version: 66.13
glider: 401
mission: 22
dive: 56
start: 7 27 117 16 14 27
data:
$ID,401
$MISSION,22
$DIVE,56
$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,18
$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
$GPS1,270717,155131,5920.8574,-17035.4688,7,0.7,16,8.6,0.6,231.9,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-3.4
$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,-0.257299,0.192976
$KALMAN_X,7957.372559,-384.152832,-371.123383,-16657.939453,-106.864380
$KALMAN_Y,718.182861,825.978638,106.627731,8619.435547,-9.563156
$MHEAD_RNG_PITCHd_Wd,298.3,20321,-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,5,begin dive
$GC,7,-1.62,-341.3,2406,1912,2404,4092,0.0,0.0,0,21,5.90,0.00,-4.50,0.000,20486,0.031,0.000,1839,1913,2905,2905,4094,0,0,0,0,0,0,26.03,25.12,26.05,10.31,50.19
$GC,23,-1.62,-341.3,1839,1912,2905,4094,0.1,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1913,2905,2905,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.43,49.64
$GC,67,-1.62,-341.3,1839,1913,2905,4094,3.6,-10.7,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1913,2906,2906,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.43,49.40
$GC,111,-1.62,-341.3,1839,1912,2907,4095,9.0,-12.4,13,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1913,2907,2907,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.43,49.25
$GC,154,-1.62,-341.3,1839,1912,2908,4095,14.5,-12.7,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1913,2907,2907,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.43,49.25
$GC,199,-1.62,-341.3,1839,1912,2908,4095,19.2,-10.3,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1913,2908,2908,4095,0,0,0,0,0,0,26.37,26.38,26.38,10.39,48.93
$GC,242,-1.62,-341.3,1839,1913,2909,4095,23.8,-10.2,31,250,0.00,3.25,0.00,0.000,260,0.000,0.070,1839,3084,2909,2909,4095,0,0,0,0,0,0,26.39,26.07,26.41,10.38,48.03
$GC,267,-1.62,-341.3,1838,3083,2910,4095,26.4,-10.6,34,276,0.00,3.05,0.00,0.000,1030,0.000,0.034,1839,1902,2910,2910,4095,0,0,0,0,0,0,26.17,26.11,26.19,10.37,47.44
$GC,313,-1.62,-341.3,1839,1901,2911,4095,31.4,-10.9,40,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1902,2911,2911,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.36,46.57
$GC,357,-1.62,-341.3,1839,1901,2912,4094,36.3,-11.3,46,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1901,2912,2912,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.35,46.29
$GC,401,-1.62,-341.3,1838,1901,2913,4095,41.5,-11.8,52,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1902,2913,2913,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.34,45.94
$GC,445,-1.62,-341.3,1839,1901,2914,4095,46.9,-12.5,58,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1902,2914,2914,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.34,45.35
$GC,489,-1.62,-341.3,1839,1901,2915,4095,52.6,-12.6,64,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1902,2915,2915,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.33,45.27
$GC,534,-1.62,-341.3,1839,1901,2916,4094,57.8,-11.8,70,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1902,2916,2916,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.32,45.94
$STATE,558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,558,begin apogee
$GC,563,-0.45,0.0,1839,2041,2917,4094,60.7,-11.2,73,591,4.03,0.00,20.52,1.259,10244,0.066,0.000,2205,2041,2500,2500,4094,0,0,0,0,0,0,26.24,25.58,24.70,10.33,45.70
$STATE,592,end apogee,CONTROL_FINISHED_OK
$STATE,592,begin climb
$GC,594,1.62,341.3,2204,2041,2500,4094,63.1,0.0,76,630,7.03,0.00,20.00,1.237,11270,0.042,0.000,2865,2041,2101,2101,4094,0,0,0,0,0,0,25.77,25.94,24.26,10.24,45.23
$GC,667,1.62,341.3,2864,2041,2100,4094,58.1,10.3,85,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2041,2100,2100,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.15,44.01
$GC,713,1.62,341.3,2864,2040,2099,4094,52.6,12.0,91,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2041,2099,2099,4094,0,0,0,0,0,0,25.84,25.85,25.84,10.14,44.44
$GC,756,1.62,341.3,2864,2040,2098,4094,47.4,11.0,97,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2041,2098,2098,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.14,44.40
$GC,800,1.62,341.3,2864,2041,2097,4094,42.5,11.2,103,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2041,2097,2097,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.14,44.64
$GC,845,1.62,341.3,2864,2041,2096,4094,37.3,11.6,109,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2096,2096,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.13,44.95
$GC,889,1.62,341.3,2864,2041,2095,4094,32.4,10.7,115,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2095,2095,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.13,45.74
$GC,933,1.62,341.3,2864,2041,2094,4094,27.6,10.8,121,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2093,2093,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.12,45.55
$GC,977,1.62,341.3,2864,2041,2093,4094,22.7,11.3,127,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2092,2092,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.12,45.78
$GC,1022,1.62,341.3,2864,2041,2092,4095,17.6,11.7,133,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2091,2091,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.12,45.66
$GC,1066,1.62,341.3,2864,2041,2090,4094,12.6,10.8,139,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2090,2090,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.15,45.74
$GC,1110,1.62,341.3,2864,2041,2089,4094,8.1,10.0,145,1120,0.00,3.17,0.00,0.000,260,0.000,0.070,2865,3188,2089,2089,4094,0,0,0,0,0,0,26.33,25.97,26.34,10.18,47.59
$GC,1149,1.62,341.3,2864,3187,2088,4094,3.8,12.0,150,1158,0.00,3.05,0.00,0.000,1030,0.000,0.034,2865,2013,2087,2087,4094,0,0,0,0,0,0,26.11,26.07,26.14,10.20,47.87
$STATE,1166,end climb,FINISH_DEPTH_REACHED
$STATE,1166,begin subsurface finish
$FINISH1,1.5,1.024349,87
$GC,1171,0.13,87.1,2865,2012,2087,4094,1.5,11.8,152,1191,5.05,3.45,-2.80,0.000,20996,0.070,1.314,2407,820,2404,2404,4094,0,0,0,0,0,0,26.09,25.01,26.16,10.20,48.54
$FINISH2,0.2
$STATE,1192,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1192,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,143117
$TT8_MAMPS,0.025466,0.244923
$HUMID,48.81
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.26,1.557
$10V_AH,10.29,2.167
$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,22.000,19.050,40.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,421.308,0.984,142.063,640.965,44.040,33.418,414.153,0.000,372.722,0.000,0.543,0.000
$DEVICE_MAMPS,69.615,1313.505,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.419,418.359,331.293,490.988,638.644,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331080
$DATA_FILE_SIZE,14392,154
$CAP_FILE_SIZE,31115,0
$CFSIZE,1024409600,1016758272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,155131,5920.857,-17035.469,7,0.7,16,8.6,0.6,231.9,11,5.0