version: 66.13
glider: 401
mission: 22
dive: 92
start: 7 28 117 7 25 58
data:
$ID,401
$MISSION,22
$DIVE,92
$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,39
$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
$GPS1,280717,070151,5925.7036,-17045.4375,7,0.8,13,8.5,0.7,256.5,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-3.9
$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,-0.299210,-0.118123
$KALMAN_X,13004.691406,-1317.006226,-768.909424,-29809.869141,57.955688
$KALMAN_Y,5159.443359,1561.506836,637.540955,11881.737305,189.658386
$MHEAD_RNG_PITCHd_Wd,240.0,8444,-12.2,-9.091,-15.78,5646
$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,-341.3,2405,1878,2401,4092,0.0,0.0,0,20,5.88,0.00,-4.32,0.000,20482,0.033,0.000,1840,1878,2874,2874,4094,0,0,0,0,0,0,26.20,28.83,26.22,10.31,49.44
$GC,22,-1.62,-341.3,1839,1878,2874,4094,0.1,0.0,1,32,0.00,0.00,-0.25,0.000,16390,0.000,0.000,1840,1878,2904,2904,4095,0,0,0,0,0,0,26.40,25.67,26.26,10.41,49.64
$GC,67,-1.62,-341.3,1839,1878,2904,4095,1.4,-5.8,7,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2904,2904,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.42,49.09
$GC,111,-1.62,-341.3,1839,1878,2905,4095,5.8,-10.8,13,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2905,2905,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.42,49.52
$GC,155,-1.62,-341.3,1839,1878,2906,4094,12.0,-13.4,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2906,2906,4095,0,0,0,0,0,0,26.34,26.34,26.34,10.43,49.09
$GC,199,-1.62,-341.3,1839,1878,2907,4095,17.9,-13.4,25,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2907,2907,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.42,49.25
$GC,243,-1.62,-341.3,1839,1878,2908,4094,22.8,-11.0,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2908,2908,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.38,48.70
$GC,287,-1.62,-341.3,1839,1878,2909,4094,27.4,-10.5,37,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2909,2909,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.36,48.30
$GC,331,-1.62,-341.3,1839,1878,2910,4095,32.0,-10.1,43,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2910,2910,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.35,46.92
$GC,375,-1.62,-341.3,1839,1878,2911,4094,36.6,-10.5,49,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2911,2911,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.35,46.65
$GC,420,-1.62,-341.3,1839,1878,2911,4094,40.8,-8.9,55,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2912,2912,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.34,45.98
$GC,464,-1.62,-341.3,1839,1878,2912,4095,45.8,-10.9,61,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2912,2912,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.33,46.06
$GC,509,-1.62,-341.3,1839,1878,2913,4094,50.5,-10.6,67,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2913,2913,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.32,45.03
$GC,553,-1.62,-341.3,1839,1878,2914,4095,55.8,-12.0,73,562,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1878,2914,2914,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.32,44.95
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,594,-0.45,0.0,1839,2042,2915,4095,60.2,-11.2,78,622,4.03,0.00,20.38,1.258,10246,0.064,0.000,2205,2042,2500,2500,4094,0,0,0,0,0,0,26.25,25.61,24.74,10.32,44.84
$STATE,623,end apogee,CONTROL_FINISHED_OK
$STATE,623,begin climb
$GC,625,1.62,341.3,2205,2041,2500,4094,62.2,0.0,81,661,6.97,0.00,19.95,1.232,10246,0.038,0.000,2863,2042,2101,2101,4094,0,0,0,0,0,0,25.79,24.93,24.30,10.23,44.72
$GC,698,1.62,341.3,2863,2041,2101,4094,56.1,12.2,90,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2100,2100,4094,0,0,0,0,0,0,25.71,25.73,25.72,10.14,44.36
$GC,744,1.62,341.3,2863,2041,2100,4094,50.4,12.1,96,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2099,2099,4095,0,0,0,0,0,0,25.84,25.86,25.85,10.14,44.29
$GC,787,1.62,341.3,2863,2041,2099,4095,45.0,12.8,102,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2042,2098,2098,4095,0,0,0,0,0,0,25.94,25.95,25.95,10.13,44.17
$GC,832,1.62,341.3,2863,2041,2098,4095,39.7,11.6,108,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2097,2097,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.13,44.36
$GC,876,1.62,341.3,2863,2041,2096,4094,34.4,11.7,114,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2042,2096,2096,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.12,45.23
$GC,920,1.62,341.3,2863,2041,2095,4094,29.1,12.0,120,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2095,2095,4095,0,0,0,0,0,0,26.13,26.15,26.15,10.11,45.03
$GC,964,1.62,341.3,2863,2041,2094,4095,24.1,10.9,126,974,0.00,2.72,0.00,0.000,516,0.000,0.073,2863,1068,2093,2093,4095,0,0,0,0,0,0,26.18,25.86,26.19,10.11,45.58
$GC,1022,1.62,341.3,2863,1068,2093,4095,17.2,11.8,134,1032,0.00,2.35,0.00,0.000,1030,0.000,0.031,2863,2000,2092,2092,4094,0,0,0,0,0,0,26.03,25.98,26.04,10.12,45.31
$GC,1070,1.66,369.4,2863,2000,2091,4094,13.4,8.6,140,1079,0.00,0.00,2.85,0.272,8198,0.000,0.000,2863,2001,2069,2069,4094,0,0,0,0,0,0,26.27,25.73,25.29,10.16,46.49
$GC,1116,1.66,369.4,2863,2000,2068,4094,9.1,9.6,146,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2001,2068,2068,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.18,47.40
$GC,1160,1.66,369.4,2863,2003,2067,4094,4.9,9.2,152,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2003,2067,2067,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.19,48.22
$STATE,1189,end climb,FINISH_DEPTH_REACHED
$STATE,1190,begin subsurface finish
$FINISH1,1.3,1.024319,89
$GC,1195,0.13,89.3,2863,2004,2066,4094,1.3,11.7,156,1206,4.75,0.00,-3.00,0.000,20486,0.035,0.000,2406,2005,2401,2401,4094,0,0,0,0,0,0,26.10,25.25,26.16,10.21,49.29
$FINISH2,0.1
$STATE,1207,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1207,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,054151
$TT8_MAMPS,0.025466,0.245672
$HUMID,48.97
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.30,2.337
$10V_AH,10.27,3.509
$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,21.625,5.675,43.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.659,0.000,133.104,654.979,43.328,33.420,399.289,0.000,379.685,0.000,0.543,0.000
$DEVICE_MAMPS,64.260,73.440,1257.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.636,426.550,337.601,500.550,653.010,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331016
$DATA_FILE_SIZE,14298,157
$CAP_FILE_SIZE,30743,0
$CFSIZE,1024409600,1014988800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,070151,5925.704,-17045.438,7,0.8,13,8.5,0.7,256.5,11,4.9