version: 66.13
glider: 401
mission: 22
dive: 22
start: 7 27 117 2 7 11
data:
$ID,401
$MISSION,22
$DIVE,22
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,270717,020229,5917.0303,-17029.1465,5,0.9,17,8.6,0.2,253.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-48.4
$GPS2,270717,020605,5917.0225,-17029.2188,7,0.8,15,8.6,0.4,270.4,10,4.5
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.157857,0.280234
$KALMAN_X,1932.841919,675.183167,-186.980469,-5945.767578,-265.432861
$KALMAN_Y,-234.332199,201.321457,-143.479706,3337.500488,-33.074310
$MHEAD_RNG_PITCHd_Wd,322.0,29102,-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,-341.3,238,1898,2088,4092,0.0,0.0,0,21,11.55,0.00,0.00,0.000,2049,0.116,0.000,1185,1897,2087,2087,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.26,49.60
$GC,23,-1.62,-341.3,1184,1896,2087,4094,1.1,0.0,1,49,7.18,3.47,-7.30,0.000,18948,0.070,1.309,1833,711,2904,2904,4094,0,0,0,0,0,0,26.03,24.90,26.12,10.27,49.01
$GC,152,-1.62,-341.3,1832,710,2906,4094,13.8,-14.6,19,161,0.00,3.00,0.00,0.000,1030,0.000,0.035,1833,1886,2906,2906,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.45,48.34
$GC,197,-1.62,-341.3,1832,1888,2907,4094,19.6,-11.2,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1889,2908,2908,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.42,48.89
$GC,242,-1.62,-341.3,1832,1889,2908,4095,24.4,-10.8,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1889,2908,2908,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.39,48.14
$GC,287,-1.62,-341.3,1832,1889,2909,4095,29.3,-10.9,37,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1889,2909,2909,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.38,46.53
$GC,331,-1.62,-341.3,1832,1889,2910,4095,34.0,-10.1,43,340,0.00,3.30,0.00,0.000,260,0.000,0.068,1833,3087,2909,2909,4095,0,0,0,0,0,0,26.39,26.01,26.39,10.38,46.29
$GC,356,-1.62,-341.3,1832,3087,2910,4095,37.1,-11.9,46,366,0.00,3.03,0.00,0.000,1030,0.000,0.034,1833,1914,2911,2911,4095,0,0,0,0,0,0,26.15,26.10,26.18,10.37,45.82
$GC,403,-1.62,-341.3,1832,1914,2912,4095,42.3,-11.1,52,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1914,2912,2912,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.36,45.39
$GC,447,-1.62,-341.3,1832,1914,2912,4094,47.8,-12.2,58,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1915,2913,2913,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.35,45.03
$GC,490,-1.62,-341.3,1832,1914,2913,4094,53.3,-12.6,64,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1915,2914,2914,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.35,44.72
$GC,535,-1.62,-341.3,1832,1914,2914,4095,58.5,-11.4,70,544,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1914,2915,2915,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.35,44.52
$STATE,551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,551,begin apogee
$GC,556,-0.45,0.0,1833,2045,2915,4095,60.7,-12.0,72,585,4.10,0.10,20.60,1.245,10244,0.066,0.085,2205,1999,2500,2500,4094,0,0,0,0,0,0,26.20,25.53,24.63,10.34,44.44
$STATE,586,end apogee,CONTROL_FINISHED_OK
$STATE,586,begin climb
$GC,588,1.62,341.3,2205,1998,2500,4094,62.9,0.0,75,624,7.00,0.00,20.00,1.232,11270,0.042,0.000,2864,1999,2103,2103,4094,0,0,0,0,0,0,25.74,25.91,24.20,10.25,44.25
$GC,661,1.62,341.3,2863,1998,2102,4094,57.9,11.2,84,670,0.00,3.35,0.00,0.000,516,0.000,0.085,2864,838,2102,2102,4095,0,0,0,0,0,0,25.70,25.33,25.70,10.17,44.32
$GC,699,1.62,341.3,2863,837,2101,4095,53.1,12.1,89,709,0.00,2.95,0.00,0.000,1030,0.000,0.034,2864,1976,2101,2101,4094,0,0,0,0,0,0,25.60,25.57,25.63,10.17,44.36
$GC,746,1.62,341.3,2863,1976,2100,4094,47.7,12.1,95,755,0.00,3.50,0.00,0.000,260,0.000,0.072,2864,3212,2100,2100,4094,0,0,0,0,0,0,25.92,25.56,25.94,10.16,44.76
$GC,811,1.62,341.3,2864,3212,2098,4094,39.4,14.4,104,819,0.00,3.15,0.00,0.000,1030,0.000,0.034,2864,2014,2098,2098,4094,0,0,0,0,0,0,25.83,25.76,25.84,10.15,44.56
$GC,855,1.62,341.3,2863,2013,2097,4094,33.7,12.6,110,864,0.00,3.40,0.00,0.000,516,0.000,0.088,2864,823,2097,2097,4094,0,0,0,0,0,0,26.10,25.72,26.12,10.14,44.88
$GC,919,1.62,341.3,2864,823,2096,4094,25.4,13.0,119,929,0.00,3.05,0.00,0.000,1030,0.000,0.036,2864,2011,2095,2095,4094,0,0,0,0,0,0,25.96,25.91,25.97,10.14,44.99
$GC,965,1.62,341.3,2863,2010,2094,4094,19.9,12.2,125,974,0.00,3.35,0.00,0.000,260,0.000,0.073,2864,3211,2094,2094,4094,0,0,0,0,0,0,26.22,25.86,26.24,10.13,45.27
$GC,1049,1.62,341.3,2864,3210,2092,4094,9.4,12.0,137,1058,0.00,3.10,0.00,0.000,1030,0.000,0.034,2864,2019,2091,2091,4094,0,0,0,0,0,0,26.06,25.98,26.08,10.20,47.00
$GC,1094,1.62,341.3,2864,2018,2090,4094,4.5,10.0,143,1103,0.00,3.38,0.00,0.000,516,0.000,0.088,2864,823,2090,2090,4095,0,0,0,0,0,0,26.34,25.95,26.35,10.21,47.87
$STATE,1119,end climb,FINISH_DEPTH_REACHED
$STATE,1119,begin subsurface finish
$FINISH1,1.8,1.024342,88
$GC,1128,0.13,87.7,2864,2021,2090,4094,1.8,10.6,146,1146,4.78,3.55,-2.70,0.000,20996,0.037,1.313,2407,824,2400,2400,4094,0,0,0,0,0,0,26.10,24.94,26.16,10.22,48.85
$FINISH2,0.2
$STATE,1147,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1147,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,013509
$TT8_MAMPS,0.026215,0.24717
$HUMID,49.29
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,24.20,0.800
$10V_AH,10.29,0.929
$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,34.600,49.025,40.600,0.000,0.000,22.901,16.300,97.094,0.000,0.000,16.442,421.653,0.000,133.448,773.403,57.431,33.427,388.127,0.000,360.281,0.000,1.732,0.000
$DEVICE_MAMPS,116.280,1312.740,1244.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.486,401.978,318.329,471.516,613.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329532
$DATA_FILE_SIZE,14252,148
$CAP_FILE_SIZE,33808,0
$CFSIZE,1024409600,1018413056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,020605,5917.022,-17029.219,7,0.8,15,8.6,0.4,270.4,10,4.5