version: 66.13
glider: 401
mission: 22
dive: 57
start: 7 27 117 16 36 20
data:
$ID,401
$MISSION,22
$DIVE,57
$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,24
$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,0.16
$_SM_ANGLEo,-1.9
$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,-0.260469,0.188681
$KALMAN_X,8320.222656,-432.614288,-405.554962,-16935.728516,34.275635
$KALMAN_Y,475.456421,833.709839,119.629601,8840.200195,-79.092537
$MHEAD_RNG_PITCHd_Wd,297.3,20321,-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,-341.3,2407,1885,2403,4091,0.0,0.0,0,21,5.85,0.00,-4.50,0.000,20486,0.028,0.000,1841,1885,2904,2904,4095,0,0,0,0,0,0,26.06,25.15,26.08,10.30,49.76
$GC,23,-1.62,-341.3,1840,1885,2903,4095,0.3,0.0,1,32,0.00,3.30,0.00,0.000,260,0.000,0.062,1840,3088,2903,2903,4095,0,0,0,0,0,0,26.23,25.92,26.25,10.41,49.84
$GC,61,-1.62,-341.3,1839,3088,2904,4095,3.1,-9.2,6,71,0.00,3.10,0.00,0.000,1030,0.000,0.036,1840,1896,2904,2904,4095,0,0,0,0,0,0,26.05,26.01,26.07,10.41,49.68
$GC,108,-1.62,-341.3,1839,1896,2905,4095,8.5,-12.2,12,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1896,2905,2905,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.41,50.43
$GC,152,-1.62,-341.3,1839,1896,2906,4094,14.4,-13.3,18,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1896,2907,2907,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.42,49.88
$GC,196,-1.62,-341.3,1839,1895,2907,4095,19.3,-10.1,24,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1896,2907,2907,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,49.05
$GC,240,-1.62,-341.3,1839,1896,2908,4095,23.9,-10.6,30,250,0.00,3.30,0.00,0.000,260,0.000,0.068,1840,3086,2908,2908,4095,0,0,0,0,0,0,26.41,26.06,26.41,10.37,48.58
$GC,266,-1.62,-341.3,1839,3086,2909,4095,26.9,-11.6,33,276,0.00,3.10,0.00,0.000,1030,0.000,0.035,1840,1886,2908,2908,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.36,48.22
$GC,313,-1.62,-341.3,1839,1886,2910,4095,31.6,-8.7,39,323,0.00,3.30,0.00,0.000,260,0.000,0.065,1840,3086,2910,2910,4094,0,0,0,0,0,0,26.44,26.08,26.45,10.35,47.55
$GC,339,-1.62,-341.3,1839,3086,2910,4094,33.9,-8.3,42,348,0.00,3.05,0.00,0.000,1030,0.000,0.034,1840,1904,2910,2910,4095,0,0,0,0,0,0,26.20,26.16,26.24,10.34,47.12
$GC,385,-1.62,-341.3,1839,1904,2911,4095,38.7,-11.0,48,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1904,2911,2911,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.33,46.37
$GC,429,-1.62,-341.3,1838,1904,2912,4094,43.8,-11.7,54,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1904,2911,2911,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.32,46.25
$GC,472,-1.62,-341.3,1838,1904,2913,4094,49.1,-12.5,60,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1904,2913,2913,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.33,46.45
$GC,517,-1.62,-341.3,1839,1904,2914,4094,54.4,-12.0,66,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1904,2914,2914,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.32,46.49
$GC,561,-1.62,-341.3,1839,1904,2915,4095,59.6,-11.8,72,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1904,2915,2915,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.32,45.51
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,583,-0.45,0.0,1839,2050,2915,4094,61.7,-11.3,74,611,4.03,0.10,20.48,1.268,10244,0.067,0.086,2205,2006,2500,2500,4094,0,0,0,0,0,0,26.25,25.58,24.70,10.32,45.51
$STATE,612,end apogee,CONTROL_FINISHED_OK
$STATE,612,begin climb
$GC,614,1.62,341.3,2204,2006,2500,4094,63.8,0.0,77,649,7.03,0.00,20.00,1.249,11270,0.042,0.000,2866,2006,2102,2102,4094,0,0,0,0,0,0,25.78,25.95,24.25,10.22,45.47
$GC,686,1.62,341.3,2866,2006,2101,4094,59.1,9.9,86,696,0.00,3.35,0.00,0.000,260,0.000,0.068,2866,3176,2101,2101,4094,0,0,0,0,0,0,25.70,25.36,25.70,10.14,44.88
$GC,751,1.62,341.3,2865,3176,2100,4094,51.5,12.1,95,760,0.00,3.03,0.03,0.005,9222,0.000,0.033,2866,2031,2099,2099,4094,0,0,0,0,0,0,25.65,25.60,25.67,10.13,45.23
$GC,796,1.62,341.3,2866,2031,2099,4094,46.0,12.3,101,804,0.00,3.38,0.00,0.000,516,0.000,0.082,2866,824,2098,2098,4094,0,0,0,0,0,0,25.96,25.60,25.97,10.13,45.11
$GC,859,1.62,341.3,2866,824,2097,4094,38.2,12.3,110,869,0.00,2.97,0.00,0.000,1030,0.000,0.034,2866,1982,2096,2096,4094,0,0,0,0,0,0,25.84,25.80,25.86,10.12,45.19
$GC,904,1.62,341.3,2866,1983,2096,4094,33.2,11.0,116,914,0.00,3.42,0.00,0.000,260,0.000,0.070,2866,3206,2096,2096,4094,0,0,0,0,0,0,26.11,25.77,26.13,10.12,45.86
$GC,969,1.62,341.3,2866,3206,2094,4094,24.7,12.9,125,979,0.00,3.12,0.00,0.000,1030,0.000,0.034,2866,2012,2093,2093,4094,0,0,0,0,0,0,25.94,25.90,25.97,10.12,45.70
$GC,1014,1.62,341.3,2866,2011,2093,4094,19.0,11.8,131,1024,0.00,3.33,0.00,0.000,516,0.000,0.081,2866,825,2092,2092,4094,0,0,0,0,0,0,26.22,25.86,26.23,10.11,45.82
$GC,1079,1.62,341.3,2866,824,2090,4094,11.1,10.9,140,1088,0.00,3.00,0.00,0.000,1030,0.000,0.034,2866,1999,2090,2090,4094,0,0,0,0,0,0,26.05,26.01,26.08,10.16,46.69
$GC,1124,1.62,341.3,2866,1999,2090,4094,6.6,9.6,146,1133,0.00,3.40,0.00,0.000,260,0.000,0.075,2866,3212,2090,2090,4094,0,0,0,0,0,0,26.31,25.94,26.32,10.18,47.63
$STATE,1169,end climb,SURFACE_DEPTH_REACHED
$STATE,1169,begin surface coast
$FINISH,0.4,1.024354
$STATE,1177,end surface coast,CONTROL_FINISHED_OK
$STATE,1177,begin surface
$SM_CCo,1276,0.00,0.000,0,0,2087,355.46
$SM_GC,0.98,27.50,3.47,0.00,0.026,0.037,0.000,240,1902,2087,-6.61,0.73,355.46,0,0,0,0,0,0,26.10,26.03,26.15
$IRIDIUM_FIX,5957.10,-16911.74,270717,143117
$TT8_MAMPS,0.025466,0.241178
$HUMID,49.52
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.25,1.572
$10V_AH,10.29,2.202
$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,44.400,54.750,40.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,438.017,60.283,157.340,637.158,44.242,33.405,413.080,0.000,369.276,0.000,0.542,0.000
$DEVICE_MAMPS,67.320,85.680,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.154,415.648,329.176,487.871,635.365,0.000,0.000,0.000,0.000,0.000
$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,14259,153
$CAP_FILE_SIZE,34393,0
$CFSIZE,1024409600,1016692736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,165831,5921.501,-17036.727,8,0.8,21,8.6,0.4,211.4,9,4.9