version: 66.13
glider: 401
mission: 22
dive: 70
start: 7 27 117 22 8 48
data:
$ID,401
$MISSION,22
$DIVE,70
$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,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,30
$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
$GPS1,270717,220034,5923.6372,-17037.5820,75,0.8,78,8.6,0.7,47.7,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-45.9
$GPS2,270717,220742,5923.6333,-17037.4102,7,0.8,14,8.6,0.8,84.4,10,4.6
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.317378,0.052156
$KALMAN_X,11564.522461,-645.502991,-332.785065,-21877.023438,229.785278
$KALMAN_Y,3969.864502,1538.203003,755.439270,9137.993164,-13.613037
$MHEAD_RNG_PITCHd_Wd,270.7,16634,-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,7,-1.62,-341.3,230,1891,2087,4092,0.0,0.0,0,20,10.62,0.00,0.00,0.000,2049,0.108,0.000,1107,1892,2087,2087,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.29,48.62
$GC,22,-1.62,-341.3,1106,1891,2087,4094,0.9,0.0,1,50,8.07,2.75,-7.47,0.000,18948,0.065,1.304,1835,934,2901,2901,4095,0,0,0,0,0,0,25.89,24.82,25.95,10.29,48.89
$GC,119,-1.62,-341.3,1834,934,2903,4095,7.5,-13.7,14,129,0.00,2.42,0.00,0.000,1030,0.000,0.031,1835,1893,2903,2903,4094,0,0,0,0,0,0,25.81,25.78,25.87,10.47,48.22
$GC,166,-1.62,-341.3,1835,1893,2904,4094,13.4,-12.1,20,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1893,2904,2904,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.47,47.63
$GC,212,-1.62,-341.3,1834,1896,2905,4094,18.0,-8.7,26,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1896,2905,2905,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.45,47.16
$GC,259,-1.62,-341.3,1834,1897,2905,4095,21.4,-7.5,32,268,0.00,2.70,0.00,0.000,516,0.000,0.073,1835,926,2906,2906,4094,0,0,0,0,0,0,26.20,25.84,26.21,10.41,46.61
$GC,284,-1.62,-341.3,1834,927,2906,4094,23.9,-8.6,35,294,0.00,2.47,0.00,0.000,1030,0.000,0.031,1835,1918,2906,2906,4094,0,0,0,0,0,0,26.02,25.99,26.04,10.40,46.29
$GC,331,-1.62,-341.3,1834,1918,2907,4094,27.5,-7.7,41,341,0.00,2.58,0.00,0.000,260,0.000,0.057,1835,2868,2907,2907,4094,0,0,0,0,0,0,26.27,25.97,26.27,10.38,45.66
$GC,422,-1.62,-341.3,1834,2867,2908,4094,35.6,-9.2,54,431,0.00,2.33,0.00,0.000,1030,0.000,0.030,1835,1956,2908,2908,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.38,44.56
$GC,469,-1.62,-341.3,1835,1955,2909,4095,39.5,-8.4,60,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1956,2909,2909,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.36,45.15
$GC,515,-1.62,-341.3,1835,1955,2910,4095,43.4,-8.4,66,525,0.00,2.47,0.00,0.000,260,0.000,0.057,1835,2862,2910,2910,4094,0,0,0,0,0,0,26.39,26.06,26.40,10.36,44.32
$GC,613,-1.62,-341.3,1834,2863,2911,4094,52.5,-9.6,80,622,0.00,2.22,0.00,0.000,1030,0.000,0.030,1835,1984,2911,2911,4094,0,0,0,0,0,0,26.24,26.18,26.24,10.35,43.69
$GC,658,-1.62,-341.3,1835,1984,2912,4094,56.0,-7.0,86,667,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1984,2912,2912,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.34,44.48
$GC,703,-1.62,-341.3,1834,1984,2912,4094,59.8,-8.8,92,711,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1983,2913,2913,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.34,43.93
$STATE,719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,719,begin apogee
$GC,723,-0.45,0.0,1835,1984,2913,4094,61.4,-9.0,94,751,4.03,0.00,20.40,1.259,10244,0.061,0.000,2204,1984,2499,2499,4094,0,0,0,0,0,0,26.20,25.54,24.66,10.34,44.09
$STATE,752,end apogee,CONTROL_FINISHED_OK
$STATE,752,begin climb
$GC,754,1.62,341.3,2204,1984,2499,4094,63.3,0.0,97,791,7.07,2.55,20.00,1.253,10756,0.044,0.070,2866,1055,2102,2102,4095,0,0,0,0,0,0,25.68,25.59,24.21,10.25,44.40
$GC,829,1.62,341.3,2865,1055,2101,4095,60.1,9.1,106,838,0.00,2.47,0.00,0.000,1030,0.000,0.030,2866,2017,2101,2101,4094,0,0,0,0,0,0,25.46,25.46,25.48,10.16,43.54
$GC,876,1.67,375.7,2865,2017,2100,4094,56.0,8.5,112,886,0.00,2.67,3.60,0.594,8452,0.000,0.060,2866,2990,2063,2063,4094,0,0,0,0,0,0,25.80,25.19,24.55,10.16,44.29
$GC,1139,1.67,375.7,2865,2990,2057,4094,27.6,10.6,151,1148,0.00,2.45,0.00,0.000,1030,0.000,0.031,2866,2040,2057,2057,4094,0,0,0,0,0,0,25.96,25.94,26.00,10.12,46.18
$GC,1184,1.67,375.7,2865,2040,2056,4094,23.2,9.4,157,1193,0.00,2.62,0.00,0.000,260,0.000,0.063,2866,2985,2056,2056,4094,0,0,0,0,0,0,26.23,25.89,26.25,10.13,45.78
$GC,1334,1.71,397.2,2865,2984,2053,4094,9.0,8.7,179,1344,0.15,2.38,2.62,0.211,11270,0.046,0.031,2886,2057,2035,2035,4094,0,0,0,0,0,0,26.10,26.11,25.40,10.19,48.42
$GC,1381,1.71,397.2,2886,2057,2034,4094,4.5,10.5,185,1390,0.00,2.78,0.00,0.000,516,0.000,0.073,2886,1043,2034,2034,4094,0,0,0,0,0,0,26.36,26.01,26.37,10.20,49.33
$STATE,1411,end climb,FINISH_DEPTH_REACHED
$STATE,1411,begin subsurface finish
$FINISH1,1.3,1.024333,88
$GC,1419,0.13,88.3,2886,2020,2032,4094,1.3,9.6,189,1439,4.95,2.83,-3.30,0.000,20996,0.031,1.317,2406,1048,2404,2404,4094,0,0,0,0,0,0,26.15,25.06,26.20,10.21,49.56
$FINISH2,0.2
$STATE,1440,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1440,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,204450
$TT8_MAMPS,0.025466,0.248668
$HUMID,49.92
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,24.21,1.865
$10V_AH,10.29,2.695
$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,34.900,43.175,46.625,0.000,0.000,23.969,41.764,253.713,0.000,0.000,15.407,533.274,0.000,130.390,1141.630,85.409,33.448,410.546,0.000,460.855,0.000,1.733,0.000
$DEVICE_MAMPS,107.865,1317.330,1259.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,130.873,518.877,410.895,608.994,796.875,0.000,0.000,0.000,0.000,0.000
$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,17779,191
$CAP_FILE_SIZE,38659,0
$CFSIZE,1024409600,1016037376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,220742,5923.633,-17037.410,7,0.8,14,8.6,0.8,84.4,10,4.6