version: 66.13
glider: 401
mission: 22
dive: 28
start: 7 27 117 4 33 24
data:
$ID,401
$MISSION,22
$DIVE,28
$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,23
$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
$GPS1,270717,042507,5918.6167,-17032.1328,31,0.7,37,8.6,0.5,341.1,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-46.6
$GPS2,270717,043219,5918.6812,-17032.1875,6,0.7,14,8.6,0.0,304.0,11,4.9
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.312783,0.074953
$KALMAN_X,1922.416748,-48.334530,-750.828491,-7446.809570,-122.279724
$KALMAN_Y,381.164917,468.323242,249.470276,5112.118164,254.499878
$MHEAD_RNG_PITCHd_Wd,274.9,25057,-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,-341.3,239,1888,2087,4092,0.0,0.0,0,20,10.57,0.00,0.00,0.000,2049,0.116,0.000,1099,1888,2088,2088,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.28,49.60
$GC,22,-1.62,-341.3,1099,1888,2087,4094,1.0,0.0,1,49,8.20,3.45,-7.38,0.000,18948,0.069,1.304,1833,710,2904,2904,4094,0,0,0,0,0,0,25.87,24.73,25.94,10.28,49.48
$GC,86,-1.62,-341.3,1833,710,2905,4094,4.3,-11.3,9,95,0.00,3.05,0.00,0.000,1030,0.000,0.034,1833,1900,2905,2905,4094,0,0,0,0,0,0,25.79,25.77,25.81,10.46,48.74
$GC,132,-1.62,-341.3,1833,1900,2906,4094,10.2,-12.2,15,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1900,2906,2906,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.46,48.38
$GC,176,-1.62,-341.3,1833,1900,2907,4094,16.0,-12.7,21,186,0.00,3.28,0.00,0.000,260,0.000,0.068,1833,3083,2907,2907,4095,0,0,0,0,0,0,26.14,25.77,26.15,10.45,47.83
$GC,241,-1.62,-341.3,1833,3082,2908,4095,22.9,-10.6,30,250,0.00,3.05,0.00,0.000,1030,0.000,0.034,1833,1910,2908,2908,4094,0,0,0,0,0,0,25.96,25.91,25.99,10.39,46.33
$GC,285,-1.62,-341.3,1833,1910,2909,4094,27.7,-11.1,36,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1910,2909,2909,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.38,45.86
$GC,330,-1.62,-341.3,1832,1910,2910,4094,32.8,-11.6,42,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1910,2910,2910,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.38,45.15
$GC,374,-1.62,-341.3,1833,1910,2911,4095,38.4,-13.0,48,383,0.00,3.38,0.00,0.000,516,0.000,0.083,1833,702,2911,2911,4095,0,0,0,0,0,0,26.32,25.94,26.33,10.37,44.80
$GC,412,-1.62,-341.3,1834,702,2912,4095,43.3,-12.7,53,422,0.00,3.03,0.00,0.000,1030,0.000,0.035,1833,1895,2912,2912,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.36,44.36
$GC,459,-1.62,-341.3,1833,1895,2912,4095,48.8,-11.2,59,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1895,2913,2913,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.35,44.25
$GC,505,-1.62,-341.3,1833,1897,2914,4094,54.1,-11.9,65,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1897,2914,2914,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.35,44.17
$GC,550,-1.62,-341.3,1833,1897,2915,4095,59.6,-11.8,71,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1897,2916,2916,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.34,44.56
$STATE,566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,566,begin apogee
$GC,571,-0.45,0.0,1833,2042,2915,4095,61.9,-12.3,73,599,4.10,0.00,20.65,1.270,10244,0.067,0.000,2203,2042,2499,2499,4095,0,0,0,0,0,0,26.13,25.46,24.53,10.34,44.72
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,602,1.62,341.3,2203,2041,2500,4095,64.3,0.0,76,638,7.05,0.00,20.17,1.248,11270,0.040,0.000,2864,2042,2101,2101,4094,0,0,0,0,0,0,25.66,25.82,24.13,10.25,44.09
$GC,675,1.62,341.3,2864,2041,2100,4094,58.8,10.9,85,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2041,2100,2100,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.16,43.34
$GC,721,1.62,341.3,2864,2041,2099,4094,53.7,11.0,91,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2099,2099,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.15,43.22
$GC,765,1.62,341.3,2864,2041,2099,4094,48.6,12.3,97,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2098,2098,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.15,44.09
$GC,808,1.62,341.3,2864,2041,2097,4094,43.6,11.1,103,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2097,2097,4094,0,0,0,0,0,0,25.98,26.00,25.99,10.14,44.01
$GC,853,1.62,341.3,2864,2041,2096,4094,38.8,11.0,109,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2096,2096,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.14,44.48
$GC,897,1.62,341.3,2864,2041,2095,4094,33.6,11.9,115,906,0.00,3.50,0.00,0.000,516,0.000,0.086,2865,821,2095,2095,4094,0,0,0,0,0,0,26.12,25.76,26.13,10.14,44.84
$GC,935,1.62,341.3,2864,821,2093,4094,29.1,11.8,120,945,0.00,3.00,0.00,0.000,1030,0.000,0.034,2865,1993,2094,2094,4094,0,0,0,0,0,0,25.93,25.89,25.96,10.13,44.80
$GC,982,1.62,341.3,2864,1993,2093,4094,23.8,11.6,126,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1993,2093,2093,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,45.66
$GC,1028,1.62,341.3,2864,1993,2092,4094,18.5,11.8,132,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1993,2091,2091,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.13,44.84
$GC,1074,1.62,341.3,2864,1992,2090,4094,13.5,10.1,138,1083,0.00,3.40,0.00,0.000,260,0.000,0.071,2865,3214,2090,2090,4094,0,0,0,0,0,0,26.29,25.92,26.31,10.16,45.35
$GC,1145,1.62,341.3,2864,3213,2088,4094,5.4,11.7,148,1154,0.00,3.12,0.00,0.000,1030,0.000,0.035,2865,2012,2088,2088,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.21,47.55
$STATE,1175,end climb,FINISH_DEPTH_REACHED
$STATE,1175,begin subsurface finish
$FINISH1,1.9,1.024329,89
$GC,1181,0.13,88.5,2864,2012,2087,4094,1.9,11.0,152,1200,5.10,3.45,-2.67,0.000,20996,0.077,1.313,2410,822,2401,2401,4094,0,0,0,0,0,0,26.04,24.96,26.14,10.21,48.03
$FINISH2,0.2
$STATE,1201,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1201,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,031303
$TT8_MAMPS,0.026215,0.244923
$HUMID,49.44
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.13,0.934
$10V_AH,10.29,1.145
$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,35.025,36.000,40.825,0.000,0.000,38.112,20.804,273.001,0.000,0.000,16.058,437.765,0.952,141.264,992.239,84.340,33.439,418.526,0.000,374.438,0.000,1.734,0.000
$DEVICE_MAMPS,115.515,1312.740,1269.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.402,418.297,331.260,490.498,640.617,0.000,0.000,0.000,0.000,0.000
$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,14371,154
$CAP_FILE_SIZE,37324,0
$CFSIZE,1024409600,1018118144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,420.98,0x2138e4,0,24
$GPS,270717,043219,5918.681,-17032.188,6,0.7,14,8.6,0.0,304.0,11,4.9