version: 66.13
glider: 401
mission: 22
dive: 75
start: 7 28 117 0 12 6
data:
$ID,401
$MISSION,22
$DIVE,75
$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,25
$R_STBD_OVSHOOT,26
$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,0.14
$_SM_ANGLEo,-2.4
$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,-0.299580,0.117022
$KALMAN_X,12997.104492,-482.818604,-118.914749,-23749.218750,190.439407
$KALMAN_Y,3695.637939,1431.966675,541.412292,9617.059570,-92.890991
$MHEAD_RNG_PITCHd_Wd,282.7,16606,-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,-341.3,2406,1890,2402,4092,0.0,0.0,0,21,5.88,0.00,-4.57,0.000,20486,0.033,0.000,1842,1888,2903,2903,4095,0,0,0,0,0,0,26.19,25.28,26.20,10.30,50.51
$GC,23,-1.62,-341.3,1842,1888,2903,4095,0.0,0.0,1,32,0.00,2.62,0.00,0.000,516,0.000,0.070,1843,928,2903,2903,4094,0,0,0,0,0,0,26.38,26.04,26.39,10.41,50.19
$GC,107,-1.62,-341.3,1841,928,2905,4094,5.2,-10.7,13,115,0.00,2.45,0.00,0.000,1030,0.000,0.034,1842,1904,2904,2904,4094,0,0,0,0,0,0,26.22,26.17,26.25,10.41,49.68
$GC,151,-1.62,-341.3,1841,1903,2906,4094,10.9,-12.7,19,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1904,2906,2906,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.42,50.00
$GC,195,-1.62,-341.3,1841,1903,2907,4095,16.1,-11.7,25,204,0.00,2.60,0.00,0.000,260,0.000,0.065,1842,2860,2907,2907,4094,0,0,0,0,0,0,26.48,26.15,26.50,10.42,49.84
$GC,226,-1.62,-341.3,1841,2860,2907,4094,19.5,-11.1,29,236,0.00,2.45,0.00,0.000,1030,0.000,0.034,1842,1905,2907,2907,4095,0,0,0,0,0,0,26.25,26.22,26.28,10.39,49.60
$GC,272,-1.62,-341.3,1842,1905,2908,4095,24.0,-10.1,35,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2908,2908,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.37,48.74
$GC,316,-1.62,-341.3,1841,1905,2909,4095,28.6,-10.6,41,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2909,2909,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.36,47.79
$GC,360,-1.62,-341.3,1842,1905,2910,4095,33.5,-11.1,47,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2910,2910,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.34,46.85
$GC,405,-1.62,-341.3,1841,1905,2911,4095,38.3,-10.5,53,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2911,2911,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.34,46.45
$GC,449,-1.62,-341.3,1841,1905,2912,4095,43.1,-10.9,59,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2912,2912,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.33,46.29
$GC,493,-1.62,-341.3,1841,1905,2913,4094,47.7,-10.7,65,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2913,2913,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.32,45.94
$GC,538,-1.62,-341.3,1841,1905,2914,4095,52.9,-11.6,71,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,2914,2914,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.32,46.10
$GC,582,-1.62,-341.3,1841,1905,2915,4095,58.1,-11.5,77,590,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2915,2915,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.32,45.35
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,603,-0.45,0.0,1841,2038,2915,4094,60.2,-12.1,79,630,3.97,0.00,20.40,1.259,10244,0.066,0.000,2204,2038,2500,2500,4095,0,0,0,0,0,0,26.32,25.67,24.80,10.31,45.19
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.62,341.3,2204,2038,2500,4095,62.2,0.0,82,669,7.05,0.00,19.95,1.239,11270,0.041,0.000,2866,2038,2101,2101,4095,0,0,0,0,0,0,25.84,26.02,24.35,10.23,44.76
$GC,706,1.62,341.3,2866,2037,2100,4095,57.0,10.6,91,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2038,2100,2100,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.13,44.72
$GC,752,1.62,341.3,2865,2037,2099,4094,51.5,12.1,97,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2038,2099,2099,4095,0,0,0,0,0,0,25.87,25.89,25.88,10.13,44.17
$GC,798,1.62,341.3,2866,2037,2098,4095,45.7,12.2,103,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2038,2098,2098,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.13,44.36
$GC,842,1.62,341.3,2866,2037,2097,4094,40.2,12.0,109,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2038,2096,2096,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.12,44.84
$GC,886,1.62,341.3,2866,2037,2096,4094,35.2,10.9,115,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2038,2095,2095,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.12,44.68
$GC,931,1.62,341.3,2866,2038,2095,4094,29.5,13.3,121,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2038,2094,2094,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.11,45.23
$GC,974,1.62,341.3,2866,2038,2093,4094,24.2,12.2,127,986,0.00,2.75,0.00,0.000,516,0.000,0.072,2867,1043,2093,2093,4094,0,0,0,0,0,0,26.19,25.86,26.21,10.11,45.35
$GC,1041,1.62,341.3,2865,1043,2091,4094,15.6,12.7,136,1050,0.00,2.40,0.00,0.000,1030,0.000,0.031,2867,1991,2091,2091,4094,0,0,0,0,0,0,26.04,25.99,26.07,10.13,45.31
$GC,1086,1.62,341.3,2866,1991,2090,4094,11.0,10.6,142,1095,0.00,2.75,0.00,0.000,260,0.000,0.066,2867,2991,2089,2089,4094,0,0,0,0,0,0,26.29,25.94,26.29,10.17,47.16
$GC,1163,1.62,341.3,2866,2991,2087,4094,2.1,12.1,153,1172,0.00,2.47,0.00,0.000,1030,0.000,0.034,2866,2033,2087,2087,4094,0,0,0,0,0,0,26.11,26.07,26.13,10.20,48.42
$STATE,1180,end climb,SURFACE_DEPTH_REACHED
$STATE,1180,begin surface coast
$FINISH,0.0,1.015634
$STATE,1201,end surface coast,CONTROL_FINISHED_OK
$STATE,1201,begin surface
$SM_CCo,1298,0.00,0.000,0,0,2087,355.46
$SM_GC,1.08,27.67,0.35,0.00,0.026,0.060,0.000,231,1891,2087,-6.65,0.77,355.46,0,0,0,0,0,0,25.98,26.10,26.11
$IRIDIUM_FIX,5957.10,-16911.74,270717,220158
$TT8_MAMPS,0.025466,0.238182
$HUMID,49.84
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.35,1.959
$10V_AH,10.28,2.876
$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,44.575,21.375,40.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.174,60.100,153.634,658.451,45.278,33.407,412.960,0.000,381.427,0.000,0.542,0.000
$DEVICE_MAMPS,65.790,71.910,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.568,429.251,339.847,503.374,656.359,0.000,0.000,0.000,0.000,0.000
$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,14428,158
$CAP_FILE_SIZE,32884,0
$CFSIZE,1024409600,1015808000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,974.15,0x236164,1,24
$GPS,280717,003457,5923.556,-17038.287,8,0.8,39,8.5,0.8,167.4,10,4.9