version: 66.13
glider: 401
mission: 22
dive: 88
start: 7 28 117 5 46 55
data:
$ID,401
$MISSION,22
$DIVE,88
$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,26
$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
$GPS1,280717,053602,5924.9585,-17044.6523,4,1.1,50,8.5,0.5,38.6,9,6.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-42.1
$GPS2,280717,054549,5925.0083,-17044.6836,6,0.9,40,8.5,0.2,319.2,9,4.9
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.319654,-0.035418
$KALMAN_X,12232.013672,-1239.378418,-810.418335,-28336.628906,-62.911072
$KALMAN_Y,3954.169922,1371.190186,459.813293,12148.770508,160.416473
$MHEAD_RNG_PITCHd_Wd,255.2,9359,-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,7,-1.62,-341.3,230,1890,2058,4092,0.0,0.0,0,21,11.50,0.00,0.00,0.000,2049,0.109,0.000,1177,1887,2058,2058,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.29,48.54
$GC,23,-1.62,-341.3,1176,1889,2059,4094,0.9,0.0,1,42,7.32,0.00,-7.80,0.000,18694,0.070,0.000,1832,1888,2903,2903,4094,0,0,0,0,0,0,25.88,25.06,25.94,10.29,49.09
$GC,79,-1.62,-341.3,1831,1888,2904,4094,0.2,-1.0,8,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1888,2903,2903,4095,0,0,0,0,0,0,26.16,26.17,26.17,10.47,48.38
$GC,125,-1.62,-341.3,1831,1888,2904,4095,5.2,-12.1,14,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1888,2905,2905,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.47,47.95
$GC,168,-1.62,-341.3,1831,1888,2905,4095,11.0,-13.7,20,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1888,2905,2905,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.48,47.24
$GC,213,-1.62,-341.3,1830,1888,2906,4095,16.8,-13.0,26,222,0.00,2.67,0.00,0.000,260,0.000,0.059,1832,2870,2907,2907,4095,0,0,0,0,0,0,26.28,25.95,26.29,10.48,46.88
$GC,297,-1.62,-341.3,1831,2870,2908,4095,26.0,-10.3,38,307,0.00,2.47,0.00,0.000,1030,0.000,0.031,1832,1904,2908,2908,4095,0,0,0,0,0,0,26.11,26.07,26.14,10.40,45.66
$GC,343,-1.62,-341.3,1832,1904,2909,4095,30.8,-10.8,44,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1904,2909,2909,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.39,45.35
$GC,387,-1.62,-341.3,1831,1904,2910,4094,35.8,-11.6,50,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1904,2910,2910,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.38,44.36
$GC,433,-1.62,-341.3,1831,1903,2911,4094,41.0,-12.2,56,442,0.00,2.65,0.00,0.000,516,0.000,0.073,1832,927,2911,2911,4095,0,0,0,0,0,0,26.42,26.07,26.44,10.37,43.73
$GC,491,-1.62,-341.3,1832,927,2912,4095,48.5,-13.2,64,500,0.00,2.42,0.00,0.000,1030,0.000,0.031,1832,1904,2912,2912,4094,0,0,0,0,0,0,26.22,26.19,26.28,10.36,43.73
$GC,537,-1.62,-341.3,1831,1906,2914,4094,53.8,-11.7,70,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1906,2913,2913,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.35,44.36
$GC,583,-1.62,-341.3,1832,1906,2914,4095,59.4,-12.2,76,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1906,2914,2914,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.35,43.89
$STATE,599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,599,begin apogee
$GC,605,-0.45,0.0,1832,2038,2915,4094,61.7,-12.0,78,632,4.10,0.00,20.45,1.265,10244,0.067,0.000,2203,2038,2500,2500,4095,0,0,0,0,0,0,26.20,25.56,24.67,10.34,44.13
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,635,1.62,341.3,2203,2038,2500,4095,63.9,0.0,81,671,7.05,0.00,19.88,1.247,11270,0.039,0.000,2866,2038,2105,2105,4094,0,0,0,0,0,0,25.74,25.90,24.24,10.25,43.22
$GC,708,1.62,341.3,2865,2038,2104,4094,59.3,10.1,90,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2038,2104,2104,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.16,42.63
$GC,754,1.62,341.3,2866,2038,2103,4094,54.1,10.9,96,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2038,2103,2103,4094,0,0,0,0,0,0,25.82,25.83,25.82,10.16,42.99
$GC,799,1.62,341.3,2866,2038,2102,4094,48.8,11.8,102,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2038,2102,2102,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.15,43.03
$GC,843,1.62,341.3,2865,2038,2101,4094,43.8,11.3,108,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2038,2099,2099,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.15,43.03
$GC,887,1.62,341.3,2865,2038,2100,4094,38.6,11.9,114,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2038,2099,2099,4095,0,0,0,0,0,0,26.06,26.08,26.07,10.15,44.21
$GC,930,1.62,341.3,2866,2037,2099,4095,33.7,11.3,120,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2038,2098,2098,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.14,43.93
$GC,975,1.62,341.3,2865,2037,2098,4095,28.5,11.5,126,984,0.00,2.78,0.00,0.000,516,0.000,0.072,2866,1045,2097,2097,4094,0,0,0,0,0,0,26.17,25.82,26.17,10.13,44.01
$GC,1021,1.62,341.3,2866,1045,2096,4094,23.0,12.4,132,1031,0.00,2.38,0.00,0.000,1030,0.000,0.030,2866,1987,2096,2096,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.13,44.92
$GC,1068,1.62,341.3,2865,1986,2095,4094,17.6,12.2,138,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1987,2095,2095,4095,0,0,0,0,0,0,26.25,26.27,26.26,10.14,44.29
$GC,1113,1.74,418.9,2865,1989,2094,4095,13.5,7.7,144,1122,0.25,0.00,5.38,0.545,10246,0.049,0.000,2894,1989,2011,2011,4095,0,0,0,0,0,0,26.06,25.86,25.27,10.18,45.74
$GC,1159,1.86,502.8,2894,1989,2010,4095,10.0,7.6,150,1179,0.43,2.62,5.97,0.545,10756,0.044,0.075,2940,1045,1913,1913,4094,0,0,0,0,0,0,26.03,25.83,25.27,10.18,47.20
$GC,1216,1.86,502.8,2939,1045,1911,4094,3.1,13.2,157,1225,0.00,2.45,0.00,0.000,1030,0.000,0.029,2940,2011,1911,1911,4095,0,0,0,0,0,0,26.02,25.98,26.03,10.18,48.38
$STATE,1233,end climb,FINISH_DEPTH_REACHED
$STATE,1233,begin subsurface finish
$FINISH1,0.1,1.024310,90
$GC,1239,0.13,89.9,2940,2016,1910,4094,0.1,14.7,159,1257,5.60,0.00,-4.22,0.000,20486,0.037,0.000,2410,2019,2401,2401,4094,0,0,0,0,0,0,25.96,25.54,26.04,10.19,48.11
$FINISH2,0.1
$STATE,1258,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1258,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,053731
$TT8_MAMPS,0.026215,0.253911
$HUMID,48.62
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,24.24,2.261
$10V_AH,10.28,3.361
$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,36.250,20.700,51.675,0.000,0.000,49.283,41.673,307.728,0.000,0.000,42.962,458.922,45.816,146.702,1124.441,92.696,33.446,433.648,0.000,391.105,0.000,2.922,0.000
$DEVICE_MAMPS,108.630,74.970,1264.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.102,437.436,346.188,512.803,669.714,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329480
$DATA_FILE_SIZE,14195,161
$CAP_FILE_SIZE,40874,0
$CFSIZE,1024409600,1015169024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280717,054549,5925.008,-17044.684,6,0.9,40,8.5,0.2,319.2,9,4.9