version: 66.13
glider: 401
mission: 22
dive: 37
start: 7 27 117 8 18 9
data:
$ID,401
$MISSION,22
$DIVE,37
$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,28
$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
$GPS1,270717,080742,5920.9243,-17032.8105,4,0.8,14,8.6,0.5,62.7,10,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-47.2
$GPS2,270717,081703,5920.9790,-17032.5820,7,1.0,17,8.6,0.0,57.0,9,4.7
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.319867,-0.033737
$KALMAN_X,4980.673828,-304.473480,-626.137268,-10772.641602,277.713440
$KALMAN_Y,3264.059326,1268.556641,962.053833,4983.402344,111.900818
$MHEAD_RNG_PITCHd_Wd,255.4,22643,-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,-341.3,230,1901,2086,4092,0.0,0.0,0,20,10.68,0.00,0.00,0.000,2049,0.113,0.000,1104,1895,2086,2086,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.27,49.21
$GC,22,-1.62,-341.3,1104,1895,2087,4094,1.0,0.0,1,50,8.10,3.45,-7.40,0.000,18948,0.067,1.304,1834,718,2903,2903,4095,0,0,0,0,0,0,25.91,24.77,25.97,10.28,48.42
$GC,92,-1.62,-341.3,1833,718,2904,4095,2.4,-8.7,10,102,0.00,3.03,0.00,0.000,1030,0.000,0.034,1834,1903,2904,2904,4095,0,0,0,0,0,0,25.79,25.75,25.81,10.46,48.38
$GC,137,-1.62,-341.3,1833,1902,2905,4095,7.6,-11.5,16,147,0.00,3.30,0.00,0.000,260,0.000,0.069,1834,3084,2905,2905,4095,0,0,0,0,0,0,26.08,25.72,26.08,10.46,48.42
$GC,177,-1.62,-341.3,1833,3084,2905,4095,12.6,-13.1,21,187,0.00,3.05,0.00,0.000,1030,0.000,0.034,1834,1915,2906,2906,4094,0,0,0,0,0,0,25.88,25.84,25.91,10.46,47.75
$GC,224,-1.62,-341.3,1833,1914,2907,4094,18.0,-10.6,27,232,0.00,3.38,0.00,0.000,516,0.000,0.080,1834,706,2907,2907,4095,0,0,0,0,0,0,26.17,25.79,26.18,10.42,47.32
$GC,294,-1.62,-341.3,1833,706,2908,4095,26.5,-12.0,37,304,0.00,2.97,0.00,0.000,1030,0.000,0.034,1834,1877,2907,2907,4095,0,0,0,0,0,0,26.02,25.98,26.04,10.38,45.74
$GC,341,-1.62,-341.3,1833,1879,2909,4095,31.7,-11.5,43,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1880,2909,2909,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.37,44.95
$GC,385,-1.62,-341.3,1833,1880,2910,4094,36.7,-10.4,49,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1880,2910,2910,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.37,44.80
$GC,429,-1.62,-341.3,1833,1881,2911,4095,41.5,-11.1,55,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1881,2911,2911,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.36,44.17
$GC,473,-1.62,-341.3,1833,1881,2912,4095,46.5,-11.1,61,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1881,2912,2912,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.36,44.01
$GC,516,-1.62,-341.3,1833,1881,2913,4095,51.2,-10.6,67,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1881,2913,2913,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.35,44.13
$GC,561,-1.62,-341.3,1833,1881,2914,4095,55.6,-10.1,73,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1881,2914,2914,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.33,43.97
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,602,-0.45,0.0,1834,2039,2915,4094,60.4,-13.1,78,629,4.07,0.00,20.55,1.250,10244,0.064,0.000,2204,2040,2500,2500,4094,0,0,0,0,0,0,26.14,25.48,24.58,10.34,43.85
$STATE,630,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,632,1.62,341.3,2204,2039,2500,4094,62.6,0.0,81,666,7.05,0.00,20.12,1.238,11270,0.042,0.000,2865,2040,2102,2102,4094,0,0,0,0,0,0,25.67,25.84,24.16,10.25,43.93
$GC,704,1.62,341.3,2863,2039,2101,4094,57.6,11.7,90,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2040,2100,2100,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.16,43.14
$GC,749,1.62,341.3,2863,2043,2100,4094,52.7,9.9,96,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2043,2099,2099,4094,0,0,0,0,0,0,25.79,25.80,25.79,10.16,43.50
$GC,795,1.62,341.3,2863,2042,2099,4094,47.0,12.6,102,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2043,2099,2099,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.15,43.50
$GC,841,1.62,341.3,2863,2043,2098,4094,41.4,11.2,108,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2043,2097,2097,4094,0,0,0,0,0,0,25.98,26.00,25.99,10.15,43.97
$GC,885,1.62,341.3,2863,2043,2096,4094,35.6,12.2,114,895,0.00,3.47,0.00,0.000,516,0.000,0.083,2864,825,2096,2096,4094,0,0,0,0,0,0,26.06,25.69,26.07,10.14,43.93
$GC,937,1.62,341.3,2863,824,2095,4094,29.1,13.4,121,946,0.00,2.97,0.00,0.000,1030,0.000,0.034,2864,1985,2095,2095,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.14,44.36
$GC,982,1.62,341.3,2863,1986,2094,4094,23.4,12.7,127,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1986,2093,2093,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.13,44.68
$GC,1026,1.62,341.3,2863,1986,2092,4094,18.0,11.9,133,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1986,2092,2092,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.13,44.48
$GC,1072,1.62,341.3,2863,1985,2091,4095,13.5,9.2,139,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1986,2091,2091,4093,0,0,0,0,0,0,26.25,26.27,26.27,10.15,45.19
$GC,1116,1.62,341.3,2863,1987,2090,4093,9.3,9.3,145,1126,0.00,3.30,0.00,0.000,516,0.000,0.084,2864,824,2090,2090,4094,0,0,0,0,0,0,26.29,25.93,26.30,10.18,46.25
$GC,1155,1.62,341.3,2863,823,2089,4094,5.3,10.8,150,1164,0.00,3.00,0.00,0.000,1030,0.000,0.034,2864,2001,2089,2089,4094,0,0,0,0,0,0,26.08,26.06,26.11,10.19,47.00
$STATE,1185,end climb,FINISH_DEPTH_REACHED
$STATE,1185,begin subsurface finish
$FINISH1,1.8,1.024322,89
$GC,1191,0.13,89.0,2864,2001,2088,4094,1.8,10.9,154,1209,5.00,0.00,-2.70,0.000,20486,0.067,0.000,2407,2005,2403,2403,4094,0,0,0,0,0,0,26.09,25.32,26.15,10.21,47.79
$FINISH2,0.5
$STATE,1209,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1210,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,080907
$TT8_MAMPS,0.025466,0.243425
$HUMID,48.18
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,24.16,1.132
$10V_AH,10.30,1.474
$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,34.900,32.250,40.675,0.000,0.000,44.797,60.657,287.459,0.000,0.000,18.646,441.199,44.724,141.228,1078.938,88.473,33.451,417.264,0.000,378.747,0.000,2.921,0.000
$DEVICE_MAMPS,113.220,1304.325,1250.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.788,423.816,335.483,497.167,647.372,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329536
$DATA_FILE_SIZE,14402,156
$CAP_FILE_SIZE,39649,0
$CFSIZE,1024409600,1017675776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,081703,5920.979,-17032.582,7,1.0,17,8.6,0.0,57.0,9,4.7