version: 66.13
glider: 401
mission: 22
dive: 91
start: 7 28 117 7 2 57
data:
$ID,401
$MISSION,22
$DIVE,91
$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,29
$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
$GPS1,280717,065522,5925.6499,-17045.4824,9,0.7,12,8.5,0.0,48.1,12,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-46.4
$GPS2,280717,070151,5925.7036,-17045.4375,7,0.8,13,8.5,0.7,256.5,11,4.9
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.297474,-0.122307
$KALMAN_X,12808.011719,-1356.557861,-855.105713,-29474.527344,74.887878
$KALMAN_Y,5023.261719,1531.649658,620.847168,12045.771484,193.912720
$MHEAD_RNG_PITCHd_Wd,239.1,8444,-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,7,-1.62,-341.3,240,1886,2088,4092,0.0,0.0,0,21,11.52,0.00,0.00,0.000,2049,0.106,0.000,1193,1884,2088,2088,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.27,49.48
$GC,23,-1.62,-341.3,1192,1884,2088,4094,0.9,0.0,1,42,6.97,0.00,-7.53,0.000,18694,0.055,0.000,1835,1885,2901,2901,4094,0,0,0,0,0,0,25.90,25.06,25.96,10.28,50.03
$GC,78,-1.62,-341.3,1834,1883,2901,4094,-0.0,0.4,8,86,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1884,2901,2901,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.46,49.25
$GC,122,-1.62,-341.3,1834,1883,2901,4094,0.8,-3.0,14,131,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1884,2902,2902,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.46,48.81
$GC,166,-1.62,-341.3,1834,1883,2903,4094,5.3,-11.2,20,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1884,2902,2902,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.45,48.93
$GC,210,-1.62,-341.3,1834,1883,2903,4094,11.2,-13.2,26,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1884,2904,2904,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.46,48.11
$GC,254,-1.62,-341.3,1834,1883,2905,4095,17.5,-14.7,32,264,0.00,2.70,0.00,0.000,260,0.000,0.061,1835,2871,2905,2905,4094,0,0,0,0,0,0,26.31,25.98,26.32,10.46,47.63
$GC,313,-1.62,-341.3,1834,2870,2906,4094,24.0,-10.1,40,322,0.00,2.47,0.00,0.000,1030,0.000,0.031,1835,1905,2906,2906,4094,0,0,0,0,0,0,26.12,26.06,26.16,10.40,46.65
$GC,359,-1.62,-341.3,1834,1905,2907,4094,28.6,-9.8,46,369,0.00,2.67,0.00,0.000,516,0.000,0.072,1835,926,2907,2907,4095,0,0,0,0,0,0,26.38,26.02,26.39,10.38,45.98
$GC,417,-1.62,-341.3,1834,926,2908,4095,35.8,-12.7,54,427,0.00,2.45,0.00,0.000,1030,0.000,0.031,1835,1908,2908,2908,4094,0,0,0,0,0,0,26.19,26.16,26.20,10.37,45.11
$GC,464,-1.62,-341.3,1834,1909,2909,4094,41.0,-11.4,60,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,2909,2909,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.36,44.52
$GC,510,-1.62,-341.3,1834,1911,2910,4095,46.2,-10.8,66,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1911,2910,2910,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.35,44.40
$GC,556,-1.62,-341.3,1834,1911,2911,4095,51.2,-10.7,72,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1911,2911,2911,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.35,44.36
$GC,601,-1.62,-341.3,1834,1911,2912,4094,56.5,-12.0,78,610,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1911,2912,2912,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.34,44.68
$STATE,630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,630,begin apogee
$GC,635,-0.45,0.0,1835,2044,2913,4094,60.5,-12.4,82,663,4.05,0.00,20.33,1.256,10244,0.065,0.000,2203,2044,2500,2500,4095,0,0,0,0,0,0,26.21,25.57,24.70,10.33,44.21
$STATE,664,end apogee,CONTROL_FINISHED_OK
$STATE,664,begin climb
$GC,666,1.62,341.3,2203,2044,2500,4095,62.6,0.0,85,702,7.05,0.00,19.83,1.236,11270,0.041,0.000,2864,2044,2105,2105,4094,0,0,0,0,0,0,25.75,25.92,24.25,10.24,44.32
$GC,740,1.62,342.0,2863,2044,2104,4094,58.1,9.1,94,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2044,2104,2104,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.15,43.42
$GC,783,1.62,342.0,2863,2044,2103,4094,53.0,10.9,100,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2044,2103,2103,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.15,43.89
$GC,827,1.62,342.0,2863,2044,2102,4094,47.8,11.7,106,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2044,2102,2102,4094,0,0,0,0,0,0,25.92,25.94,25.93,10.15,43.50
$GC,872,1.62,342.0,2863,2044,2100,4094,42.1,12.9,112,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2044,2100,2100,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.15,43.42
$GC,915,1.62,342.0,2863,2044,2099,4094,37.1,11.4,118,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2044,2099,2099,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.14,44.40
$GC,959,1.62,342.0,2863,2044,2098,4094,32.0,11.3,124,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2044,2098,2098,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.14,44.52
$GC,1004,1.62,342.0,2863,2044,2097,4094,26.9,11.4,130,1013,0.00,2.80,0.00,0.000,516,0.000,0.073,2864,1044,2097,2097,4094,0,0,0,0,0,0,26.17,25.82,26.18,10.13,44.76
$GC,1062,1.62,342.0,2863,1043,2096,4094,19.6,12.4,138,1071,0.00,2.40,0.00,0.000,1030,0.000,0.031,2864,1994,2095,2095,4095,0,0,0,0,0,0,26.01,25.97,26.03,10.12,44.44
$GC,1109,1.62,342.0,2863,1994,2095,4095,14.9,9.6,144,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1994,2095,2095,4094,0,0,0,0,0,0,26.27,26.27,26.27,10.16,44.88
$GC,1155,1.65,360.1,2863,1995,2093,4094,10.7,8.8,150,1164,0.00,0.00,2.45,0.173,8198,0.000,0.000,2864,1996,2080,2080,4094,0,0,0,0,0,0,26.30,25.77,25.34,10.18,46.81
$GC,1201,1.65,360.1,2863,1996,2080,4094,6.3,9.8,156,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1997,2080,2080,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.20,47.79
$STATE,1244,end climb,FINISH_DEPTH_REACHED
$STATE,1244,begin subsurface finish
$FINISH1,1.6,1.024309,90
$GC,1249,0.13,89.9,2863,2000,2078,4094,1.6,10.3,162,1259,4.70,0.00,-2.55,0.000,20486,0.029,0.000,2406,2001,2401,2401,4094,0,0,0,0,0,0,26.13,25.25,26.18,10.21,48.22
$FINISH2,0.1
$STATE,1260,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1260,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,054151
$TT8_MAMPS,0.026215,0.249417
$HUMID,49.21
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.25,2.323
$10V_AH,10.28,3.474
$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,34.300,15.750,42.600,0.000,0.000,23.057,18.646,247.212,0.000,0.000,14.751,462.424,0.736,138.226,982.580,88.333,33.448,418.963,0.000,395.177,0.000,1.732,0.000
$DEVICE_MAMPS,106.335,72.675,1256.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.692,442.821,350.510,519.530,677.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329504
$DATA_FILE_SIZE,14315,163
$CAP_FILE_SIZE,37882,0
$CFSIZE,1024409600,1015021568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280717,070151,5925.704,-17045.438,7,0.8,13,8.5,0.7,256.5,11,4.9