version: 66.13
glider: 401
mission: 22
dive: 89
start: 7 28 117 6 9 54
data:
$ID,401
$MISSION,22
$DIVE,89
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,280717,054549,5925.0083,-17044.6836,6,0.9,40,8.5,0.2,319.2,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-4.7
$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,-0.319472,-0.036970
$KALMAN_X,12450.981445,-1213.565918,-746.767334,-28671.117188,-46.743347
$KALMAN_Y,4015.323975,1383.755249,471.000732,12084.235352,157.887756
$MHEAD_RNG_PITCHd_Wd,254.9,9359,-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,-341.3,2409,1882,2401,4092,0.0,0.0,0,21,5.90,0.00,-4.57,0.000,20486,0.031,0.000,1847,1887,2904,2904,4094,0,0,0,0,0,0,25.99,25.13,26.02,10.31,49.33
$GC,23,-1.62,-341.3,1847,1887,2904,4094,0.1,0.0,1,32,0.00,2.65,0.00,0.000,516,0.000,0.075,1846,936,2904,2904,4094,0,0,0,0,0,0,26.20,25.84,26.22,10.42,49.17
$GC,74,-1.62,-341.3,1846,936,2905,4094,4.6,-11.0,8,84,0.00,2.45,0.00,0.000,1030,0.000,0.034,1847,1904,2905,2905,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.42,48.89
$GC,120,-1.62,-341.3,1846,1906,2906,4094,10.0,-12.1,14,129,0.00,2.60,0.00,0.000,260,0.000,0.061,1847,2859,2906,2906,4094,0,0,0,0,0,0,26.31,25.97,26.32,10.43,48.77
$GC,151,-1.62,-341.3,1846,2859,2907,4094,13.7,-11.3,18,161,0.00,2.42,0.00,0.000,1030,0.000,0.033,1847,1917,2907,2907,4094,0,0,0,0,0,0,26.09,26.04,26.12,10.44,48.85
$GC,198,-1.62,-341.3,1846,1917,2908,4094,19.7,-13.4,24,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2908,2908,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.41,49.13
$GC,242,-1.62,-341.3,1846,1917,2909,4095,24.5,-10.1,30,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2909,2909,4095,0,0,0,0,0,0,26.38,26.40,26.39,10.38,48.03
$GC,286,-1.62,-341.3,1846,1917,2910,4095,28.8,-9.8,36,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2909,2909,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.36,46.85
$GC,330,-1.62,-341.3,1846,1917,2911,4094,33.4,-10.6,42,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2911,2911,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.35,46.29
$GC,374,-1.62,-341.3,1846,1917,2911,4094,38.1,-10.8,48,383,0.00,2.70,0.00,0.000,516,0.000,0.073,1847,930,2912,2912,4095,0,0,0,0,0,0,26.46,26.10,26.46,10.35,45.90
$GC,425,-1.62,-341.3,1846,930,2913,4095,44.1,-12.2,55,435,0.00,2.45,0.00,0.000,1030,0.000,0.032,1847,1911,2913,2913,4094,0,0,0,0,0,0,26.26,26.22,26.28,10.34,45.15
$GC,472,-1.62,-341.3,1846,1911,2914,4094,49.1,-11.2,61,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1911,2914,2914,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.33,45.11
$GC,518,-1.62,-341.3,1846,1914,2914,4095,54.4,-11.1,67,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1915,2914,2914,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.32,44.84
$GC,564,-1.62,-341.3,1846,1914,2915,4095,59.7,-11.3,73,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1915,2916,2916,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.32,45.11
$STATE,580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,580,begin apogee
$GC,585,-0.45,0.0,1846,2047,2916,4094,61.8,-11.6,75,614,3.95,0.08,20.50,1.269,10244,0.068,0.099,2204,2007,2500,2500,4095,0,0,0,0,0,0,26.24,25.59,24.71,10.32,44.72
$STATE,615,end apogee,CONTROL_FINISHED_OK
$STATE,615,begin climb
$GC,617,1.62,341.3,2203,2007,2500,4095,64.2,0.0,78,653,7.07,0.00,19.75,1.248,11270,0.041,0.000,2867,2007,2107,2107,4094,0,0,0,0,0,0,25.78,25.94,24.28,10.23,44.44
$GC,690,1.62,341.3,2866,2007,2106,4094,58.9,11.2,87,699,0.00,0.00,0.35,0.003,8198,0.000,0.000,2867,2007,2106,2106,4094,0,0,0,0,0,0,25.70,25.72,25.70,10.13,43.97
$GC,736,1.62,341.3,2867,2007,2105,4094,53.5,11.6,93,746,0.00,0.00,0.17,0.003,8198,0.000,0.000,2867,2007,2105,2105,4095,0,0,0,0,0,0,25.84,25.84,25.82,10.13,44.21
$GC,783,1.62,341.3,2867,2007,2104,4095,48.5,11.0,99,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2007,2104,2104,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.13,44.64
$GC,829,1.62,341.3,2867,2007,2103,4094,43.1,11.5,105,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2007,2103,2103,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.13,44.99
$GC,872,1.62,341.3,2867,2007,2102,4094,38.0,11.0,111,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2007,2102,2102,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.12,44.60
$GC,916,1.62,341.3,2866,2007,2101,4094,32.9,11.5,117,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2007,2100,2100,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.12,45.31
$GC,961,1.62,341.3,2867,2007,2100,4094,27.8,11.5,123,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2007,2099,2099,4094,0,0,0,0,0,0,26.18,26.19,26.19,10.11,45.47
$GC,1005,1.62,341.3,2866,2007,2098,4094,22.7,11.8,129,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2007,2098,2098,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.11,45.23
$GC,1049,1.62,341.3,2867,2007,2097,4094,17.6,11.4,135,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2007,2097,2097,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.11,45.51
$GC,1094,1.64,351.9,2867,2007,2096,4094,13.3,8.9,141,1102,0.00,0.00,1.60,0.004,8198,0.000,0.000,2867,2007,2096,2096,4095,0,0,0,0,0,0,26.29,26.27,26.27,10.15,46.57
$GC,1138,1.66,364.1,2866,2007,2095,4095,9.4,8.9,147,1148,0.00,0.00,2.88,0.264,8198,0.000,0.000,2867,2007,2072,2072,4094,0,0,0,0,0,0,26.33,25.79,25.39,10.18,47.24
$GC,1185,1.70,394.9,2867,2006,2070,4094,5.4,8.5,153,1195,0.12,2.58,3.08,0.283,10500,0.067,0.060,2886,2963,2042,2042,4094,0,0,0,0,0,0,26.13,25.83,25.44,10.19,48.34
$STATE,1216,end climb,FINISH_DEPTH_REACHED
$STATE,1216,begin subsurface finish
$FINISH1,1.4,1.024307,90
$GC,1225,0.14,90.1,2886,2025,2041,4094,1.4,11.8,157,1243,4.93,0.00,-3.10,0.000,20486,0.027,0.000,2405,2022,2395,2395,4094,0,0,0,0,0,0,26.12,25.63,26.17,10.20,49.40
$FINISH2,0.1
$STATE,1244,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1244,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,053731
$TT8_MAMPS,0.026215,0.24717
$HUMID,49.52
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.28,2.276
$10V_AH,10.28,3.397
$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,21.975,20.925,48.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.686,0.000,142.381,662.334,45.103,33.419,417.267,0.000,384.235,0.000,0.543,0.000
$DEVICE_MAMPS,68.085,99.450,1269.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.863,431.908,341.935,506.915,659.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331088
$DATA_FILE_SIZE,14380,159
$CAP_FILE_SIZE,34188,0
$CFSIZE,1024409600,1015119872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,054549,5925.008,-17044.684,6,0.9,40,8.5,0.2,319.2,9,4.9