version: 66.13
glider: 401
mission: 22
dive: 52
start: 7 27 117 14 38 3
data:
$ID,401
$MISSION,22
$DIVE,52
$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,22
$T_MISSION,32
$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,-3
$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,11
$R_STBD_OVSHOOT,43
$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
$GPS1,270717,142952,5920.5835,-17033.9941,4,1.2,47,8.6,0.8,220.5,9,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-44.7
$GPS2,270717,143657,5920.5293,-17034.0762,7,0.9,52,8.6,0.6,249.6,8,3.0
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.164688,0.276267
$KALMAN_X,8009.672852,-188.284119,-227.472580,-15705.875977,-151.856323
$KALMAN_Y,1145.110229,920.313904,192.898117,7400.536621,-164.354355
$MHEAD_RNG_PITCHd_Wd,320.6,21763,-12.2,-9.091,-15.78,5644
$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,6,begin dive
$GC,8,-1.62,-341.3,238,1906,2091,4092,0.0,0.0,0,21,10.80,0.00,0.00,0.000,2049,0.114,0.000,1122,1906,2091,2091,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.29,49.13
$GC,23,-1.62,-341.3,1122,1905,2091,4094,1.1,0.0,1,51,7.80,3.58,-7.35,0.000,18948,0.060,1.314,1833,700,2902,2902,4095,0,0,0,0,0,0,25.94,24.84,26.00,10.29,49.25
$GC,165,-1.62,-341.3,1833,699,2903,4095,9.3,-13.0,21,175,0.00,3.03,0.00,0.000,1030,0.000,0.033,1834,1884,2904,2904,4094,0,0,0,0,0,0,25.91,25.88,25.93,10.46,48.85
$GC,212,-1.62,-341.3,1833,1884,2904,4094,15.1,-12.3,27,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1884,2905,2905,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.46,48.14
$GC,258,-1.62,-341.3,1833,1887,2905,4094,19.8,-9.2,33,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1887,2905,2905,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.42,47.51
$GC,302,-1.62,-341.3,1833,1887,2906,4094,24.4,-10.5,39,312,0.00,3.30,0.00,0.000,260,0.000,0.066,1834,3083,2906,2906,4094,0,0,0,0,0,0,26.27,25.91,26.28,10.40,47.28
$GC,328,-1.62,-341.3,1833,3083,2907,4094,27.3,-11.0,42,337,0.00,3.05,0.00,0.000,1030,0.000,0.033,1834,1905,2907,2907,4094,0,0,0,0,0,0,26.04,26.01,26.08,10.39,46.02
$GC,374,-1.62,-341.3,1833,1905,2908,4094,32.2,-11.0,48,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1905,2908,2908,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.38,45.82
$GC,420,-1.62,-341.3,1833,1905,2909,4095,37.6,-12.4,54,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1905,2909,2909,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.38,44.99
$GC,466,-1.62,-341.3,1833,1905,2910,4095,42.9,-11.4,60,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1905,2910,2910,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.37,44.25
$GC,510,-1.62,-341.3,1833,1904,2911,4095,48.3,-11.3,66,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1904,2911,2911,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.36,43.93
$GC,554,-1.62,-341.3,1833,1904,2912,4094,53.7,-11.5,72,563,0.00,3.25,0.00,0.000,260,0.000,0.066,1834,3087,2912,2912,4094,0,0,0,0,0,0,26.43,26.08,26.44,10.35,44.25
$GC,579,-1.62,-341.3,1833,3087,2912,4094,56.7,-12.4,75,588,0.00,3.03,0.00,0.000,1030,0.000,0.034,1834,1912,2912,2912,4095,0,0,0,0,0,0,26.20,26.15,26.22,10.35,43.85
$STATE,609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,609,begin apogee
$GC,614,-0.45,0.0,1833,2054,2913,4095,60.3,-11.2,79,649,4.10,0.10,20.48,1.244,10244,0.066,0.055,2206,1990,2499,2499,4095,0,0,0,0,0,0,26.15,25.27,24.61,10.35,43.77
$STATE,651,end apogee,CONTROL_FINISHED_OK
$STATE,651,begin climb
$GC,652,1.62,341.3,2205,1990,2499,4095,62.6,0.0,83,688,7.05,0.00,19.88,1.232,11270,0.042,0.000,2866,1990,2105,2105,4095,0,0,0,0,0,0,25.72,25.89,24.21,10.26,43.97
$GC,725,1.62,341.3,2866,1990,2103,4095,57.9,10.6,92,734,0.00,3.38,0.00,0.000,260,0.000,0.067,2866,3173,2104,2104,4095,0,0,0,0,0,0,25.66,25.32,25.67,10.17,43.03
$GC,796,1.62,341.3,2865,3173,2102,4095,48.5,12.4,102,806,0.00,2.97,0.00,0.000,1030,0.000,0.031,2866,2045,2102,2102,4094,0,0,0,0,0,0,25.64,25.60,25.66,10.15,43.58
$GC,843,1.62,341.3,2865,2045,2101,4094,43.1,11.6,108,852,0.00,3.45,0.00,0.000,516,0.000,0.080,2866,824,2100,2100,4094,0,0,0,0,0,0,25.96,25.61,25.97,10.15,44.56
$GC,927,1.62,341.3,2865,823,2098,4094,32.3,12.8,120,936,0.00,2.95,0.00,0.000,1030,0.000,0.033,2866,1976,2098,2098,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.15,44.68
$GC,972,1.62,341.3,2866,1976,2097,4094,26.9,11.6,126,981,0.00,3.45,0.00,0.000,260,0.000,0.070,2866,3211,2097,2097,4094,0,0,0,0,0,0,26.14,25.77,26.15,10.15,44.64
$GC,1056,1.62,341.3,2865,3211,2095,4094,15.6,13.6,138,1066,0.00,3.10,0.00,0.000,1030,0.000,0.034,2866,2020,2094,2094,4095,0,0,0,0,0,0,25.98,25.94,26.01,10.15,45.11
$GC,1103,1.62,341.3,2865,2020,2093,4095,10.6,10.0,144,1113,0.00,3.33,0.00,0.000,516,0.000,0.081,2866,825,2093,2093,4094,0,0,0,0,0,0,26.27,25.90,26.27,10.19,46.41
$STATE,1181,end climb,FINISH_DEPTH_REACHED
$STATE,1181,begin subsurface finish
$FINISH1,2.0,1.024328,89
$GC,1190,0.13,88.6,2866,2024,2090,4095,2.0,11.2,155,1200,4.93,0.00,-2.72,0.000,20998,0.054,0.000,2406,2032,2402,2402,4095,0,0,0,0,0,0,26.08,25.20,26.13,10.22,48.07
$FINISH2,0.2
$STATE,1201,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1201,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,131737
$TT8_MAMPS,0.025466,0.257656
$HUMID,48.38
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.21,1.474
$10V_AH,10.30,2.024
$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,34.675,45.375,40.350,0.000,0.000,24.794,18.361,240.767,0.000,0.000,53.610,445.632,1.355,129.445,991.836,81.759,33.444,388.312,0.000,378.877,0.000,1.732,0.000
$DEVICE_MAMPS,113.985,1314.270,1243.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.183,423.768,335.573,497.435,648.374,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329536
$DATA_FILE_SIZE,14316,156
$CAP_FILE_SIZE,36015,0
$CFSIZE,1024409600,1016938496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,143657,5920.529,-17034.076,7,0.9,52,8.6,0.6,249.6,8,3.0