version: 66.13
glider: 401
mission: 22
dive: 29
start: 7 27 117 4 55 27
data:
$ID,401
$MISSION,22
$DIVE,29
$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,34
$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
$GPS1,270717,043219,5918.6812,-17032.1875,6,0.7,14,8.6,0.0,304.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.0
$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,-0.310730,0.083044
$KALMAN_X,2206.691650,-69.747177,-727.248657,-7760.361328,-71.041061
$KALMAN_Y,295.159729,500.271820,298.276733,5147.934570,207.898346
$MHEAD_RNG_PITCHd_Wd,276.4,25057,-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,8,-1.62,-341.3,2409,1918,2402,4092,0.0,0.0,0,21,5.88,0.00,-4.50,0.000,20486,0.031,0.000,1842,1918,2902,2902,4094,0,0,0,0,0,0,26.06,25.10,26.08,10.31,50.63
$GC,23,-1.62,-341.3,1842,1918,2902,4094,0.2,0.0,1,32,0.00,3.22,0.00,0.000,260,0.000,0.066,1842,3082,2902,2902,4095,0,0,0,0,0,0,26.25,25.91,26.27,10.42,49.76
$GC,113,-1.62,-341.3,1842,3082,2904,4095,9.3,-12.3,14,123,0.00,3.08,0.00,0.000,1030,0.000,0.036,1842,1898,2904,2904,4094,0,0,0,0,0,0,26.09,26.05,26.13,10.42,49.84
$GC,160,-1.62,-341.3,1841,1898,2905,4094,15.1,-12.9,20,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1898,2904,2904,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.42,49.76
$GC,205,-1.62,-341.3,1841,1898,2906,4094,20.3,-10.9,26,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1899,2906,2906,4093,0,0,0,0,0,0,26.40,26.42,26.42,10.38,48.85
$GC,250,-1.62,-341.3,1841,1898,2907,4093,25.3,-11.1,32,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1899,2907,2907,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.37,47.95
$GC,294,-1.62,-341.3,1841,1898,2908,4094,30.4,-11.8,38,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1899,2908,2908,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.36,47.04
$GC,338,-1.62,-341.3,1841,1898,2908,4094,35.5,-11.1,44,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1899,2909,2909,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.34,46.77
$GC,383,-1.62,-341.3,1841,1898,2910,4095,40.3,-11.2,50,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1898,2909,2909,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.34,46.33
$GC,427,-1.62,-341.3,1841,1898,2911,4094,45.4,-11.7,56,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1899,2911,2911,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.33,45.58
$GC,471,-1.62,-341.3,1841,1898,2911,4095,50.0,-10.4,62,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1898,2912,2912,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.33,45.62
$GC,516,-1.62,-341.3,1841,1898,2912,4095,55.3,-11.8,68,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1898,2912,2912,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.32,45.55
$STATE,558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,558,begin apogee
$GC,563,-0.45,0.0,1842,2035,2914,4095,60.4,-12.0,74,591,4.00,0.00,20.45,1.258,10244,0.066,0.000,2205,2035,2499,2499,4094,0,0,0,0,0,0,26.27,25.60,24.69,10.32,45.43
$STATE,592,end apogee,CONTROL_FINISHED_OK
$STATE,592,begin climb
$GC,594,1.62,341.3,2205,2035,2500,4094,63.1,0.0,77,630,7.00,0.00,19.85,1.240,11270,0.043,0.000,2863,2039,2106,2106,4094,0,0,0,0,0,0,25.79,25.96,24.25,10.23,45.03
$GC,667,1.62,341.3,2863,2039,2105,4094,58.2,9.6,86,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2039,2105,2105,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.15,44.36
$GC,713,1.62,341.3,2862,2039,2104,4094,53.4,10.2,92,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2039,2104,2104,4094,0,0,0,0,0,0,25.86,25.86,25.86,10.14,44.84
$GC,757,1.62,341.3,2863,2039,2103,4094,48.2,11.3,98,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2039,2103,2103,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.14,45.62
$GC,801,1.62,341.3,2863,2038,2102,4094,43.3,11.2,104,811,0.00,3.45,0.00,0.000,516,0.000,0.083,2863,825,2102,2102,4095,0,0,0,0,0,0,26.03,25.67,26.04,10.13,45.47
$GC,848,1.62,341.3,2862,825,2101,4095,37.8,12.0,110,857,0.00,2.97,0.00,0.000,1030,0.000,0.034,2863,1984,2100,2100,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.13,45.98
$GC,895,1.62,341.3,2863,1984,2100,4094,32.6,11.3,116,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1985,2099,2099,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.13,45.47
$GC,940,1.62,341.3,2863,1983,2098,4095,27.3,11.8,122,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1984,2098,2098,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.12,45.47
$GC,984,1.62,341.3,2863,1984,2097,4094,22.0,11.3,128,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1984,2097,2097,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.11,45.66
$GC,1029,1.62,341.3,2862,1983,2096,4094,16.9,11.4,134,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1984,2096,2096,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.12,45.90
$GC,1073,1.62,341.3,2863,1985,2095,4094,12.7,9.1,140,1083,0.00,3.40,0.00,0.000,260,0.000,0.072,2863,3206,2095,2095,4094,0,0,0,0,0,0,26.31,25.94,26.32,10.16,46.81
$GC,1138,1.62,341.3,2863,3205,2093,4094,5.6,11.5,149,1147,0.00,3.12,0.00,0.000,1030,0.000,0.034,2863,2003,2093,2093,4094,0,0,0,0,0,0,26.11,26.07,26.13,10.19,48.11
$STATE,1174,end climb,FINISH_DEPTH_REACHED
$STATE,1174,begin subsurface finish
$FINISH1,1.4,1.024259,93
$GC,1180,0.14,93.4,2863,2002,2092,4094,1.4,10.6,154,1199,4.88,3.45,-2.70,0.000,20996,0.055,1.318,2410,824,2398,2398,4094,0,0,0,0,0,0,26.13,24.98,26.18,10.20,48.58
$FINISH2,0.2
$STATE,1200,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1200,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,031303
$TT8_MAMPS,0.026215,0.249417
$HUMID,50.03
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,24.25,0.950
$10V_AH,10.28,1.180
$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,21.750,25.800,40.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.711,0.000,130.502,654.901,41.150,33.413,393.602,0.000,377.323,0.000,0.542,0.000
$DEVICE_MAMPS,65.790,1318.095,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.099,423.720,335.571,497.328,652.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331044
$DATA_FILE_SIZE,14322,156
$CAP_FILE_SIZE,29453,0
$CFSIZE,1024409600,1018085376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,043219,5918.681,-17032.188,6,0.7,14,8.6,0.0,304.0,11,4.9