version: 66.13
glider: 401
mission: 22
dive: 23
start: 7 27 117 2 28 19
data:
$ID,401
$MISSION,22
$DIVE,23
$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,16
$R_STBD_OVSHOOT,36
$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
$GPS1,270717,020605,5917.0225,-17029.2188,7,0.8,15,8.6,0.4,270.4,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-0.8
$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,-0.197802,0.253618
$KALMAN_X,2154.438477,628.868958,-226.403366,-6095.032715,-166.358231
$KALMAN_Y,-484.490112,146.956238,-158.711304,3665.184082,-30.860565
$MHEAD_RNG_PITCHd_Wd,313.4,29102,-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,6,begin dive
$GC,8,-1.62,-341.3,2406,1917,2400,4092,0.0,0.0,0,21,5.88,0.00,-4.45,0.000,20486,0.032,0.000,1842,1917,2902,2902,4094,0,0,0,0,0,0,26.08,25.10,26.10,10.32,50.19
$GC,23,-1.62,-341.3,1841,1917,2903,4094,0.2,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1917,2903,2903,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.43,49.88
$GC,67,-1.62,-341.3,1840,1917,2903,4094,4.4,-10.6,7,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1917,2903,2903,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.43,49.60
$GC,110,-1.62,-341.3,1841,1917,2905,4094,9.6,-12.3,13,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1917,2904,2904,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.43,49.33
$GC,154,-1.62,-341.3,1841,1917,2905,4095,14.4,-11.5,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1917,2905,2905,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.42,49.37
$GC,198,-1.62,-341.3,1841,1917,2906,4095,19.0,-9.5,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1917,2906,2906,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.40,49.05
$GC,242,-1.62,-341.3,1841,1917,2907,4095,23.3,-10.2,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1917,2907,2907,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.38,48.18
$GC,286,-1.62,-341.3,1841,1917,2908,4094,28.0,-11.1,37,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1917,2909,2909,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.37,47.44
$GC,331,-1.62,-341.3,1841,1917,2909,4094,32.9,-10.8,43,340,0.00,3.20,0.00,0.000,260,0.000,0.069,1841,3079,2909,2909,4095,0,0,0,0,0,0,26.49,26.12,26.50,10.36,46.65
$GC,349,-1.62,-341.3,1840,3079,2909,4095,35.0,-11.2,45,359,0.00,3.05,0.00,0.000,1030,0.000,0.035,1841,1896,2910,2910,4095,0,0,0,0,0,0,26.24,26.19,26.27,10.35,46.49
$GC,394,-1.62,-341.3,1841,1896,2910,4095,40.2,-11.6,51,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1896,2910,2910,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.35,45.94
$GC,438,-1.62,-341.3,1841,1896,2911,4094,45.2,-11.4,57,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1896,2911,2911,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.34,45.51
$GC,483,-1.62,-341.3,1841,1896,2912,4094,50.4,-12.7,63,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1896,2912,2912,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.33,45.47
$GC,527,-1.62,-341.3,1841,1896,2913,4094,55.8,-11.5,69,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1896,2913,2913,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.33,45.35
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,562,begin apogee
$GC,567,-0.45,0.0,1841,2032,2914,4094,60.0,-12.2,74,595,4.00,0.00,20.45,1.250,10244,0.067,0.000,2204,2033,2500,2500,4094,0,0,0,0,0,0,26.27,25.60,24.70,10.33,45.51
$STATE,596,end apogee,CONTROL_FINISHED_OK
$STATE,596,begin climb
$GC,598,1.62,341.3,2204,2032,2500,4094,62.6,0.0,77,634,7.03,0.00,20.02,1.233,11270,0.044,0.000,2864,2036,2102,2102,4094,0,0,0,0,0,0,25.79,25.97,24.26,10.24,45.62
$GC,671,1.62,341.3,2863,2036,2101,4094,57.6,11.9,86,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2036,2100,2100,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.14,44.29
$GC,715,1.62,341.3,2863,2036,2100,4094,52.3,11.3,92,725,0.00,3.22,0.00,0.000,260,0.000,0.066,2864,3185,2100,2100,4094,0,0,0,0,0,0,25.86,25.51,25.88,10.15,44.76
$GC,754,1.62,341.3,2863,3185,2099,4094,47.7,12.7,97,763,0.00,3.10,0.00,0.000,1030,0.000,0.034,2864,2009,2099,2099,4095,0,0,0,0,0,0,25.70,25.67,25.74,10.14,44.92
$GC,800,1.62,341.3,2863,2008,2098,4095,42.2,12.8,103,810,0.00,3.42,0.00,0.000,516,0.000,0.094,2864,827,2098,2098,4094,0,0,0,0,0,0,26.03,25.65,26.04,10.14,44.88
$GC,858,1.62,341.3,2863,826,2096,4094,35.1,11.9,111,868,0.00,3.00,0.00,0.000,1030,0.000,0.035,2864,1991,2096,2096,4094,0,0,0,0,0,0,25.88,25.84,25.91,10.13,44.99
$GC,905,1.62,341.3,2863,1991,2095,4094,29.7,11.4,117,915,0.00,3.42,0.00,0.000,260,0.000,0.073,2864,3211,2095,2095,4094,0,0,0,0,0,0,26.17,25.82,26.17,10.13,45.86
$GC,970,1.62,341.3,2863,3211,2093,4094,21.1,13.2,126,979,0.00,3.10,0.00,0.000,1030,0.000,0.034,2864,2023,2093,2093,4094,0,0,0,0,0,0,25.99,25.94,26.01,10.12,45.86
$GC,1015,1.62,341.3,2863,2023,2093,4094,15.3,12.9,132,1024,0.00,3.40,0.00,0.000,516,0.000,0.090,2864,817,2092,2092,4094,0,0,0,0,0,0,26.27,25.87,26.28,10.14,45.78
$GC,1118,1.62,341.3,2863,817,2089,4094,3.8,11.0,147,1127,0.00,2.95,0.00,0.000,1030,0.000,0.036,2864,1973,2089,2089,4095,0,0,0,0,0,0,26.13,26.09,26.15,10.20,48.42
$STATE,1135,end climb,FINISH_DEPTH_REACHED
$STATE,1135,begin subsurface finish
$FINISH1,1.8,1.024395,84
$GC,1141,0.13,83.9,2864,2052,2088,4094,1.8,10.7,149,1161,5.10,3.33,-2.78,0.000,20740,0.074,1.311,2406,3183,2409,2409,4094,0,0,0,0,0,0,26.08,24.95,26.15,10.21,49.29
$FINISH2,0.3
$STATE,1162,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1162,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,013509
$TT8_MAMPS,0.025466,0.244923
$HUMID,49.29
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.26,0.816
$10V_AH,10.30,0.963
$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,22.000,38.400,40.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,418.682,0.000,130.578,628.478,40.767,33.412,385.044,0.000,365.134,0.000,0.542,0.000
$DEVICE_MAMPS,74.205,1311.210,1250.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.585,410.146,324.770,481.340,626.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331116
$DATA_FILE_SIZE,14389,151
$CAP_FILE_SIZE,30452,0
$CFSIZE,1024409600,1018380288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,020605,5917.022,-17029.219,7,0.8,15,8.6,0.4,270.4,10,4.5