version: 66.13
glider: 401
mission: 22
dive: 53
start: 7 27 117 15 0 4
data:
$ID,401
$MISSION,22
$DIVE,53
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,270717,143657,5920.5293,-17034.0762,7,0.9,52,8.6,0.6,249.6,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.4
$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,-0.204277,0.248430
$KALMAN_X,8138.617188,-196.278519,-219.288513,-15858.198242,-112.576828
$KALMAN_Y,964.732239,850.119080,118.742096,7728.071777,-120.376785
$MHEAD_RNG_PITCHd_Wd,312.0,21763,-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,5,begin dive
$GC,8,-1.62,-341.3,2406,1892,2402,4092,0.0,0.0,0,21,5.70,0.00,-4.50,0.000,20486,0.028,0.000,1854,1893,2902,2902,4095,0,0,0,0,0,0,26.17,25.25,26.20,10.32,49.84
$GC,23,-1.62,-341.3,1854,1893,2902,4095,0.2,0.0,1,31,0.00,3.28,0.00,0.000,260,0.000,0.063,1854,3084,2902,2902,4094,0,0,0,0,0,0,26.36,26.04,26.36,10.42,49.84
$GC,61,-1.62,-341.3,1853,3084,2902,4094,2.5,-8.3,6,70,0.00,3.05,0.00,0.000,1030,0.000,0.034,1854,1905,2903,2903,4094,0,0,0,0,0,0,26.16,26.12,26.18,10.42,49.60
$GC,107,-1.62,-341.3,1853,1905,2904,4094,7.5,-11.2,12,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1905,2904,2904,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.43,49.56
$GC,151,-1.62,-341.3,1853,1905,2904,4094,13.2,-12.5,18,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1905,2904,2904,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.43,49.17
$GC,194,-1.62,-341.3,1853,1905,2905,4094,17.9,-10.5,24,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1905,2905,2905,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.41,49.09
$GC,239,-1.62,-341.3,1853,1905,2906,4094,22.3,-10.2,30,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1905,2906,2906,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.38,49.17
$GC,282,-1.62,-341.3,1854,1904,2907,4095,26.7,-10.3,36,292,0.00,3.25,0.00,0.000,260,0.000,0.067,1854,3084,2907,2907,4094,0,0,0,0,0,0,26.51,26.19,26.52,10.37,47.36
$GC,301,-1.62,-341.3,1853,3084,2907,4094,28.7,-10.4,38,310,0.00,3.08,0.00,0.000,1030,0.000,0.035,1854,1890,2908,2908,4094,0,0,0,0,0,0,26.27,26.22,26.29,10.37,47.12
$GC,346,-1.62,-341.3,1853,1889,2908,4094,33.5,-10.5,44,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1890,2908,2908,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.35,46.92
$GC,390,-1.62,-341.3,1853,1889,2909,4094,38.1,-10.3,50,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1889,2909,2909,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.34,46.65
$GC,436,-1.62,-341.3,1854,1889,2910,4094,43.0,-11.0,56,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1889,2910,2910,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.34,45.82
$GC,479,-1.62,-341.3,1853,1889,2912,4095,48.2,-11.5,62,489,0.00,3.28,0.00,0.000,260,0.000,0.069,1854,3083,2912,2912,4095,0,0,0,0,0,0,26.58,26.21,26.59,10.34,45.66
$GC,505,-1.62,-341.3,1853,3083,2912,4095,51.2,-11.5,65,514,0.00,3.08,0.00,0.000,1030,0.000,0.036,1854,1887,2911,2911,4094,0,0,0,0,0,0,26.33,26.29,26.36,10.33,45.78
$GC,551,-1.62,-341.3,1853,1887,2913,4094,56.2,-11.0,71,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1888,2913,2913,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.33,45.86
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,587,begin apogee
$GC,593,-0.45,0.0,1854,2042,2913,4094,60.8,-11.5,76,621,3.85,0.03,20.30,1.258,10244,0.066,0.204,2204,2012,2500,2500,4094,0,0,0,0,0,0,26.30,25.65,24.77,10.33,45.07
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,624,1.62,341.3,2204,2012,2500,4094,63.1,0.0,79,660,7.00,0.00,19.80,1.238,11270,0.041,0.000,2864,2012,2105,2105,4094,0,0,0,0,0,0,25.84,26.01,24.34,10.24,45.47
$GC,697,1.62,341.3,2863,2012,2104,4094,57.9,10.5,88,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2012,2104,2104,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.15,44.48
$GC,743,1.62,341.3,2864,2012,2103,4094,52.7,11.1,94,752,0.00,3.30,0.00,0.000,260,0.000,0.067,2864,3180,2103,2103,4094,0,0,0,0,0,0,25.88,25.53,25.89,10.15,44.68
$GC,814,1.62,341.3,2864,3180,2101,4094,43.6,12.8,104,824,0.00,3.05,0.00,0.000,1030,0.000,0.034,2864,2020,2101,2101,4094,0,0,0,0,0,0,25.78,25.74,25.81,10.13,45.27
$GC,861,1.62,341.3,2863,2020,2100,4094,38.0,11.7,110,870,0.00,3.35,0.00,0.000,516,0.000,0.080,2864,825,2100,2100,4094,0,0,0,0,0,0,26.08,25.72,26.09,10.13,45.43
$GC,932,1.62,341.3,2864,825,2098,4094,29.0,12.5,120,941,0.00,2.92,0.00,0.000,1030,0.000,0.034,2864,1973,2098,2098,4094,0,0,0,0,0,0,25.95,25.91,25.97,10.12,45.27
$GC,979,1.62,341.3,2863,1973,2097,4094,23.7,11.5,126,988,0.00,3.45,0.00,0.000,260,0.000,0.072,2864,3207,2096,2096,4094,0,0,0,0,0,0,26.21,25.85,26.22,10.12,45.55
$GC,1063,1.62,341.3,2863,3207,2094,4094,12.6,12.5,138,1072,0.00,3.10,0.00,0.000,1030,0.000,0.034,2864,2015,2094,2094,4095,0,0,0,0,0,0,26.04,26.00,26.07,10.17,46.14
$GC,1108,1.62,341.3,2863,2014,2093,4095,7.8,10.2,144,1117,0.00,3.33,0.00,0.000,516,0.000,0.081,2864,824,2093,2093,4094,0,0,0,0,0,0,26.31,25.95,26.32,10.19,47.59
$STATE,1165,end climb,FINISH_DEPTH_REACHED
$STATE,1165,begin subsurface finish
$FINISH1,1.6,1.024343,88
$GC,1175,0.13,87.6,2864,2031,2091,4094,1.6,10.7,152,1194,4.72,3.53,-2.78,0.000,20996,0.032,1.314,2408,821,2404,2404,4094,0,0,0,0,0,0,26.11,24.99,26.17,10.21,48.81
$FINISH2,0.2
$STATE,1195,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1195,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,131737
$TT8_MAMPS,0.025466,0.24717
$HUMID,49.76
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.34,1.490
$10V_AH,10.30,2.058
$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,21.275,48.775,40.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.093,0.408,131.161,641.853,41.332,33.415,389.661,0.000,372.338,0.000,0.543,0.000
$DEVICE_MAMPS,65.790,1313.505,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.713,418.362,331.311,491.071,639.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331048
$DATA_FILE_SIZE,14288,154
$CAP_FILE_SIZE,31781,0
$CFSIZE,1024409600,1016905728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,143657,5920.529,-17034.076,7,0.9,52,8.6,0.6,249.6,8,3.0