version: 66.13
glider: 401
mission: 22
dive: 97
start: 7 28 117 9 34 7
data:
$ID,401
$MISSION,22
$DIVE,97
$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,19
$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
$GPS1,280717,092627,5926.3198,-17045.1270,5,0.9,24,8.5,0.4,35.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-40.2
$GPS2,280717,093301,5926.3340,-17044.9785,10,0.9,27,8.5,1.2,117.5,9,4.3
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.320910,-0.021069
$KALMAN_X,14978.160156,-1238.932983,-570.001953,-31627.337891,282.053741
$KALMAN_Y,6662.937500,1737.869873,758.587036,11242.346680,22.760254
$MHEAD_RNG_PITCHd_Wd,257.7,8840,-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,-341.3,230,1886,2051,4092,0.0,0.0,0,20,10.60,0.00,0.00,0.000,2049,0.106,0.000,1108,1886,2051,2051,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.27,49.01
$GC,22,-1.62,-341.3,1108,1886,2051,4094,0.8,0.0,1,41,8.02,0.00,-7.88,0.000,18438,0.063,0.000,1834,1884,2905,2905,4095,0,0,0,0,0,0,25.91,25.08,25.97,10.27,49.21
$GC,78,-1.62,-341.3,1833,1884,2904,4095,0.1,-0.2,8,87,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1885,2904,2904,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.45,49.09
$GC,124,-1.62,-341.3,1833,1884,2905,4094,1.0,-3.8,14,133,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1885,2905,2905,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.46,48.85
$GC,170,-1.62,-341.3,1833,1884,2906,4094,6.7,-13.2,20,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1884,2906,2906,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.45,48.30
$GC,216,-1.62,-341.3,1833,1884,2907,4094,12.8,-13.5,26,225,0.00,2.70,0.00,0.000,260,0.000,0.059,1834,2877,2907,2907,4094,0,0,0,0,0,0,26.31,25.96,26.32,10.46,48.03
$GC,254,-1.62,-341.3,1833,2877,2908,4094,18.4,-13.9,31,264,0.00,2.47,0.00,0.000,1030,0.000,0.031,1834,1911,2909,2909,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.44,47.79
$GC,301,-1.62,-341.3,1833,1910,2909,4095,23.1,-10.1,37,310,0.00,2.72,0.00,0.000,516,0.000,0.074,1834,919,2909,2909,4095,0,0,0,0,0,0,26.36,26.00,26.37,10.40,46.69
$GC,353,-1.62,-341.3,1833,919,2910,4095,29.3,-11.8,44,362,0.00,2.47,0.00,0.000,1030,0.000,0.032,1834,1907,2910,2910,4095,0,0,0,0,0,0,26.21,26.15,26.20,10.38,46.14
$GC,398,-1.62,-341.3,1833,1907,2911,4095,34.6,-11.1,50,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1908,2911,2911,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.38,45.07
$GC,442,-1.62,-341.3,1833,1907,2912,4095,39.8,-11.5,56,452,0.00,2.60,0.00,0.000,260,0.000,0.061,1834,2874,2912,2912,4094,0,0,0,0,0,0,26.44,26.10,26.45,10.36,44.84
$GC,489,-1.62,-341.3,1833,2874,2913,4094,45.0,-10.9,62,498,0.00,2.47,0.00,0.000,1030,0.000,0.031,1834,1904,2913,2913,4094,0,0,0,0,0,0,26.25,26.17,26.28,10.35,44.09
$GC,536,-1.62,-341.3,1833,1904,2914,4094,50.3,-11.8,68,544,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1904,2914,2914,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.35,44.40
$GC,579,-1.62,-341.3,1834,1904,2915,4095,54.9,-9.5,74,588,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1904,2915,2915,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.34,43.89
$GC,623,-1.62,-341.3,1834,1904,2915,4094,59.3,-10.0,80,632,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1904,2916,2916,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.34,43.69
$STATE,640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,640,begin apogee
$GC,645,-0.45,0.0,1834,2044,2916,4094,61.8,-12.5,82,672,4.07,0.00,20.55,1.274,10244,0.063,0.000,2205,2044,2500,2500,4094,0,0,0,0,0,0,26.23,25.57,24.69,10.34,44.01
$STATE,673,end apogee,CONTROL_FINISHED_OK
$STATE,674,begin climb
$GC,675,1.62,341.3,2205,2044,2500,4094,64.6,0.0,85,711,7.05,0.00,20.00,1.256,11270,0.041,0.000,2866,2044,2102,2102,4095,0,0,0,0,0,0,25.76,25.91,24.23,10.25,43.81
$GC,749,1.62,341.3,2866,2044,2102,4095,59.9,11.0,94,758,0.00,2.58,0.00,0.000,260,0.000,0.058,2866,2968,2101,2101,4095,0,0,0,0,0,0,25.68,25.39,25.70,10.16,42.87
$GC,800,1.62,341.3,2866,2968,2099,4095,52.6,14.1,101,810,0.00,2.50,0.00,0.000,1030,0.000,0.031,2866,2015,2100,2100,4094,0,0,0,0,0,0,25.61,25.57,25.64,10.15,43.30
$GC,846,1.62,341.3,2866,2014,2099,4094,46.7,12.2,107,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2015,2099,2099,4095,0,0,0,0,0,0,25.93,25.94,25.94,10.14,44.01
$GC,890,1.62,341.3,2865,2014,2097,4095,41.2,12.6,113,900,0.00,2.70,0.00,0.000,516,0.000,0.071,2866,1042,2097,2097,4094,0,0,0,0,0,0,26.01,25.65,26.01,10.14,44.01
$GC,937,1.62,341.3,2866,1042,2096,4094,34.9,13.3,119,946,0.00,2.42,0.00,0.000,1030,0.000,0.031,2866,1996,2096,2096,4094,0,0,0,0,0,0,25.85,25.82,25.87,10.13,44.44
$GC,983,1.62,341.3,2866,1995,2095,4094,29.4,11.9,125,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1995,2095,2095,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.13,43.93
$GC,1029,1.62,341.3,2866,1995,2093,4094,24.2,11.0,131,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1995,2093,2093,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.12,44.32
$GC,1075,1.62,341.3,2866,1995,2092,4094,18.7,12.1,137,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1995,2092,2092,4094,0,0,0,0,0,0,26.22,26.23,26.24,10.12,44.56
$GC,1121,1.62,341.3,2866,1995,2091,4094,14.0,9.3,143,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1996,2091,2091,4094,0,0,0,0,0,0,26.27,26.27,26.28,10.16,45.62
$GC,1165,1.62,341.3,2865,1997,2090,4094,10.0,9.2,149,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1998,2089,2089,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.19,47.12
$GC,1209,1.62,341.3,2866,1998,2090,4094,5.5,10.4,155,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1998,2089,2089,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.20,48.54
$STATE,1239,end climb,FINISH_DEPTH_REACHED
$STATE,1239,begin subsurface finish
$FINISH1,1.9,1.024312,90
$GC,1244,0.13,89.8,2866,1999,2088,4094,1.9,11.6,159,1255,5.20,0.00,-2.83,0.000,20486,0.084,0.000,2407,2000,2402,2402,4094,0,0,0,0,0,0,26.10,25.25,26.15,10.21,48.14
$FINISH2,0.5
$STATE,1256,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1256,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,081234
$TT8_MAMPS,0.025466,0.241178
$HUMID,48.93
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.23,2.448
$10V_AH,10.28,3.697
$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,34.950,25.950,40.550,0.000,0.000,24.789,17.749,233.007,0.000,0.000,29.829,462.551,0.000,141.145,979.798,89.698,33.449,426.950,0.000,389.036,0.000,1.730,0.000
$DEVICE_MAMPS,106.335,74.205,1273.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.505,434.673,344.088,509.889,668.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329500
$DATA_FILE_SIZE,14242,160
$CAP_FILE_SIZE,38858,0
$CFSIZE,1024409600,1014726656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280717,093301,5926.334,-17044.979,10,0.9,27,8.5,1.2,117.5,9,4.3