version: 66.13
glider: 401
mission: 22
dive: 59
start: 7 27 117 17 28 13
data:
$ID,401
$MISSION,22
$DIVE,59
$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,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,33
$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
$GPS1,270717,170516,5921.5337,-17036.7559,6,0.8,16,8.6,0.0,293.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.2
$GPS2,270717,170516,5921.5337,-17036.7559,6,0.8,16,8.6,0.0,293.6,10,4.7
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.308288,0.091709
$KALMAN_X,8044.678223,-564.561523,-496.172150,-17659.263672,-60.566376
$KALMAN_Y,1107.934937,932.061401,232.002258,9250.603516,119.286407
$MHEAD_RNG_PITCHd_Wd,278.0,18661,-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,-341.3,2409,1917,2403,4091,0.0,0.0,0,20,5.75,0.00,-4.50,0.000,20486,0.031,0.000,1854,1918,2903,2903,4094,0,0,0,0,0,0,26.04,25.13,26.06,10.31,49.40
$GC,22,-1.62,-341.3,1854,1918,2903,4094,0.1,0.0,1,31,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1918,2903,2903,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.42,49.68
$GC,67,-1.62,-341.3,1853,1918,2903,4094,3.3,-9.0,7,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1918,2904,2904,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.41,49.64
$GC,111,-1.62,-341.3,1853,1918,2905,4094,8.0,-10.0,13,120,0.00,2.75,0.00,0.000,516,0.000,0.074,1854,922,2905,2905,4094,0,0,0,0,0,0,26.32,25.97,26.34,10.42,49.13
$GC,149,-1.62,-341.3,1853,921,2905,4094,13.0,-13.7,18,158,0.00,2.47,0.00,0.000,1030,0.000,0.034,1854,1900,2905,2905,4094,0,0,0,0,0,0,26.12,26.08,26.15,10.43,49.13
$GC,196,-1.62,-341.3,1853,1902,2906,4094,18.2,-10.5,24,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1902,2907,2907,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.39,49.01
$GC,241,-1.62,-341.3,1853,1902,2907,4094,22.9,-10.4,30,251,0.00,2.62,0.00,0.000,260,0.000,0.062,1854,2868,2908,2908,4094,0,0,0,0,0,0,26.41,26.07,26.41,10.37,48.03
$GC,280,-1.62,-341.3,1853,2868,2908,4094,27.2,-10.5,35,290,0.00,2.45,0.00,0.000,1030,0.000,0.033,1854,1913,2908,2908,4095,0,0,0,0,0,0,26.19,26.18,26.20,10.36,47.08
$GC,327,-1.62,-341.3,1853,1913,2909,4095,32.1,-11.0,41,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1914,2909,2909,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.35,46.61
$GC,372,-1.62,-341.3,1853,1913,2910,4094,37.1,-11.2,47,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1913,2910,2910,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.34,45.90
$GC,417,-1.62,-341.3,1853,1913,2911,4094,42.1,-11.1,53,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1913,2911,2911,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.34,45.66
$GC,461,-1.62,-341.3,1853,1913,2912,4095,47.1,-11.6,59,470,0.00,2.70,0.00,0.000,516,0.000,0.073,1853,922,2912,2912,4094,0,0,0,0,0,0,26.51,26.15,26.52,10.33,45.58
$GC,507,-1.62,-341.3,1853,923,2913,4094,52.3,-12.1,65,517,0.00,2.45,0.00,0.000,1030,0.000,0.034,1854,1903,2913,2913,4094,0,0,0,0,0,0,26.30,26.27,26.32,10.32,45.39
$GC,554,-1.62,-341.3,1853,1907,2914,4094,57.6,-11.0,71,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1907,2914,2914,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.32,45.27
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,582,-0.45,0.0,1854,2037,2915,4095,60.6,-11.1,74,610,3.85,0.00,20.42,1.256,10244,0.065,0.000,2204,2038,2500,2500,4094,0,0,0,0,0,0,26.25,25.60,24.72,10.33,45.86
$STATE,611,end apogee,CONTROL_FINISHED_OK
$STATE,611,begin climb
$GC,613,1.62,341.3,2203,2038,2500,4094,62.8,0.0,77,649,7.03,0.00,19.92,1.236,11270,0.041,0.000,2864,2039,2102,2102,4095,0,0,0,0,0,0,25.78,25.95,24.28,10.22,44.95
$GC,686,1.62,341.3,2864,2039,2102,4095,57.4,10.8,86,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2101,2101,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.14,44.32
$GC,730,1.62,341.3,2864,2039,2100,4094,52.0,11.2,92,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2039,2101,2101,4094,0,0,0,0,0,0,25.84,25.85,25.84,10.14,44.60
$GC,774,1.62,341.3,2864,2039,2100,4094,46.9,11.7,98,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2039,2099,2099,4094,0,0,0,0,0,0,25.93,25.95,25.94,10.13,45.15
$GC,819,1.62,341.3,2864,2039,2098,4094,41.8,10.7,104,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2098,2098,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.13,44.48
$GC,863,1.62,341.3,2864,2039,2097,4094,36.6,11.6,110,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2097,2097,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.12,45.03
$GC,907,1.62,341.3,2864,2039,2096,4094,31.5,12.1,116,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2096,2096,4094,0,0,0,0,0,0,26.13,26.14,26.15,10.12,45.35
$GC,951,1.62,341.3,2864,2039,2095,4094,26.3,11.9,122,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2095,2095,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.12,45.19
$GC,996,1.62,341.3,2864,2039,2094,4094,21.0,11.8,128,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2094,2094,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.11,45.27
$GC,1040,1.62,341.3,2864,2039,2093,4095,15.8,11.8,134,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2093,2093,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.11,45.27
$GC,1084,1.62,341.3,2864,2039,2092,4094,11.1,10.1,140,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2091,2091,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.16,46.37
$GC,1128,1.62,341.3,2864,2039,2090,4094,6.7,10.1,146,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2090,2090,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.18,47.63
$GC,1173,1.62,341.3,2864,2040,2089,4094,2.0,10.7,152,1182,0.00,2.78,0.00,0.000,516,0.000,0.075,2865,1042,2089,2089,4094,0,0,0,0,0,0,26.36,26.01,26.37,10.21,48.42
$STATE,1190,end climb,FINISH_DEPTH_REACHED
$STATE,1190,begin subsurface finish
$FINISH1,0.2,1.024359,86
$GC,1199,0.13,86.5,2864,2014,2089,4094,0.2,9.5,154,1217,4.78,2.85,-2.83,0.000,20996,0.034,1.322,2404,1045,2406,2406,4094,0,0,0,0,0,0,26.12,25.02,26.17,10.20,48.70
$FINISH2,0.3
$STATE,1218,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1218,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,270717,154600
$TT8_MAMPS,0.026964,0.240429
$HUMID,49.25
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,24.28,1.622
$10V_AH,10.29,2.276
$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,21.400,26.025,40.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.827,0.000,142.788,654.094,44.477,33.421,420.068,0.000,377.469,0.000,0.542,0.000
$DEVICE_MAMPS,65.025,1321.920,1256.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.801,423.757,335.623,497.261,651.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331024
$DATA_FILE_SIZE,14354,156
$CAP_FILE_SIZE,32107,0
$CFSIZE,1024409600,1016610816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,170516,5921.534,-17036.756,6,0.8,16,8.6,0.0,293.6,10,4.7