version: 66.13
glider: 401
mission: 22
dive: 55
start: 7 27 117 15 52 37
data:
$ID,401
$MISSION,22
$DIVE,55
$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,11
$R_STBD_OVSHOOT,49
$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
$GPS1,270717,154435,5920.8696,-17035.3906,5,0.8,15,8.6,0.0,235.6,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-42.3
$GPS2,270717,155131,5920.8574,-17035.4688,7,0.7,16,8.6,0.6,231.9,11,5.0
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.239886,0.214250
$KALMAN_X,7773.890625,-383.030518,-395.748291,-16424.798828,-153.934235
$KALMAN_Y,862.938232,868.722351,143.119049,8382.791016,-24.465790
$MHEAD_RNG_PITCHd_Wd,303.2,20321,-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,6,begin dive
$GC,8,-1.62,-341.3,230,1907,2087,4092,0.0,0.0,0,21,10.77,0.00,0.00,0.000,2049,0.114,0.000,1110,1907,2087,2087,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.28,49.09
$GC,23,-1.62,-341.3,1110,1907,2087,4094,1.1,0.0,1,51,8.00,3.58,-7.40,0.000,18948,0.063,1.310,1833,701,2903,2903,4094,0,0,0,0,0,0,25.87,24.77,25.94,10.29,48.97
$GC,145,-1.62,-341.3,1833,699,2905,4094,9.0,-13.1,18,154,0.00,3.00,0.00,0.000,1030,0.000,0.032,1833,1875,2905,2905,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.46,48.22
$GC,191,-1.62,-341.3,1833,1874,2907,4094,14.7,-12.3,24,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1875,2906,2906,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.46,48.18
$GC,237,-1.62,-341.3,1833,1878,2907,4094,19.7,-11.0,30,247,0.00,3.35,0.00,0.000,260,0.000,0.066,1833,3089,2907,2907,4095,0,0,0,0,0,0,26.17,25.82,26.19,10.42,47.40
$GC,276,-1.62,-341.3,1834,3088,2908,4095,24.1,-10.8,35,285,0.00,3.05,0.00,0.000,1030,0.000,0.032,1834,1911,2908,2908,4095,0,0,0,0,0,0,25.98,25.93,26.01,10.39,46.57
$GC,323,-1.62,-341.3,1833,1910,2908,4095,29.0,-10.9,41,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1911,2909,2909,4094,0,0,0,0,0,0,26.25,26.26,26.27,10.38,45.82
$GC,368,-1.62,-341.3,1833,1910,2910,4094,34.4,-11.9,47,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1911,2909,2909,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.38,45.47
$GC,413,-1.62,-341.3,1833,1910,2911,4094,40.0,-12.5,53,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1910,2911,2911,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.37,44.84
$GC,457,-1.62,-341.3,1833,1910,2911,4095,45.2,-11.8,59,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1910,2912,2912,4095,0,0,0,0,0,0,26.35,26.37,26.36,10.36,45.23
$GC,501,-1.62,-341.3,1833,1910,2912,4095,50.3,-11.3,65,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1910,2912,2912,4094,0,0,0,0,0,0,26.38,26.40,26.39,10.36,44.52
$GC,546,-1.62,-341.3,1833,1910,2913,4094,55.6,-12.2,71,554,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1910,2913,2913,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.35,44.56
$STATE,582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,582,begin apogee
$GC,587,-0.45,0.0,1833,2048,2914,4095,60.4,-12.4,76,615,4.10,0.10,20.50,1.253,10244,0.067,0.083,2204,1997,2500,2500,4095,0,0,0,0,0,0,26.13,25.48,24.60,10.35,44.09
$STATE,616,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,618,1.62,341.3,2204,1998,2500,4095,62.8,0.0,79,654,7.05,0.00,20.10,1.234,11270,0.042,0.000,2865,1997,2100,2100,4094,0,0,0,0,0,0,25.67,25.84,24.18,10.26,44.32
$GC,692,1.62,341.3,2865,1997,2099,4094,57.8,9.8,88,701,0.00,3.40,0.00,0.000,260,0.000,0.067,2865,3185,2100,2100,4095,0,0,0,0,0,0,25.64,25.30,25.65,10.17,43.50
$GC,743,1.62,341.3,2865,3185,2098,4095,51.3,12.8,95,753,0.00,3.03,0.00,0.000,1030,0.000,0.031,2865,2038,2098,2098,4094,0,0,0,0,0,0,25.58,25.54,25.60,10.15,43.54
$GC,788,1.62,341.3,2865,2037,2097,4094,45.7,11.7,101,798,0.00,3.42,0.00,0.000,516,0.000,0.079,2865,826,2097,2097,4095,0,0,0,0,0,0,25.90,25.56,25.91,10.16,43.62
$GC,848,1.62,341.3,2865,826,2096,4095,38.6,12.6,109,856,0.00,3.03,0.00,0.000,1030,0.000,0.033,2865,2002,2096,2096,4094,0,0,0,0,0,0,25.79,25.75,25.79,10.15,44.68
$GC,894,1.62,341.3,2866,2001,2094,4094,33.5,11.1,115,903,0.00,3.38,0.00,0.000,260,0.000,0.070,2865,3211,2094,2094,4093,0,0,0,0,0,0,26.07,25.72,26.08,10.15,44.56
$GC,973,1.62,341.3,2864,3210,2092,4093,23.2,13.0,126,982,0.00,3.08,0.00,0.000,1030,0.000,0.033,2865,2032,2092,2092,4094,0,0,0,0,0,0,25.94,25.89,25.96,10.14,44.88
$GC,1019,1.62,341.3,2865,2031,2090,4094,17.4,12.0,132,1029,0.00,3.38,0.00,0.000,516,0.000,0.080,2865,824,2090,2090,4095,0,0,0,0,0,0,26.21,25.85,26.22,10.13,44.80
$GC,1099,1.62,341.3,2865,823,2089,4095,8.1,11.4,143,1108,0.00,3.08,0.00,0.000,1030,0.000,0.034,2865,2030,2088,2088,4094,0,0,0,0,0,0,26.06,26.01,26.07,10.20,46.73
$GC,1145,1.62,341.3,2865,2030,2087,4094,3.0,10.7,149,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2030,2087,2087,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.21,47.83
$STATE,1162,end climb,FINISH_DEPTH_REACHED
$STATE,1162,begin subsurface finish
$FINISH1,0.9,1.024348,87
$GC,1167,0.13,87.2,2865,2037,2086,4094,0.9,10.7,151,1187,4.78,3.58,-2.80,0.000,20996,0.035,1.317,2406,822,2404,2404,4094,0,0,0,0,0,0,26.07,24.98,26.13,10.22,48.81
$FINISH2,0.2
$STATE,1188,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1188,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,143117
$TT8_MAMPS,0.026215,0.244923
$HUMID,48.77
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.18,1.541
$10V_AH,10.30,2.133
$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,34.700,42.800,40.600,0.000,0.000,25.874,24.404,263.426,0.000,0.000,17.405,440.790,0.000,130.431,973.636,82.160,33.441,394.570,0.000,372.991,0.000,1.733,0.000
$DEVICE_MAMPS,113.985,1317.330,1253.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.977,415.586,329.158,487.672,639.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329472
$DATA_FILE_SIZE,14346,153
$CAP_FILE_SIZE,35710,0
$CFSIZE,1024409600,1016791040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270717,155131,5920.857,-17035.469,7,0.7,16,8.6,0.6,231.9,11,5.0