version: 66.13
glider: 401
mission: 22
dive: 73
start: 7 27 117 23 27 3
data:
$ID,401
$MISSION,22
$DIVE,73
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,270717,231853,5923.6094,-17037.5918,8,0.9,14,8.6,0.9,93.3,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-42.2
$GPS2,270717,232557,5923.5679,-17037.4785,6,0.9,23,8.6,1.0,197.4,9,4.9
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.285126,0.148838
$KALMAN_X,12465.708008,-552.776672,-202.201233,-23061.406250,153.978043
$KALMAN_Y,3841.164551,1506.133667,660.015869,9279.917969,-129.696106
$MHEAD_RNG_PITCHd_Wd,289.0,16606,-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,-341.3,230,1893,2090,4092,0.0,0.0,0,21,11.57,0.00,0.00,0.000,2049,0.102,0.000,1194,1891,2090,2090,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.28,49.56
$GC,23,-1.62,-341.3,1194,1891,2090,4094,0.7,0.0,1,51,6.97,2.80,-7.47,0.000,18948,0.057,1.304,1834,929,2903,2903,4094,0,0,0,0,0,0,25.89,24.81,25.95,10.29,49.40
$GC,178,-1.62,-341.3,1834,929,2906,4094,12.3,-12.7,23,188,0.00,2.47,0.00,0.000,1030,0.000,0.031,1834,1909,2906,2906,4094,0,0,0,0,0,0,25.89,25.84,25.91,10.46,48.34
$GC,224,-1.62,-341.3,1834,1909,2907,4094,17.8,-11.9,29,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1910,2907,2907,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.45,47.83
$GC,270,-1.62,-341.3,1834,1912,2908,4095,22.4,-10.3,35,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2908,2908,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.41,47.99
$GC,313,-1.62,-341.3,1834,1912,2908,4094,27.0,-10.5,41,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2909,2909,4095,0,0,0,0,0,0,26.25,26.25,26.25,10.39,46.65
$GC,357,-1.62,-341.3,1834,1912,2909,4095,31.8,-10.9,47,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1912,2909,2909,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.38,45.82
$GC,402,-1.62,-341.3,1834,1912,2910,4094,36.7,-11.3,53,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2911,2911,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.37,44.84
$GC,446,-1.62,-341.3,1834,1912,2911,4094,41.8,-11.7,59,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2911,2911,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.36,44.52
$GC,490,-1.62,-341.3,1833,1912,2912,4095,46.8,-11.7,65,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2912,2912,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.35,43.97
$GC,535,-1.62,-341.3,1834,1911,2913,4095,51.7,-10.7,71,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2913,2913,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.35,44.13
$GC,578,-1.62,-341.3,1834,1911,2914,4095,56.7,-12.0,77,587,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2913,2913,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.34,43.97
$STATE,607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,607,begin apogee
$GC,613,-0.45,0.0,1834,2039,2915,4094,60.6,-12.3,81,647,4.07,0.00,20.48,1.255,10244,0.065,0.000,2206,2039,2501,2501,4095,0,0,0,0,0,0,26.14,25.27,24.62,10.34,44.09
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,648,begin climb
$GC,650,1.62,341.3,2206,2039,2501,4095,63.1,0.0,85,686,7.00,0.00,20.15,1.240,11270,0.041,0.000,2864,2039,2099,2099,4094,0,0,0,0,0,0,25.70,25.87,24.19,10.25,43.62
$GC,723,1.62,341.3,2863,2039,2100,4094,58.0,10.3,94,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2099,2099,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.16,43.22
$GC,769,1.62,341.3,2862,2039,2099,4094,53.0,10.6,100,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2039,2098,2098,4094,0,0,0,0,0,0,25.79,25.80,25.79,10.16,43.06
$GC,815,1.62,341.3,2863,2039,2097,4094,48.3,10.3,106,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2097,2097,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.15,43.50
$GC,861,1.62,341.3,2863,2039,2096,4094,43.6,10.3,112,869,0.00,2.78,0.00,0.000,516,0.000,0.073,2863,1052,2096,2096,4094,0,0,0,0,0,0,25.98,25.63,25.99,10.14,44.44
$GC,944,1.62,341.3,2863,1051,2094,4094,34.0,11.5,124,953,0.00,2.40,0.00,0.000,1030,0.000,0.031,2864,1997,2094,2094,4095,0,0,0,0,0,0,25.88,25.85,25.90,10.14,44.25
$GC,989,1.62,341.3,2863,1997,2093,4095,29.0,11.2,130,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1997,2093,2093,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.13,44.88
$GC,1034,1.62,341.3,2863,1997,2092,4094,24.0,10.9,136,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1997,2092,2092,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.13,44.52
$GC,1079,1.62,341.3,2863,1997,2091,4094,19.2,10.8,142,1089,0.00,2.65,0.00,0.000,516,0.000,0.071,2864,1048,2091,2091,4094,0,0,0,0,0,0,26.24,25.89,26.25,10.13,44.95
$GC,1151,1.62,341.3,2863,1047,2089,4094,11.6,10.6,152,1160,0.00,2.45,0.00,0.000,1030,0.000,0.032,2864,2011,2089,2089,4094,0,0,0,0,0,0,26.06,26.03,26.11,10.18,46.06
$GC,1197,1.62,341.3,2863,2010,2088,4094,6.8,10.3,158,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2011,2087,2087,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.20,47.44
$GC,1243,1.62,341.3,2863,2014,2087,4094,2.0,9.9,164,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2015,2086,2086,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.21,48.85
$STATE,1260,end climb,FINISH_DEPTH_REACHED
$STATE,1260,begin subsurface finish
$FINISH1,0.0,1.003666,0
$GC,1265,0.00,0.0,2863,2018,2085,4095,0.0,9.8,166,1284,5.00,0.00,-3.75,0.000,20486,0.032,0.000,2377,2020,2504,2504,4094,0,0,0,0,0,0,26.13,25.64,26.18,10.22,48.74
$FINISH2,0.1
$STATE,1285,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1285,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,220158
$TT8_MAMPS,0.025466,0.238182
$HUMID,49.09
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.19,1.929
$10V_AH,10.28,2.807
$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,34.625,15.800,40.625,0.000,0.000,22.721,17.460,272.651,0.000,0.000,25.621,462.453,0.000,141.929,1040.916,86.789,33.450,425.610,0.000,407.713,0.000,1.733,0.000
$DEVICE_MAMPS,101.745,1304.325,1254.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.153,456.473,361.300,535.167,699.348,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329496
$DATA_FILE_SIZE,17782,168
$CAP_FILE_SIZE,36258,0
$CFSIZE,1024409600,1015889920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,232557,5923.568,-17037.479,6,0.9,23,8.6,1.0,197.4,9,4.9