version: 66.13
glider: 401
mission: 22
dive: 62
start: 7 27 117 18 44 29
data:
$ID,401
$MISSION,22
$DIVE,62
$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,21
$R_STBD_OVSHOOT,36
$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
$GPS1,270717,182032,5922.3286,-17037.5977,6,1.0,24,8.5,0.5,71.2,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.8
$GPS2,270717,182032,5922.3286,-17037.5977,6,1.0,24,8.5,0.5,71.2,9,4.7
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.321532,-0.008742
$KALMAN_X,8575.947266,-695.539368,-556.128174,-18794.978516,28.753784
$KALMAN_Y,1937.280151,1131.910522,438.816620,9484.924805,188.469940
$MHEAD_RNG_PITCHd_Wd,259.9,17307,-12.2,-9.091,-15.78,5645
$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,-341.3,2404,1918,2403,4092,0.0,0.0,0,21,5.82,0.00,-4.32,0.000,20486,0.029,0.000,1843,1918,2902,2902,4094,0,0,0,0,0,0,26.05,25.15,26.07,10.31,49.52
$GC,23,-1.62,-341.3,1842,1918,2902,4094,0.3,0.0,1,32,0.00,2.75,0.00,0.000,516,0.000,0.073,1843,926,2903,2903,4095,0,0,0,0,0,0,26.22,25.91,26.23,10.42,49.21
$GC,74,-1.62,-341.3,1842,925,2903,4095,4.8,-9.8,8,84,0.00,2.45,0.00,0.000,1030,0.000,0.034,1843,1893,2903,2903,4095,0,0,0,0,0,0,26.07,26.03,26.09,10.42,49.17
$GC,119,-1.62,-341.3,1842,1893,2904,4095,10.4,-12.1,14,127,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2905,2905,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.42,49.40
$GC,163,-1.62,-341.3,1842,1893,2905,4095,15.9,-12.8,20,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1895,2905,2905,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.42,48.70
$GC,208,-1.62,-341.3,1842,1896,2905,4094,20.5,-10.3,26,218,0.00,2.65,0.00,0.000,260,0.000,0.063,1842,2868,2906,2906,4095,0,0,0,0,0,0,26.38,26.04,26.39,10.38,48.85
$GC,255,-1.62,-341.3,1842,2868,2907,4095,25.5,-10.9,32,264,0.00,2.47,0.00,0.000,1030,0.000,0.033,1843,1906,2907,2907,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.37,47.28
$GC,302,-1.62,-341.3,1842,1905,2908,4094,30.6,-10.6,38,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1906,2908,2908,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,46.88
$GC,347,-1.62,-341.3,1842,1906,2909,4095,35.6,-11.2,44,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1906,2909,2909,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.34,46.22
$GC,393,-1.62,-341.3,1842,1906,2910,4095,41.0,-11.9,50,403,0.00,2.70,0.00,0.000,516,0.000,0.074,1843,920,2910,2910,4095,0,0,0,0,0,0,26.48,26.12,26.49,10.34,46.49
$GC,451,-1.62,-341.3,1842,920,2912,4095,48.6,-13.0,58,460,0.00,2.45,0.00,0.000,1030,0.000,0.034,1843,1900,2912,2912,4095,0,0,0,0,0,0,26.27,26.24,26.28,10.33,45.31
$GC,497,-1.62,-341.3,1842,1899,2912,4095,54.0,-11.7,64,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1900,2913,2913,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.33,45.23
$GC,543,-1.62,-341.3,1842,1900,2914,4094,59.5,-12.1,70,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1899,2914,2914,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.33,45.35
$STATE,559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,564,-0.45,0.0,1842,2033,2914,4094,61.9,-12.4,72,592,4.00,0.00,20.42,1.272,10244,0.067,0.000,2205,2033,2500,2500,4094,0,0,0,0,0,0,26.23,25.58,24.70,10.32,45.39
$STATE,593,end apogee,CONTROL_FINISHED_OK
$STATE,593,begin climb
$GC,595,1.62,341.3,2205,2032,2500,4094,64.1,0.0,75,630,7.03,0.00,20.05,1.256,11270,0.041,0.000,2864,2033,2100,2100,4094,0,0,0,0,0,0,25.77,25.94,24.25,10.23,45.31
$GC,667,1.62,341.3,2863,2032,2100,4094,59.3,10.3,84,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2033,2100,2100,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.14,44.80
$GC,713,1.62,341.3,2863,2032,2099,4094,54.2,11.5,90,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2033,2099,2099,4095,0,0,0,0,0,0,25.83,25.84,25.84,10.14,45.07
$GC,757,1.62,341.3,2863,2032,2098,4095,48.9,11.7,96,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2033,2097,2097,4095,0,0,0,0,0,0,25.92,25.94,25.94,10.13,44.84
$GC,801,1.62,341.3,2864,2032,2096,4095,43.9,11.3,102,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2033,2095,2095,4094,0,0,0,0,0,0,26.00,26.02,26.01,10.13,44.60
$GC,846,1.62,341.3,2863,2033,2095,4094,38.8,11.7,108,855,0.00,2.78,0.00,0.000,516,0.000,0.073,2864,1047,2095,2095,4094,0,0,0,0,0,0,26.07,25.72,26.08,10.13,45.58
$GC,897,1.62,341.3,2863,1047,2094,4094,32.5,12.3,115,907,0.00,2.40,0.00,0.000,1030,0.000,0.031,2864,1992,2094,2094,4094,0,0,0,0,0,0,25.91,25.88,25.96,10.12,45.51
$GC,943,1.62,341.3,2863,1991,2093,4094,27.1,12.0,121,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1992,2093,2093,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.12,45.47
$GC,987,1.62,341.3,2863,1991,2092,4094,21.8,11.8,127,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1992,2091,2091,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.11,45.43
$GC,1033,1.62,341.3,2863,1991,2090,4094,16.5,12.0,133,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1992,2090,2090,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.12,45.58
$GC,1077,1.62,341.3,2864,1991,2089,4094,11.8,9.8,139,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1993,2089,2089,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.15,45.74
$GC,1121,1.62,341.3,2863,1994,2088,4095,7.5,10.3,145,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1994,2088,2088,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.18,47.51
$GC,1165,1.62,341.3,2863,1994,2087,4094,2.9,10.6,151,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1995,2087,2087,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.20,48.14
$STATE,1182,end climb,FINISH_DEPTH_REACHED
$STATE,1182,begin subsurface finish
$FINISH1,0.8,1.024345,87
$GC,1188,0.13,87.4,2864,1996,2086,4094,0.8,11.2,153,1207,4.75,2.80,-2.80,0.000,20996,0.033,1.321,2407,1038,2404,2404,4095,0,0,0,0,0,0,26.11,25.03,26.17,10.20,49.09
$FINISH2,0.4
$STATE,1208,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1208,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,165955
$TT8_MAMPS,0.025466,0.246421
$HUMID,49.64
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,24.25,1.686
$10V_AH,10.29,2.389
$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,21.600,25.925,40.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.993,0.000,137.662,648.781,43.404,33.423,407.670,0.000,374.924,0.000,0.543,0.000
$DEVICE_MAMPS,66.555,1321.155,1272.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.199,421.109,333.472,494.084,645.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331020
$DATA_FILE_SIZE,14361,155
$CAP_FILE_SIZE,31474,0
$CFSIZE,1024409600,1016463360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,182032,5922.329,-17037.598,6,1.0,24,8.5,0.5,71.2,9,4.7