version: 66.13
glider: 401
mission: 22
dive: 31
start: 7 27 117 5 47 50
data:
$ID,401
$MISSION,22
$DIVE,31
$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,17
$R_STBD_OVSHOOT,29
$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
$GPS1,270717,054015,5919.6733,-17033.0293,4,1.3,50,8.6,0.3,314.8,7,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-47.9
$GPS2,270717,054643,5919.7437,-17032.9941,7,0.9,14,8.6,0.0,13.5,10,4.9
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.313407,-0.072243
$KALMAN_X,2563.440430,-256.245636,-858.174866,-8544.954102,31.903564
$KALMAN_Y,1419.206909,751.439819,560.638977,5443.945312,320.078796
$MHEAD_RNG_PITCHd_Wd,248.4,23368,-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,-341.3,230,1915,2087,4092,0.0,0.0,0,21,11.57,0.00,0.00,0.000,2049,0.116,0.000,1170,1916,2088,2088,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.28,49.37
$GC,23,-1.62,-341.3,1170,1915,2088,4094,1.1,0.0,1,50,7.32,3.53,-7.38,0.000,18948,0.065,1.304,1834,709,2902,2902,4095,0,0,0,0,0,0,25.90,24.80,25.96,10.28,48.97
$GC,79,-1.62,-341.3,1833,709,2902,4095,3.2,-9.6,8,87,0.00,3.05,0.00,0.000,1030,0.000,0.034,1834,1897,2903,2903,4095,0,0,0,0,0,0,25.77,25.74,25.79,10.45,49.13
$GC,124,-1.62,-341.3,1833,1898,2903,4095,8.4,-12.1,14,134,0.00,3.33,0.00,0.000,260,0.000,0.070,1834,3087,2903,2903,4095,0,0,0,0,0,0,26.06,25.70,26.07,10.46,48.22
$GC,171,-1.62,-341.3,1833,3087,2904,4095,14.7,-13.6,20,180,0.00,3.08,0.00,0.000,1030,0.000,0.034,1834,1908,2904,2904,4094,0,0,0,0,0,0,25.88,25.83,25.91,10.46,47.95
$GC,217,-1.62,-341.3,1833,1907,2905,4094,20.3,-11.5,26,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1908,2905,2905,4095,0,0,0,0,0,0,26.17,26.19,26.18,10.42,47.79
$GC,263,-1.62,-341.3,1833,1907,2906,4095,25.2,-10.9,32,273,0.00,3.35,0.00,0.000,516,0.000,0.080,1834,705,2906,2906,4094,0,0,0,0,0,0,26.22,25.84,26.23,10.38,47.24
$GC,321,-1.62,-341.3,1833,705,2908,4094,32.6,-12.9,40,330,0.00,3.03,0.00,0.000,1030,0.000,0.034,1833,1895,2908,2908,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.38,45.94
$GC,367,-1.62,-341.3,1833,1898,2909,4094,37.9,-11.7,46,376,0.00,3.28,0.00,0.000,260,0.000,0.067,1833,3086,2909,2909,4095,0,0,0,0,0,0,26.30,25.94,26.31,10.37,45.27
$GC,413,-1.62,-341.3,1833,3086,2910,4095,43.3,-11.5,52,423,0.00,3.08,0.00,0.000,1030,0.000,0.034,1834,1899,2910,2910,4094,0,0,0,0,0,0,26.08,26.03,26.13,10.37,44.64
$GC,460,-1.62,-341.3,1834,1898,2911,4094,48.4,-10.4,58,469,0.00,3.30,0.00,0.000,516,0.000,0.080,1834,707,2911,2911,4094,0,0,0,0,0,0,26.36,25.98,26.37,10.36,45.27
$GC,518,-1.62,-341.3,1833,707,2912,4094,56.0,-13.3,66,528,0.00,3.00,0.00,0.000,1030,0.000,0.035,1834,1891,2912,2912,4094,0,0,0,0,0,0,26.17,26.13,26.19,10.35,43.93
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,555,begin apogee
$GC,560,-0.45,0.0,1834,2043,2913,4095,60.7,-11.4,71,588,4.10,0.00,20.55,1.261,10244,0.069,0.000,2202,2043,2500,2500,4094,0,0,0,0,0,0,26.10,25.44,24.53,10.34,44.32
$STATE,589,end apogee,CONTROL_FINISHED_OK
$STATE,589,begin climb
$GC,591,1.62,341.3,2202,2043,2500,4094,63.2,0.0,74,627,7.07,0.00,20.15,1.244,11270,0.042,0.000,2864,2043,2101,2101,4094,0,0,0,0,0,0,25.64,25.81,24.11,10.26,44.36
$GC,663,1.62,341.3,2863,2043,2101,4094,58.5,11.1,83,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2043,2101,2101,4094,0,0,0,0,0,0,25.63,25.64,25.64,10.16,43.14
$GC,708,1.62,341.3,2864,2042,2100,4094,53.3,11.3,89,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2043,2099,2099,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.16,43.22
$GC,752,1.62,341.3,2863,2042,2099,4094,48.4,10.7,95,761,0.00,3.50,0.00,0.000,516,0.000,0.082,2864,826,2099,2099,4094,0,0,0,0,0,0,25.89,25.53,25.89,10.15,43.69
$GC,798,1.62,341.3,2863,826,2097,4094,42.8,13.0,101,808,0.00,3.00,0.00,0.000,1030,0.000,0.034,2864,1991,2097,2097,4094,0,0,0,0,0,0,25.74,25.71,25.77,10.15,44.13
$GC,845,1.62,341.3,2863,1990,2096,4094,37.1,12.0,107,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1990,2096,2096,4095,0,0,0,0,0,0,26.05,26.06,26.06,10.14,44.64
$GC,889,1.62,341.3,2863,1990,2095,4095,31.7,11.9,113,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1990,2095,2095,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.14,44.29
$GC,934,1.62,341.3,2863,1990,2094,4094,26.3,12.0,119,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1990,2093,2093,4094,0,0,0,0,0,0,26.16,26.18,26.17,10.14,44.64
$GC,978,1.62,341.3,2864,1991,2093,4094,20.9,12.3,125,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1991,2092,2092,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,44.99
$GC,1022,1.62,341.3,2863,1991,2092,4094,16.0,10.3,131,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1991,2091,2091,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.15,44.95
$GC,1066,1.62,341.3,2863,1992,2090,4094,11.9,9.5,137,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1993,2090,2090,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.18,47.40
$GC,1111,1.62,341.3,2863,1993,2090,4094,7.6,9.9,143,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1993,2088,2088,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.20,47.36
$GC,1155,1.62,341.3,2863,1993,2088,4094,3.0,10.3,149,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1994,2088,2088,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.21,48.50
$STATE,1171,end climb,FINISH_DEPTH_REACHED
$STATE,1171,begin subsurface finish
$FINISH1,1.0,1.024262,93
$GC,1177,0.14,93.2,2864,1994,2088,4094,1.0,10.7,151,1187,4.72,0.00,-2.65,0.000,20486,0.036,0.000,2410,1994,2397,2397,4094,0,0,0,0,0,0,26.10,25.20,26.17,10.22,48.30
$FINISH2,0.5
$STATE,1188,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1188,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,042647
$TT8_MAMPS,0.025466,0.244923
$HUMID,48.89
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.11,0.998
$10V_AH,10.29,1.255
$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,34.800,38.825,40.700,0.000,0.000,23.297,16.215,246.842,0.000,0.000,15.740,437.599,0.383,138.440,940.980,83.689,33.449,410.877,0.000,370.317,0.000,2.309,0.000
$DEVICE_MAMPS,116.280,1303.560,1261.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.032,412.838,326.959,484.253,632.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329500
$DATA_FILE_SIZE,14314,152
$CAP_FILE_SIZE,37240,0
$CFSIZE,1024409600,1017970688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,054643,5919.744,-17032.994,7,0.9,14,8.6,0.0,13.5,10,4.9