version: 66.13
glider: 401
mission: 22
dive: 21
start: 7 27 117 1 40 1
data:
$ID,401
$MISSION,22
$DIVE,21
$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,55
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,20
$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
$GPS1,270717,013357,5916.8687,-17028.5371,4,0.8,11,8.6,0.6,250.5,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-48.6
$GPS2,270717,013855,5916.8491,-17028.6289,7,0.8,12,8.6,0.0,243.2,10,5.0
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.110892,0.301912
$KALMAN_X,2187.913330,775.329956,-153.425079,-5768.197754,-228.093506
$KALMAN_Y,-250.781952,258.113556,-98.723824,2929.573486,-133.533783
$MHEAD_RNG_PITCHd_Wd,331.2,29741,-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,-341.3,239,1887,2087,4092,0.0,0.0,0,21,11.52,0.00,0.00,0.000,2049,0.115,0.000,1179,1888,2087,2087,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.27,49.64
$GC,23,-1.62,-341.3,1179,1887,2087,4094,1.1,0.0,1,51,7.28,3.42,-7.28,0.000,18948,0.070,1.304,1833,715,2901,2901,4095,0,0,0,0,0,0,25.94,24.82,26.01,10.28,49.25
$GC,88,-1.62,-341.3,1833,715,2902,4095,4.6,-12.0,9,97,0.00,3.05,0.00,0.000,1030,0.000,0.035,1834,1899,2903,2903,4095,0,0,0,0,0,0,25.81,25.77,25.84,10.46,49.29
$GC,134,-1.62,-341.3,1833,1900,2903,4095,10.7,-13.1,15,143,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1900,2903,2903,4095,0,0,0,0,0,0,26.10,26.12,26.12,10.45,48.34
$GC,178,-1.62,-341.3,1833,1899,2904,4095,16.6,-12.9,21,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1900,2905,2905,4095,0,0,0,0,0,0,26.17,26.18,26.17,10.45,48.14
$GC,223,-1.62,-341.3,1833,1902,2905,4095,21.4,-9.8,27,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1902,2905,2905,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.42,47.83
$GC,267,-1.62,-341.3,1833,1902,2906,4094,25.9,-10.6,33,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1902,2906,2906,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.40,47.75
$GC,311,-1.62,-341.3,1833,1902,2907,4094,30.9,-11.5,39,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1902,2907,2907,4095,0,0,0,0,0,0,26.29,26.32,26.31,10.38,46.02
$GC,356,-1.62,-341.3,1833,1902,2908,4095,35.7,-10.3,45,365,0.00,3.28,0.00,0.000,260,0.000,0.068,1834,3089,2908,2908,4095,0,0,0,0,0,0,26.33,25.96,26.34,10.37,45.66
$GC,375,-1.62,-341.3,1833,3088,2908,4095,37.8,-10.9,47,384,0.00,3.05,0.00,0.000,1030,0.000,0.034,1834,1910,2909,2909,4094,0,0,0,0,0,0,26.09,26.05,26.13,10.37,45.62
$GC,420,-1.62,-341.3,1833,1910,2910,4094,43.2,-11.9,53,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1910,2910,2910,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.37,45.07
$GC,464,-1.62,-341.3,1832,1910,2910,4094,48.2,-11.3,59,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1910,2911,2911,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.36,44.80
$GC,510,-1.62,-341.3,1833,1909,2911,4095,53.4,-12.3,65,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1910,2912,2912,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.35,44.40
$GC,556,-1.62,-341.3,1833,1909,2913,4095,59.1,-12.7,71,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1910,2912,2912,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.34,44.48
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,572,begin apogee
$GC,577,-0.45,0.0,1833,2047,2913,4094,61.4,-12.3,73,613,4.07,0.05,20.52,1.259,10244,0.066,0.060,2203,2009,2500,2500,4094,0,0,0,0,0,0,26.15,25.25,24.57,10.35,44.32
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,1.62,341.3,2203,2009,2500,4094,63.8,0.0,77,652,7.00,0.00,19.45,1.234,11270,0.038,0.000,2866,2009,2116,2116,4095,0,0,0,0,0,0,25.72,25.89,24.17,10.26,44.64
$GC,689,1.62,341.3,2865,2009,2115,4095,58.6,10.3,86,698,0.00,0.00,2.62,0.328,8198,0.000,0.000,2866,2009,2100,2100,4095,0,0,0,0,0,0,25.69,25.04,24.39,10.16,43.93
$GC,735,1.62,341.3,2865,2009,2100,4095,52.8,12.5,92,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2009,2099,2099,4095,0,0,0,0,0,0,25.82,25.83,25.83,10.16,43.81
$GC,778,1.62,341.3,2865,2009,2099,4095,47.2,12.2,98,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2009,2099,2099,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.16,43.77
$GC,823,1.62,341.3,2865,2009,2098,4094,41.7,12.6,104,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2009,2097,2097,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.15,44.36
$GC,867,1.62,341.3,2866,2009,2096,4094,36.6,11.2,110,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2009,2096,2096,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.15,44.25
$GC,911,1.62,341.3,2866,2009,2096,4094,31.6,11.4,116,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2009,2096,2096,4094,0,0,0,0,0,0,26.15,26.15,26.15,10.14,44.72
$GC,956,1.62,341.3,2865,2009,2095,4094,26.4,11.6,122,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2009,2094,2094,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.14,44.76
$GC,999,1.62,341.3,2865,2009,2093,4094,21.3,11.9,128,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2009,2093,2093,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.14,44.95
$GC,1042,1.62,341.3,2865,2009,2092,4094,16.0,12.0,134,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2009,2092,2092,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.16,45.51
$GC,1087,1.62,341.3,2865,2009,2090,4095,11.2,11.1,140,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2009,2090,2090,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.19,47.48
$GC,1131,1.62,341.3,2866,2010,2090,4094,6.4,10.5,146,1140,0.00,3.33,0.00,0.000,516,0.000,0.087,2866,830,2089,2089,4094,0,0,0,0,0,0,26.35,25.98,26.36,10.21,48.11
$STATE,1175,end climb,SURFACE_DEPTH_REACHED
$STATE,1175,begin surface coast
$FINISH,0.1,1.003630
$STATE,1198,end surface coast,CONTROL_FINISHED_OK
$STATE,1198,begin surface
$SM_CCo,1297,0.00,0.000,0,0,2087,354.60
$SM_GC,1.33,27.42,2.72,0.00,0.028,0.038,0.000,239,1893,2087,-6.61,-1.96,354.60,0,0,0,0,0,0,26.16,26.14,26.20
$IRIDIUM_FIX,5957.10,-16911.74,270717,004847
$TT8_MAMPS,0.025466,0.253911
$HUMID,49.52
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.17,0.775
$10V_AH,10.29,0.893
$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,57.300,19.200,42.600,0.000,0.000,25.242,16.492,172.495,0.000,0.000,13.410,439.712,60.491,171.634,877.018,73.795,33.447,449.013,0.000,376.716,0.000,1.731,0.000
$DEVICE_MAMPS,114.750,1303.560,1259.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.054,420.990,333.373,493.620,644.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329504
$DATA_FILE_SIZE,14295,155
$CAP_FILE_SIZE,37365,0
$CFSIZE,1024409600,1018462208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,020229,5917.030,-17029.146,5,0.9,17,8.6,0.2,253.3,9,4.9