version: 66.13
glider: 401
mission: 22
dive: 15
start: 7 26 117 23 15 3
data:
$ID,401
$MISSION,22
$DIVE,15
$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,20
$T_MISSION,30
$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,300
$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,-2
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,260717,230831,5916.7085,-17026.1211,4,0.9,18,8.6,0.0,197.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-48.9
$GPS2,260717,231355,5916.6675,-17026.1289,7,0.9,36,8.6,0.3,161.2,9,3.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.183204,0.253327
$KALMAN_X,2648.475098,983.766663,310.847504,-4540.877441,22.781586
$KALMAN_Y,779.450073,550.235962,126.852364,1051.690674,-174.423798
$MHEAD_RNG_PITCHd_Wd,315.5,31873,-14.6,-10.000,-17.74,4419
$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,-1.77,-292.5,240,1889,2145,4091,0.0,0.0,0,21,11.43,0.00,0.00,0.000,2049,0.118,0.000,1170,1886,2145,2145,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.28,50.23
$GC,23,-1.77,-292.5,1169,1886,2145,4094,1.1,0.0,1,41,6.93,0.00,-6.30,0.000,18438,0.076,0.000,1785,1886,2847,2847,4094,0,0,0,0,0,0,25.96,25.02,26.06,10.29,49.76
$GC,77,-1.77,-292.5,1784,1886,2848,4094,2.8,-9.1,8,85,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1886,2848,2848,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.44,49.29
$GC,120,-1.77,-292.5,1784,1886,2849,4095,8.5,-14.0,14,130,0.00,3.33,0.00,0.000,260,0.000,0.067,1785,3086,2850,2850,4095,0,0,0,0,0,0,26.30,25.92,26.32,10.44,49.72
$GC,145,-1.77,-292.5,1785,3086,2850,4095,12.2,-14.4,17,155,0.00,3.05,0.00,0.000,1030,0.000,0.035,1785,1910,2851,2851,4094,0,0,0,0,0,0,26.06,26.02,26.09,10.43,49.25
$GC,192,-1.77,-292.5,1784,1910,2851,4094,18.4,-13.6,23,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1910,2852,2852,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.42,48.89
$GC,237,-1.77,-292.5,1784,1909,2852,4095,23.9,-12.4,29,247,0.00,3.35,0.00,0.000,516,0.000,0.081,1785,703,2853,2853,4094,0,0,0,0,0,0,26.39,25.98,26.40,10.39,48.18
$GC,263,-1.77,-292.5,1784,703,2853,4094,27.5,-13.0,32,273,0.00,2.95,0.00,0.000,1030,0.000,0.036,1785,1867,2853,2853,4095,0,0,0,0,0,0,26.17,26.13,26.17,10.38,47.91
$GC,310,-1.77,-292.5,1784,1868,2854,4095,33.5,-12.5,38,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1869,2854,2854,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.36,46.29
$GC,354,-1.77,-292.5,1784,1869,2855,4095,39.2,-12.6,44,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1870,2855,2855,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.35,45.98
$GC,398,-1.77,-292.5,1784,1869,2856,4094,45.1,-13.8,50,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1869,2856,2856,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.34,45.07
$GC,442,-1.77,-292.5,1784,1869,2857,4094,50.9,-13.1,56,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1869,2857,2857,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.34,44.84
$GC,487,-1.77,-292.5,1784,1869,2858,4095,56.9,-13.4,62,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1870,2858,2858,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.34,44.64
$STATE,510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,510,begin apogee
$GC,516,-0.45,0.0,1785,2037,2859,4095,60.1,-13.3,65,542,4.62,0.00,18.02,1.231,10244,0.070,0.000,2206,2037,2500,2500,4094,0,0,0,0,0,0,26.20,25.60,24.67,10.34,45.07
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,545,1.77,292.5,2205,2036,2500,4094,62.7,0.0,68,573,7.45,0.00,17.45,1.209,11270,0.041,0.000,2905,2037,2159,2159,4094,0,0,0,0,0,0,25.81,25.99,24.29,10.26,44.36
$GC,610,1.77,292.5,2905,2036,2158,4094,58.1,11.4,76,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2037,2158,2158,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.18,43.73
$GC,654,1.77,292.5,2905,2036,2157,4094,52.3,12.9,82,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2037,2157,2157,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.17,44.32
$GC,699,1.77,292.5,2905,2036,2156,4094,46.4,13.8,88,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2037,2156,2156,4094,0,0,0,0,0,0,26.00,26.02,26.01,10.17,44.40
$GC,743,1.77,292.5,2905,2036,2154,4094,40.6,12.4,94,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2037,2154,2154,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.16,44.56
$GC,787,1.77,292.5,2904,2036,2154,4094,35.0,12.9,100,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2037,2154,2154,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.16,44.88
$GC,831,1.77,292.5,2905,2037,2152,4094,29.3,12.9,106,840,0.00,3.45,0.00,0.000,516,0.000,0.086,2905,820,2152,2152,4094,0,0,0,0,0,0,26.20,25.80,26.21,10.16,45.15
$GC,882,1.77,292.5,2905,820,2151,4094,22.3,14.3,113,892,0.00,3.00,0.00,0.000,1030,0.000,0.037,2906,1990,2150,2150,4094,0,0,0,0,0,0,26.01,25.96,26.04,10.15,45.27
$GC,927,1.77,292.5,2905,1990,2150,4094,16.2,13.7,119,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1991,2149,2149,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.17,46.22
$GC,971,1.77,292.5,2905,1991,2148,4094,11.1,11.2,125,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1992,2148,2148,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.20,46.96
$GC,1017,1.77,292.5,2905,1991,2147,4094,6.1,11.3,131,1027,0.00,3.33,0.00,0.000,516,0.000,0.088,2906,825,2147,2147,4094,0,0,0,0,0,0,26.36,25.96,26.37,10.23,48.50
$STATE,1054,end climb,FINISH_DEPTH_REACHED
$STATE,1054,begin subsurface finish
$FINISH1,1.3,1.024391,84
$GC,1063,0.13,84.2,2905,2020,2145,4094,1.3,12.7,136,1073,5.18,0.00,-2.33,0.000,20486,0.034,0.000,2404,2021,2408,2408,4095,0,0,0,0,0,0,26.13,25.14,26.19,10.24,48.42
$FINISH2,0.2
$STATE,1074,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1074,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,260717,222330
$TT8_MAMPS,0.026215,0.253911
$HUMID,48.74
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.29,0.636
$10V_AH,10.29,0.685
$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,35.600,25.900,35.475,0.000,0.000,22.399,17.451,175.731,0.000,0.000,37.789,402.280,0.384,128.991,824.377,68.464,33.451,376.859,0.000,335.058,0.000,1.732,0.000
$DEVICE_MAMPS,117.810,87.975,1230.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.881,372.125,294.659,436.204,566.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329480
$DATA_FILE_SIZE,14262,137
$CAP_FILE_SIZE,34326,0
$CFSIZE,1024409600,1018757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,231355,5916.667,-17026.129,7,0.9,36,8.6,0.3,161.2,9,3.1