version: 66.13
glider: 401
mission: 22
dive: 1070
start: 8 15 117 2 17 4
data:
$ID,401
$MISSION,22
$DIVE,1070
$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,22
$R_STBD_OVSHOOT,46
$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
$GPS1,150817,015549,6143.6802,-17351.6582,6,1.0,35,7.0,0.4,125.9,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.8
$GPS2,150817,015549,6143.6802,-17351.6582,6,1.0,35,7.0,0.4,125.9,9,4.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.328838,0.209677
$KALMAN_X,58539.191406,-327.019836,172.659119,-253583.312500,77.187927
$KALMAN_Y,-75005.921875,3008.418701,1183.201660,345591.906250,9.851685
$MHEAD_RNG_PITCHd_Wd,295.5,35524,-11.7,-10.526,-15.10,6759
$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,-1.77,-473.9,2398,1960,2349,4092,0.0,0.0,0,20,6.40,0.00,-2.65,0.000,20482,0.024,0.000,1775,1960,2634,2634,4095,0,0,0,0,0,0,26.14,28.83,26.19,10.31,53.22
$GC,24,-1.77,-473.9,1774,1960,2634,4095,0.1,0.0,1,34,0.00,1.10,-3.88,0.000,16644,0.000,1.274,1774,2362,3041,3041,4094,0,0,0,0,0,0,26.36,24.75,26.37,10.37,53.11
$GC,156,-1.77,-473.9,1774,2363,3045,4094,17.2,-18.4,20,164,0.00,1.05,0.00,0.000,1030,0.000,0.029,1774,1945,3045,3045,4094,0,0,0,0,0,0,26.14,26.11,26.17,10.47,52.71
$GC,201,-1.77,-473.9,1774,1944,3046,4094,25.0,-16.4,26,211,0.00,1.08,0.00,0.000,516,0.000,0.050,1774,1520,3046,3046,4095,0,0,0,0,0,0,26.40,26.10,26.41,10.44,52.16
$GC,263,-1.77,-473.9,1774,1520,3047,4095,32.7,-11.9,34,272,0.00,0.90,0.00,0.000,1030,0.000,0.026,1774,1918,3047,3047,4094,0,0,0,0,0,0,26.25,26.22,26.26,10.38,51.92
$GC,311,-1.77,-473.9,1774,1918,3048,4094,38.3,-12.1,40,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1919,3049,3049,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.37,49.68
$GC,357,-1.77,-473.9,1774,1918,3050,4095,44.3,-13.2,46,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1918,3050,3050,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.36,48.74
$GC,403,-1.77,-473.9,1774,1918,3051,4095,50.4,-13.2,52,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1918,3051,3051,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.34,48.66
$GC,450,-1.77,-473.9,1774,1918,3052,4095,56.5,-12.7,58,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1918,3052,3052,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.33,48.03
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,480,-0.45,0.0,1774,2130,3052,4094,60.1,-13.3,61,516,4.43,0.00,27.58,1.304,10244,0.057,0.000,2185,2130,2484,2484,4095,0,0,0,0,0,0,26.24,25.36,24.31,10.33,47.99
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,520,1.77,473.9,2185,2130,2484,4095,63.1,0.0,65,565,7.50,1.15,27.35,1.277,10500,0.034,0.052,2894,2559,1931,1931,4094,0,0,0,0,0,0,25.55,25.48,23.89,10.21,46.53
$GC,621,1.77,473.9,2893,2558,1930,4094,54.1,13.3,78,631,0.00,1.08,0.00,0.000,1030,0.000,0.026,2893,2134,1930,1930,4095,0,0,0,0,0,0,25.50,25.47,25.52,10.07,45.78
$GC,668,1.77,473.9,2893,2133,1928,4095,47.9,13.3,84,677,0.00,1.10,0.00,0.000,516,0.000,0.047,2894,1713,1928,1928,4094,0,0,0,0,0,0,25.84,25.56,25.85,10.07,45.74
$GC,794,1.77,473.9,2893,1713,1925,4094,31.7,12.6,102,803,0.00,0.88,0.00,0.000,1030,0.000,0.028,2894,2079,1925,1925,4094,0,0,0,0,0,0,25.87,25.83,25.90,10.05,46.69
$GC,842,1.77,473.9,2893,2079,1923,4094,25.9,11.7,108,851,0.00,1.30,0.00,0.000,260,0.000,0.054,2893,2558,1923,1923,4094,0,0,0,0,0,0,26.15,25.83,26.15,10.06,47.24
$GC,881,1.83,512.1,2893,2557,1922,4094,21.7,9.9,113,892,0.10,1.17,3.50,0.423,11270,0.054,0.028,2910,2089,1886,1886,4095,0,0,0,0,0,0,25.94,25.97,24.88,10.09,47.48
$GC,930,2.01,627.6,2910,2089,1885,4095,17.7,8.8,119,949,0.47,0.95,7.60,0.667,10756,0.034,0.049,2968,1713,1751,1751,4094,0,0,0,0,0,0,26.00,25.72,24.89,10.12,49.76
$GC,1021,2.01,627.6,2967,1713,1749,4094,7.6,11.1,131,1029,0.00,0.85,0.00,0.000,1030,0.000,0.028,2968,2073,1749,1749,4094,0,0,0,0,0,0,26.00,25.96,26.03,10.12,52.04
$GC,1068,2.01,627.6,2967,2072,1747,4094,2.1,11.6,137,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2073,1748,1748,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.14,52.20
$STATE,1083,end climb,FINISH_DEPTH_REACHED
$STATE,1083,begin subsurface finish
$FINISH1,0.5,1.023868,121
$GC,1093,0.18,120.7,2968,2146,1747,4094,0.5,9.8,139,1110,5.72,1.17,-5.20,0.000,20740,0.023,1.289,2410,2559,2348,2348,4094,0,0,0,0,0,0,26.08,24.67,26.11,10.14,52.28
$FINISH2,0.4
$STATE,1111,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1111,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,003924
$TT8_MAMPS,0.026215,0.244923
$HUMID,52.52
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.89,29.764
$10V_AH,10.14,32.103
$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,24.625,14.950,66.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,403.636,0.359,118.401,580.035,68.729,33.434,342.638,0.000,342.849,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,1289.025,1303.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.411,383.091,303.214,449.523,577.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330808
$DATA_FILE_SIZE,14252,141
$CAP_FILE_SIZE,27913,0
$CFSIZE,1024409600,966918144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,015549,6143.680,-17351.658,6,1.0,35,7.0,0.4,125.9,9,4.6