version: 66.13
glider: 401
mission: 22
dive: 1007
start: 8 14 117 0 0 13
data:
$ID,401
$MISSION,22
$DIVE,1007
$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,19
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,2340
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$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
$GPS1,130817,233105,6130.1245,-17348.7812,10,0.8,18,7.1,1.1,62.2,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-4.3
$GPS2,130817,233105,6130.1245,-17348.7812,10,0.8,18,7.1,1.1,62.2,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.061705,0.270916
$KALMAN_X,63714.921875,-351.035248,-237.858231,-255595.515625,41.798569
$KALMAN_Y,-57975.183594,2513.415527,871.752930,304273.593750,-9.677490
$MHEAD_RNG_PITCHd_Wd,340.1,25091,-18.0,-10.526,-20.75,3084
$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,9,-1.96,-213.8,2396,1971,2360,4092,0.0,0.0,0,18,6.88,0.00,-0.32,0.000,20482,0.022,0.000,1724,1972,2395,2395,4094,0,0,0,0,0,0,25.89,28.83,25.92,10.30,53.97
$GC,22,-1.96,-213.8,1723,1972,2395,4094,0.0,0.0,1,29,0.00,0.00,-2.80,0.000,16390,0.000,0.000,1724,1972,2739,2739,4094,0,0,0,0,0,0,26.08,24.82,26.08,10.31,53.26
$GC,61,-1.96,-213.8,1723,1971,2740,4094,4.6,-13.0,7,67,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,1972,2740,2740,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.38,53.38
$GC,100,-1.96,-213.8,1723,1971,2741,4094,10.7,-15.3,13,105,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,1972,2741,2741,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.38,52.55
$GC,138,-1.96,-213.8,1723,1971,2742,4094,17.0,-16.2,19,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,1972,2743,2743,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.39,52.59
$GC,176,-1.96,-213.8,1723,1971,2744,4095,23.6,-17.4,25,183,0.00,1.02,0.00,0.000,260,0.000,0.044,1724,2355,2744,2744,4094,0,0,0,0,0,0,26.22,25.93,26.23,10.38,53.03
$GC,275,-1.96,-213.8,1723,2355,2746,4094,35.5,-11.7,41,282,0.00,1.02,0.00,0.000,1030,0.000,0.032,1724,1947,2746,2746,4094,0,0,0,0,0,0,26.08,26.03,26.10,10.31,51.26
$GC,315,-1.96,-213.8,1723,1947,2747,4094,40.0,-10.9,47,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,1947,2747,2747,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.31,49.84
$GC,353,-1.96,-213.8,1723,1947,2747,4095,44.6,-12.5,53,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,1947,2748,2748,4094,0,0,0,0,0,0,26.36,26.37,26.38,10.29,49.21
$GC,391,-1.96,-213.8,1722,1947,2749,4094,49.6,-12.8,59,398,0.00,1.08,0.00,0.000,516,0.000,0.053,1724,1524,2749,2749,4095,0,0,0,0,0,0,26.39,26.08,26.40,10.28,48.85
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,470,begin apogee
$GC,479,-0.45,0.0,1724,2115,2752,4094,60.2,-13.0,72,503,5.07,0.00,13.93,1.205,10244,0.067,0.000,2184,2115,2483,2483,4094,0,0,0,0,0,0,26.12,25.65,24.58,10.26,48.11
$STATE,504,end apogee,CONTROL_FINISHED_OK
$STATE,504,begin climb
$GC,507,1.96,213.8,2184,2115,2484,4094,62.9,0.0,76,533,7.97,1.20,13.15,1.182,10500,0.031,0.053,2954,2565,2235,2235,4094,0,0,0,0,0,0,25.82,25.77,24.32,10.21,47.83
$GC,634,1.96,213.8,2953,2565,2232,4094,48.8,14.0,96,641,0.00,1.08,0.00,0.000,1030,0.000,0.026,2954,2135,2231,2231,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.13,47.63
$GC,673,1.96,213.8,2953,2135,2231,4094,43.3,13.1,102,680,0.00,1.10,0.00,0.000,516,0.000,0.048,2954,1712,2230,2230,4094,0,0,0,0,0,0,26.10,25.81,26.12,10.13,47.59
$GC,841,1.98,228.1,2953,1712,2226,4094,21.8,10.1,129,849,0.00,1.00,2.33,0.156,9222,0.000,0.027,2954,2131,2217,2217,4095,0,0,0,0,0,0,26.08,26.06,24.98,10.15,48.74
$GC,881,2.18,359.4,2953,2130,2216,4095,19.3,6.2,135,896,0.60,1.15,8.48,0.718,10500,0.037,0.050,3018,2560,2063,2063,4095,0,0,0,0,0,0,26.08,25.81,24.96,10.18,50.43
$GC,988,2.18,359.4,3017,2559,2060,4095,5.8,15.9,152,995,0.00,1.08,0.00,0.000,1030,0.000,0.027,3018,2123,2060,2060,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.19,53.03
$STATE,1012,end climb,FINISH_DEPTH_REACHED
$STATE,1012,begin subsurface finish
$FINISH1,1.5,1.023999,112
$GC,1021,0.17,111.6,3018,2120,2059,4094,1.5,15.5,156,1035,6.65,1.08,-2.65,0.000,20996,0.051,1.273,2398,1717,2359,2359,4094,0,0,0,0,0,0,26.07,24.72,26.10,10.20,53.54
$FINISH2,0.1
$STATE,1036,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1036,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,221651
$TT8_MAMPS,0.026215,0.109354
$HUMID,54.41
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,24.32,27.768
$10V_AH,10.39,30.534
$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,27.175,12.825,37.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,425.417,273.281,108.490,229.783,58.419,33.431,268.104,0.000,238.506,0.000,0.541,0.000
$DEVICE_MAMPS,67.320,1272.960,1204.875,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,10777,158
$CAP_FILE_SIZE,25623,0
$CFSIZE,1024409600,970014720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,233105,6130.125,-17348.781,10,0.8,18,7.1,1.1,62.2,11,5.0