version: 66.13
glider: 401
mission: 22
dive: 71
start: 7 27 117 22 34 50
data:
$ID,401
$MISSION,22
$DIVE,71
$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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,270717,220742,5923.6333,-17037.4102,7,0.8,14,8.6,0.8,84.4,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.2
$GPS2,270717,220742,5923.6333,-17037.4102,7,0.8,14,8.6,0.8,84.4,10,4.6
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.318556,0.044295
$KALMAN_X,11791.535156,-577.982239,-242.239075,-22259.708984,187.295166
$KALMAN_Y,3986.042725,1520.197510,702.991577,9197.346680,9.538025
$MHEAD_RNG_PITCHd_Wd,269.3,16634,-12.2,-9.091,-15.78,5643
$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,8,-1.62,-341.3,2406,1910,2404,4091,0.0,0.0,0,21,5.88,0.00,-4.53,0.000,20486,0.031,0.000,1842,1911,2903,2903,4095,0,0,0,0,0,0,26.08,25.18,26.10,10.31,50.27
$GC,23,-1.62,-341.3,1842,1911,2903,4095,0.0,0.0,1,32,0.00,2.78,0.00,0.000,516,0.000,0.081,1842,923,2904,2904,4095,0,0,0,0,0,0,26.27,25.91,26.27,10.42,50.59
$GC,81,-1.62,-341.3,1841,923,2904,4095,6.0,-14.4,9,89,0.00,2.47,0.00,0.000,1030,0.000,0.034,1842,1900,2904,2904,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.43,50.39
$GC,126,-1.62,-341.3,1841,1899,2905,4095,11.4,-12.2,15,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,2905,2905,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.43,49.92
$GC,172,-1.62,-341.3,1841,1900,2906,4094,16.8,-11.9,21,181,0.00,2.62,0.00,0.000,260,0.000,0.064,1842,2868,2906,2906,4095,0,0,0,0,0,0,26.39,26.04,26.39,10.43,49.88
$GC,204,-1.62,-341.3,1841,2868,2906,4095,20.4,-10.9,25,213,0.00,2.47,0.00,0.000,1030,0.000,0.034,1842,1905,2907,2907,4095,0,0,0,0,0,0,26.17,26.13,26.18,10.39,49.13
$GC,249,-1.62,-341.3,1842,1905,2908,4095,25.0,-10.3,31,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2908,2908,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,48.70
$GC,294,-1.62,-341.3,1841,1905,2908,4095,29.6,-10.6,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2908,2908,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,47.44
$GC,337,-1.62,-341.3,1841,1905,2909,4095,34.3,-10.8,43,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2910,2910,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.35,46.96
$GC,381,-1.62,-341.3,1841,1905,2910,4095,39.0,-10.9,49,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2910,2910,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.34,46.22
$GC,425,-1.62,-341.3,1841,1905,2911,4094,43.8,-10.5,55,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1905,2912,2912,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.34,46.45
$GC,470,-1.62,-341.3,1841,1905,2912,4094,48.6,-10.9,61,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2912,2912,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.33,45.78
$GC,514,-1.62,-341.3,1841,1905,2913,4095,53.7,-11.8,67,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2913,2913,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.33,45.66
$GC,557,-1.62,-341.3,1841,1905,2914,4095,58.7,-11.7,73,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,2914,2914,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.33,45.78
$STATE,574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,579,-0.45,0.0,1841,2041,2914,4094,60.7,-11.2,75,607,3.97,0.00,20.40,1.258,10244,0.067,0.000,2201,2041,2500,2500,4094,0,0,0,0,0,0,26.27,25.61,24.74,10.32,45.15
$STATE,608,end apogee,CONTROL_FINISHED_OK
$STATE,608,begin climb
$GC,609,1.62,341.3,2201,2041,2500,4094,62.7,0.0,78,646,7.07,0.00,19.60,1.240,11270,0.041,0.000,2866,2041,2105,2105,4095,0,0,0,0,0,0,25.79,25.96,24.31,10.24,45.31
$GC,683,1.62,341.3,2865,2041,2105,4095,57.7,10.3,87,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2041,2104,2104,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.14,44.36
$GC,729,1.62,341.3,2865,2041,2104,4094,52.3,11.8,93,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2041,2103,2103,4094,0,0,0,0,0,0,25.85,25.86,25.86,10.14,44.60
$GC,774,1.62,341.3,2865,2041,2102,4094,46.7,12.5,99,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2041,2102,2102,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.14,44.44
$GC,819,1.62,341.3,2865,2041,2101,4094,41.4,11.7,105,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2041,2101,2101,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.13,44.88
$GC,863,1.62,341.3,2865,2041,2100,4094,36.3,11.7,111,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2041,2099,2099,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.13,45.47
$GC,907,1.62,341.3,2865,2041,2099,4094,31.1,11.8,117,917,0.00,2.80,0.00,0.000,516,0.000,0.072,2866,1040,2099,2099,4094,0,0,0,0,0,0,26.14,25.78,26.15,10.12,45.19
$GC,965,1.62,341.3,2866,1039,2097,4094,23.9,12.4,125,975,0.00,2.40,0.00,0.000,1030,0.000,0.031,2866,1988,2096,2096,4095,0,0,0,0,0,0,25.97,25.95,25.98,10.12,45.51
$GC,1012,1.62,341.3,2866,1987,2096,4095,18.5,11.6,131,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1988,2095,2095,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.12,45.47
$GC,1058,1.62,341.3,2866,1988,2095,4095,13.7,9.7,137,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1988,2095,2095,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,46.45
$GC,1102,1.62,341.3,2865,1989,2094,4094,9.0,10.4,143,1111,0.00,2.62,0.00,0.000,516,0.000,0.073,2866,1046,2094,2094,4094,0,0,0,0,0,0,26.31,25.97,26.32,10.19,47.75
$STATE,1171,end climb,FINISH_DEPTH_REACHED
$STATE,1172,begin subsurface finish
$FINISH1,1.5,1.024332,88
$GC,1180,0.13,88.4,2866,2025,2092,4095,1.5,11.2,153,1198,4.75,0.00,-2.80,0.000,20486,0.032,0.000,2407,2029,2404,2404,4094,0,0,0,0,0,0,26.11,25.25,26.17,10.21,49.72
$FINISH2,0.1
$STATE,1199,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1199,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,204450
$TT8_MAMPS,0.025466,0.255409
$HUMID,49.17
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.31,1.879
$10V_AH,10.28,2.730
$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,21.675,23.175,40.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,429.403,0.000,135.999,647.332,42.324,33.419,399.828,0.000,374.213,0.000,0.543,0.000
$DEVICE_MAMPS,67.320,81.090,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.301,421.081,333.402,493.820,644.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331048
$DATA_FILE_SIZE,14321,155
$CAP_FILE_SIZE,30725,0
$CFSIZE,1024409600,1016020992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,220742,5923.633,-17037.410,7,0.8,14,8.6,0.8,84.4,10,4.6