0,-15.1,61,448,0.00,3.08,0.00,0.000,1030,0.000,0.036,1796,1913,2914,2914,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.35,45.11
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,467,-0.45,0.0,1796,2042,2914,4095,60.5,-13.5,64,496,4.50,0.08,20.58,1.245,10244,0.068,0.103,2205,2011,2500,2500,4094,0,0,0,0,0,0,26.10,25.44,24.51,10.35,45.62
$STATE,497,end apogee,CONTROL_FINISHED_OK
$STATE,497,begin climb
$GC,499,1.73,341.3,2204,2011,2500,4094,63.1,0.0,67,535,7.45,0.00,19.95,1.226,11270,0.044,0.000,2896,2011,2107,2107,4094,0,0,0,0,0,0,25.65,25.82,24.13,10.26,45.15
$GC,572,1.73,341.3,2895,2010,2106,4094,58.0,11.3,76,582,0.00,3.35,0.22,0.003,8452,0.000,0.067,2896,3188,2106,2106,4094,0,0,0,0,0,0,25.66,25.32,25.67,10.17,43.69
$GC,631,1.73,341.3,2895,3187,2105,4094,49.2,15.2,84,640,0.00,3.05,2.10,0.080,9222,0.000,0.034,2896,2037,2101,2101,4094,0,0,0,0,0,0,25.62,25.56,24.57,10.17,44.40
$GC,678,1.73,341.3,2895,2037,2100,4094,43.2,12.6,90,687,0.00,3.53,0.00,0.000,516,0.000,0.093,2896,821,2100,2100,4094,0,0,0,0,0,0,25.95,25.57,25.96,10.16,44.32
$GC,762,1.73,341.3,2895,821,2098,4094,31.7,13.8,102,770,0.00,3.00,0.00,0.000,1030,0.000,0.035,2896,1987,2097,2097,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.15,44.56
$GC,806,1.73,341.3,2895,1987,2096,4094,25.8,12.6,108,815,0.00,3.38,0.00,0.000,260,0.000,0.073,2896,3211,2096,2096,4094,0,0,0,0,0,0,26.15,25.78,26.17,10.14,44.99
$GC,870,1.73,341.3,2895,3211,2094,4094,16.6,14.8,117,879,0.00,3.10,0.00,0.000,1030,0.000,0.034,2896,2022,2094,2094,4095,0,0,0,0,0,0,25.98,25.93,26.01,10.16,45.47
$GC,916,1.73,341.3,2895,2022,2093,4095,11.6,11.0,123,926,0.00,3.40,0.00,0.000,516,0.000,0.089,2896,824,2093,2093,4094,0,0,0,0,0,0,26.27,25.88,26.28,10.19,46.73
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,999,begin subsurface finish
$FINISH1,1.3,1.024393,84
$GC,1008,0.13,84.1,2896,2020,2090,4094,1.3,12.2,135,1025,5.10,0.00,-2.72,0.000,20998,0.037,0.000,2403,2020,2407,2407,4094,0,0,0,0,0,0,26.10,25.58,26.15,10.23,48.50
$FINISH2,0.4
$STATE,1026,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1026,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,260717,230940
$TT8_MAMPS,0.026215,0.238931
$HUMID,48.81
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.13,0.680
$10V_AH,10.30,0.753
$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,35.600,39.225,42.850,0.000,0.000,23.199,17.656,202.962,0.000,0.000,53.181,390.926,0.772,100.801,866.855,58.293,33.444,304.645,0.000,335.447,0.000,1.730,0.000
$DEVICE_MAMPS,120.105,1308.915,1245.420,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.703,372.134,294.633,436.474,566.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329524
$DATA_FILE_SIZE,14400,137
$CAP_FILE_SIZE,28319,0
$CFSIZE,1024409600,1018675200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,000207,5916.674,-17026.850,7,1.1,52,8.6,0.4,219.8,8,3.0