version: 66.13
glider: 401
mission: 22
dive: 74
start: 7 27 117 23 50 28
data:
$ID,401
$MISSION,22
$DIVE,74
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,270717,232557,5923.5679,-17037.4785,6,0.9,23,8.6,1.0,197.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-2.3
$GPS2,270717,232557,5923.5679,-17037.4785,6,0.9,23,8.6,1.0,197.4,9,4.9
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.296351,0.125016
$KALMAN_X,12670.429688,-494.736633,-133.887466,-23395.857422,122.240295
$KALMAN_Y,3786.399414,1456.609009,579.771057,9463.405273,-84.239807
$MHEAD_RNG_PITCHd_Wd,284.3,16606,-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,8,-1.62,-341.3,2377,1899,2504,4092,0.0,0.0,0,20,5.53,0.00,-3.62,0.000,20486,0.027,0.000,1840,1899,2902,2902,4094,0,0,0,0,0,0,26.11,25.19,26.12,10.34,49.25
$GC,23,-1.62,-341.3,1841,1899,2903,4094,0.2,0.0,1,31,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,2903,2903,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.42,49.29
$GC,67,-1.62,-341.3,1840,1899,2903,4094,3.2,-9.3,7,76,0.00,2.70,0.00,0.000,516,0.000,0.077,1841,927,2903,2903,4095,0,0,0,0,0,0,26.31,25.95,26.32,10.42,49.52
$GC,118,-1.62,-341.3,1840,926,2904,4095,10.2,-13.6,14,128,0.00,2.47,0.00,0.000,1030,0.000,0.033,1841,1908,2905,2905,4095,0,0,0,0,0,0,26.13,26.08,26.17,10.43,49.40
$GC,164,-1.62,-341.3,1840,1909,2905,4095,15.7,-11.6,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1909,2906,2906,4095,0,0,0,0,0,0,26.36,26.39,26.38,10.43,49.64
$GC,208,-1.62,-341.3,1840,1911,2907,4095,20.6,-10.3,26,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1912,2907,2907,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.39,49.25
$GC,253,-1.62,-341.3,1840,1912,2908,4095,25.1,-10.5,32,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1912,2908,2908,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.37,47.99
$GC,299,-1.62,-341.3,1840,1912,2908,4094,30.1,-11.1,38,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1912,2908,2908,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.35,47.36
$GC,343,-1.62,-341.3,1840,1912,2909,4095,35.0,-11.0,44,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1912,2909,2909,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.35,46.33
$GC,387,-1.62,-341.3,1840,1911,2910,4095,40.1,-11.5,50,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1912,2910,2910,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.33,45.82
$GC,431,-1.62,-341.3,1840,1912,2911,4094,45.4,-11.9,56,441,0.00,2.60,0.00,0.000,260,0.000,0.062,1841,2870,2910,2910,4095,0,0,0,0,0,0,26.51,26.15,26.52,10.33,45.55
$GC,463,-1.62,-341.3,1840,2870,2912,4095,49.0,-11.2,60,472,0.00,2.47,0.00,0.000,1030,0.000,0.033,1840,1903,2912,2912,4095,0,0,0,0,0,0,26.27,26.24,26.30,10.33,45.70
$GC,508,-1.62,-341.3,1840,1903,2913,4095,54.1,-11.8,66,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1903,2913,2913,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.32,45.39
$GC,552,-1.62,-341.3,1840,1903,2914,4094,59.1,-11.6,72,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1903,2914,2914,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.32,45.15
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,574,-0.45,0.0,1840,2042,2914,4094,61.2,-11.4,74,601,4.03,0.00,20.42,1.265,10244,0.066,0.000,2205,2042,2500,2500,4094,0,0,0,0,0,0,26.26,25.60,24.72,10.32,45.19
$STATE,602,end apogee,CONTROL_FINISHED_OK
$STATE,603,begin climb
$GC,604,1.62,341.3,2205,2042,2500,4094,63.5,0.0,77,639,7.03,0.00,20.00,1.245,11270,0.041,0.000,2864,2042,2101,2101,4094,0,0,0,0,0,0,25.79,25.96,24.31,10.23,44.48
$GC,676,1.62,341.3,2864,2042,2100,4094,58.5,10.8,86,686,0.00,2.60,0.00,0.000,260,0.000,0.062,2865,2969,2100,2100,4094,0,0,0,0,0,0,25.70,25.39,25.72,10.14,44.29
$GC,734,1.62,341.3,2864,2969,2099,4094,50.9,13.0,94,744,0.00,2.47,0.00,0.000,1030,0.000,0.031,2865,2025,2099,2099,4094,0,0,0,0,0,0,25.64,25.60,25.66,10.13,44.80
$GC,781,1.62,341.3,2864,2025,2098,4094,45.5,11.9,100,791,0.00,2.75,0.00,0.000,516,0.000,0.075,2865,1039,2098,2098,4094,0,0,0,0,0,0,25.95,25.60,25.97,10.13,44.36
$GC,839,1.62,341.3,2864,1038,2096,4094,37.9,13.0,108,849,0.00,2.40,0.00,0.000,1030,0.000,0.031,2865,1982,2096,2096,4095,0,0,0,0,0,0,25.82,25.79,25.84,10.13,44.60
$GC,886,1.62,341.3,2864,1982,2095,4095,32.5,11.7,114,895,0.00,2.80,0.00,0.000,260,0.000,0.066,2865,2994,2096,2096,4094,0,0,0,0,0,0,26.10,25.77,26.11,10.12,44.92
$GC,938,1.62,341.3,2864,2993,2094,4094,25.5,13.3,121,947,0.00,2.58,0.00,0.000,1030,0.000,0.032,2865,2002,2093,2093,4095,0,0,0,0,0,0,25.93,25.88,25.96,10.12,45.43
$GC,983,1.62,341.3,2864,2001,2093,4095,20.0,11.8,127,992,0.00,2.65,0.00,0.000,516,0.000,0.074,2865,1046,2092,2092,4094,0,0,0,0,0,0,26.21,25.86,26.22,10.12,45.78
$GC,1056,1.62,341.3,2864,1046,2090,4094,12.2,9.7,137,1064,0.00,2.38,0.00,0.000,1030,0.000,0.031,2865,1985,2090,2090,4094,0,0,0,0,0,0,26.05,26.02,26.07,10.16,46.25
$GC,1101,1.62,341.3,2864,1986,2089,4094,7.4,9.8,143,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1987,2089,2089,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.19,47.51
$GC,1146,1.62,341.3,2864,1990,2088,4094,2.7,9.3,149,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1990,2088,2088,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.19,48.11
$STATE,1162,end climb,FINISH_DEPTH_REACHED
$STATE,1162,begin subsurface finish
$FINISH1,0.7,1.024317,89
$GC,1168,0.13,89.4,2865,1990,2088,4094,0.7,10.6,151,1178,4.75,0.00,-2.80,0.000,20486,0.033,0.000,2406,1993,2402,2402,4094,0,0,0,0,0,0,26.10,25.24,26.15,10.21,49.21
$FINISH2,0.1
$STATE,1179,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1179,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,220158
$TT8_MAMPS,0.025466,0.235935
$HUMID,49.56
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.31,1.944
$10V_AH,10.29,2.841
$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,21.325,31.475,40.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.583,0.000,128.086,635.114,42.130,33.419,386.944,0.000,367.697,0.000,0.543,0.000
$DEVICE_MAMPS,65.790,77.265,1265.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.277,412.954,326.930,484.586,632.425,0.000,0.000,0.000,0.000,0.000
$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,14365,152
$CAP_FILE_SIZE,31698,0
$CFSIZE,1024409600,1015873536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270717,232557,5923.568,-17037.479,6,0.9,23,8.6,1.0,197.4,9,4.9