version: 66.13
glider: 401
mission: 22
dive: 19
start: 7 27 117 0 53 34
data:
$ID,401
$MISSION,22
$DIVE,19
$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,9
$R_STBD_OVSHOOT,32
$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
$GPS1,270717,004317,5916.7017,-17027.5312,4,1.0,49,8.6,0.5,236.6,8,3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-48.2
$GPS2,270717,005225,5916.6450,-17027.6621,7,0.8,14,8.6,0.0,226.4,10,5.0
$SPEED_LIMITS,0.173,0.334
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.109136,0.315286
$KALMAN_X,2371.786621,942.075500,61.714027,-5421.668457,-188.976807
$KALMAN_Y,13.078125,319.583771,-91.316475,2226.673828,-155.424530
$MHEAD_RNG_PITCHd_Wd,332.3,30703,-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,7,-1.73,-341.3,229,1906,2093,4092,0.0,0.0,0,21,11.32,0.00,0.00,0.000,2049,0.113,0.000,1157,1903,2093,2093,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.29,48.81
$GC,23,-1.73,-341.3,1157,1902,2094,4094,1.1,0.0,1,51,7.07,3.55,-7.28,0.000,18948,0.065,1.302,1796,694,2903,2903,4095,0,0,0,0,0,0,25.91,24.77,26.00,10.29,48.85
$GC,106,-1.73,-341.3,1795,694,2905,4095,8.0,-15.1,12,115,0.00,3.08,0.00,0.000,1030,0.000,0.035,1796,1888,2905,2905,4094,0,0,0,0,0,0,25.83,25.79,25.84,10.47,47.83
$GC,151,-1.73,-341.3,1796,1888,2906,4094,14.6,-13.7,18,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1888,2906,2906,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.47,47.44
$GC,195,-1.73,-341.3,1795,1890,2907,4094,20.1,-11.5,24,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1891,2907,2907,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.44,46.92
$GC,239,-1.73,-341.3,1796,1892,2908,4094,25.1,-11.7,30,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1892,2908,2908,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.41,46.25
$GC,283,-1.73,-341.3,1796,1892,2909,4094,30.5,-11.8,36,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,1892,2909,2909,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.40,45.47
$GC,326,-1.73,-341.3,1796,1892,2910,4095,35.8,-12.1,42,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1892,2910,2910,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.38,44.92
$GC,371,-1.73,-341.3,1796,1892,2911,4094,41.5,-13.1,48,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1892,2912,2912,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.38,44.40
$GC,415,-1.73,-341.3,1795,1892,2912,4094,47.2,-12.9,54,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1892,2912,2912,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,44.32
$GC,459,-1.73,-341.3,1796,1892,2913,4095,53.1,-13.8,60,469,0.00,3.30,0.00,0.000,260,0.000,0.067,1796,3096,2914,2914,4095,0,0,0,0,0,0,26.40,26.03,26.41,10.36,44.17
$GC,478,-1.73,-341.3,1796,3096,2914,4095,55.8,-14.0,62,488,0.00,3.10,0.00,0.000,1030,0.000,0.034,1796,1893,2914,2914,4095,0,0,0,0,0,0,26.15,26.10,26.18,10.37,44.80
$STATE,509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,509,begin apogee
$GC,514,-0.45,0.0,1796,2049,2914,4094,60.2,-13.9,66,542,4.50,0.10,20.65,1.251,10244,0.068,0.086,2206,2010,2500,2500,4095,0,0,0,0,0,0,26.10,25.44,24.52,10.36,43.81
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,545,1.73,341.3,2206,2000,2500,4095,62.9,0.0,69,581,7.38,0.00,20.05,1.229,11270,0.040,0.000,2897,2001,2105,2105,4094,0,0,0,0,0,0,25.65,25.82,24.10,10.27,43.89
$GC,618,1.73,341.3,2896,2000,2103,4094,57.1,12.6,78,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2001,2103,2103,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.18,43.81
$GC,663,1.73,341.3,2896,2000,2102,4094,50.9,14.1,84,672,0.00,3.35,0.00,0.000,260,0.000,0.067,2896,3185,2102,2102,4094,0,0,0,0,0,0,25.81,25.46,25.82,10.17,43.34
$GC,714,1.73,341.3,2896,3185,2101,4094,43.8,14.3,91,724,0.00,3.10,0.00,0.000,1030,0.000,0.034,2897,2013,2100,2100,4094,0,0,0,0,0,0,25.69,25.64,25.72,10.17,44.17
$GC,759,1.73,341.3,2896,2013,2099,4094,37.8,12.8,97,769,0.00,3.45,0.00,0.000,516,0.000,0.093,2897,820,2099,2099,4094,0,0,0,0,0,0,26.02,25.64,26.03,10.16,44.17
$GC,837,1.73,341.3,2896,819,2097,4094,26.9,13.8,108,847,0.00,2.95,0.00,0.000,1030,0.000,0.034,2897,1970,2097,2097,4094,0,0,0,0,0,0,25.90,25.86,25.93,10.15,44.99
$GC,882,1.73,341.3,2895,1969,2095,4094,21.0,13.0,114,892,0.00,3.47,0.00,0.000,260,0.000,0.072,2896,3217,2095,2095,4095,0,0,0,0,0,0,26.18,25.82,26.20,10.15,44.52
$GC,961,1.73,341.3,2896,3217,2093,4095,10.5,12.9,125,971,0.00,3.17,0.00,0.000,1030,0.000,0.035,2896,1998,2093,2093,4094,0,0,0,0,0,0,26.02,25.97,26.05,10.20,46.57
$GC,1008,1.73,341.3,2896,1997,2092,4094,4.9,11.4,131,1018,0.00,3.33,0.00,0.000,516,0.000,0.088,2897,822,2092,2092,4094,0,0,0,0,0,0,26.30,25.91,26.32,10.22,47.48
$STATE,1032,end climb,FINISH_DEPTH_REACHED
$STATE,1032,begin subsurface finish
$FINISH1,1.8,1.024344,88
$GC,1041,0.13,87.5,2896,2031,2090,4094,1.8,11.8,134,1060,5.10,3.58,-2.75,0.000,20996,0.041,1.309,2408,819,2403,2403,4095,0,0,0,0,0,0,26.07,24.91,26.13,10.23,47.83
$FINISH2,0.2
$STATE,1061,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1061,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,004713
$TT8_MAMPS,0.025466,0.247919
$HUMID,48.89
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,24.10,0.731
$10V_AH,10.29,0.822
$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,35.375,43.050,40.700,0.000,0.000,70.824,66.036,218.806,0.000,0.000,15.663,390.986,89.305,129.768,954.643,71.335,33.445,375.539,0.000,332.146,0.000,2.923,0.000
$DEVICE_MAMPS,113.220,1308.915,1250.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.174,369.424,292.478,433.242,567.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329540
$DATA_FILE_SIZE,14410,136
$CAP_FILE_SIZE,36290,0
$CFSIZE,1024409600,1018560512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,005225,5916.645,-17027.662,7,0.8,14,8.6,0.0,226.4,10,5.0