version: 66.13
glider: 401
mission: 22
dive: 110
start: 7 28 117 15 16 0
data:
$ID,401
$MISSION,22
$DIVE,110
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,280717,145221,5925.2251,-17046.6758,4,0.7,15,8.5,0.0,206.6,11,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-0.4
$GPS2,280717,145221,5925.2251,-17046.6758,4,0.7,15,8.5,0.0,206.6,11,4.7
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.246357,0.206839
$KALMAN_X,17429.636719,-923.238281,-221.860992,-36348.101562,-67.474030
$KALMAN_Y,4659.673828,1105.308228,16.968464,12573.739258,-179.581955
$MHEAD_RNG_PITCHd_Wd,301.5,7441,-12.2,-9.091,-15.78,5646
$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,-341.3,2408,1891,2400,4092,0.0,0.0,0,21,5.88,0.00,-4.62,0.000,20486,0.031,0.000,1844,1892,2904,2904,4094,0,0,0,0,0,0,26.17,25.29,26.22,10.31,49.40
$GC,23,-1.62,-341.3,1844,1891,2904,4094,0.0,0.0,1,32,0.00,2.67,0.00,0.000,260,0.000,0.056,1844,2877,2904,2904,4094,0,0,0,0,0,0,26.37,26.08,26.38,10.41,50.15
$GC,233,-1.62,-341.3,1843,2877,2908,4094,18.5,-11.2,32,242,0.00,2.50,0.00,0.000,1030,0.000,0.033,1844,1900,2908,2908,4095,0,0,0,0,0,0,26.27,26.22,26.29,10.40,49.01
$GC,279,-1.62,-341.3,1843,1900,2909,4095,23.1,-9.9,38,288,0.00,2.65,0.00,0.000,260,0.000,0.060,1844,2873,2909,2909,4095,0,0,0,0,0,0,26.52,26.17,26.53,10.37,48.81
$GC,408,-1.62,-341.3,1843,2873,2911,4095,36.2,-9.8,57,417,0.00,2.50,0.00,0.000,1030,0.000,0.032,1844,1893,2911,2911,4094,0,0,0,0,0,0,26.34,26.29,26.35,10.34,46.49
$GC,453,-1.62,-341.3,1843,1893,2912,4094,40.8,-11.0,63,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1893,2912,2912,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.33,45.94
$GC,498,-1.62,-341.3,1844,1892,2913,4094,45.8,-11.3,69,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1893,2913,2913,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.33,45.62
$GC,542,-1.62,-341.3,1843,1893,2914,4094,50.8,-11.4,75,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1893,2914,2914,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.32,45.66
$GC,586,-1.62,-341.3,1843,1893,2915,4094,55.7,-10.6,81,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1893,2915,2915,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.32,45.23
$STATE,628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,628,begin apogee
$GC,634,-0.45,0.0,1844,2050,2916,4095,60.5,-10.7,87,662,3.95,0.10,20.38,1.263,10244,0.064,0.086,2204,2002,2500,2500,4094,0,0,0,0,0,0,26.34,25.67,24.79,10.31,45.03
$STATE,663,end apogee,CONTROL_FINISHED_OK
$STATE,663,begin climb
$GC,665,1.62,341.3,2203,2001,2500,4094,62.9,0.0,90,701,7.00,0.00,19.83,1.241,11270,0.039,0.000,2866,2002,2104,2104,4094,0,0,0,0,0,0,25.86,26.03,24.36,10.23,44.68
$GC,738,1.62,341.3,2865,2002,2104,4094,58.0,10.0,99,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2002,2103,2103,4094,0,0,0,0,0,0,25.77,25.77,25.77,10.14,44.40
$GC,782,1.62,341.3,2865,2002,2102,4094,52.9,11.0,105,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2002,2102,2102,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.13,44.48
$GC,826,1.62,341.3,2865,2002,2101,4094,48.1,11.4,111,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2002,2101,2101,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.13,44.48
$GC,870,1.62,341.3,2865,2002,2099,4094,43.1,10.8,117,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2002,2100,2100,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.13,44.68
$GC,914,1.62,341.3,2865,2002,2099,4094,38.3,11.0,123,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2002,2099,2099,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.12,44.99
$GC,959,1.62,341.3,2865,2001,2098,4094,33.5,11.0,129,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2002,2098,2098,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.12,45.15
$GC,1003,1.62,341.3,2865,2002,2097,4094,28.4,11.5,135,1012,0.00,2.67,0.00,0.000,260,0.000,0.061,2866,2966,2097,2097,4094,0,0,0,0,0,0,26.20,25.86,26.20,10.12,45.66
$GC,1054,1.62,341.3,2865,2966,2095,4094,22.3,12.5,142,1063,0.00,2.40,0.00,0.000,1030,0.000,0.031,2866,2038,2095,2095,4094,0,0,0,0,0,0,26.01,25.98,26.04,10.11,45.51
$GC,1100,1.62,341.3,2865,2038,2094,4094,16.9,11.5,148,1110,0.00,2.75,0.00,0.000,516,0.000,0.075,2866,1042,2094,2094,4094,0,0,0,0,0,0,26.28,25.93,26.29,10.12,45.90
$GC,1223,1.62,341.3,2865,1041,2092,4094,4.3,10.1,166,1233,0.00,2.33,0.00,0.000,1030,0.000,0.030,2866,1970,2091,2091,4094,0,0,0,0,0,0,26.15,26.12,26.15,10.19,48.70
$STATE,1247,end climb,FINISH_DEPTH_REACHED
$STATE,1248,begin subsurface finish
$FINISH1,1.7,1.024298,91
$GC,1254,0.14,90.7,2865,2042,2090,4094,1.7,10.0,169,1265,4.90,0.00,-2.72,0.000,20742,0.053,0.000,2406,2048,2399,2399,4094,0,0,0,0,0,0,26.15,25.28,26.20,10.20,48.93
$FINISH2,0.1
$STATE,1266,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1266,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,132221
$TT8_MAMPS,0.026215,0.237433
$HUMID,49.40
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.36,2.735
$10V_AH,10.26,4.203
$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,21.725,21.300,40.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,463.059,0.748,110.268,707.268,39.270,33.420,355.166,0.000,410.362,0.000,0.542,0.000
$DEVICE_MAMPS,64.260,91.035,1263.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.484,461.801,365.735,542.217,705.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330920
$DATA_FILE_SIZE,17738,170
$CAP_FILE_SIZE,28785,0
$CFSIZE,1024409600,1014087680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,145221,5925.225,-17046.676,4,0.7,15,8.5,0.0,206.6,11,4.7