version: 66.13
glider: 401
mission: 22
dive: 100
start: 7 28 117 10 48 48
data:
$ID,401
$MISSION,22
$DIVE,100
$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,25
$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
$GPS1,280717,104108,5926.2866,-17044.8750,5,0.8,18,8.5,0.5,281.9,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-43.4
$GPS2,280717,104742,5926.2754,-17044.7422,10,0.8,17,8.5,0.0,13.4,10,5.0
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.314085,0.069210
$KALMAN_X,16028.708984,-1087.426880,-364.705841,-32807.656250,245.863953
$KALMAN_Y,6825.880859,1711.954712,680.213806,11082.291016,-95.348511
$MHEAD_RNG_PITCHd_Wd,273.9,9060,-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,-341.3,230,1896,2093,4092,0.0,0.0,0,20,10.57,0.00,0.00,0.000,2049,0.117,0.000,1087,1895,2093,2093,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.28,49.01
$GC,22,-1.62,-341.3,1087,1895,2093,4094,1.0,0.0,1,40,8.30,0.00,-7.53,0.000,18694,0.066,0.000,1834,1895,2902,2902,4094,0,0,0,0,0,0,25.90,25.06,25.96,10.27,49.37
$GC,77,-1.62,-341.3,1833,1894,2903,4094,2.3,-8.7,8,86,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1894,2903,2903,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.45,49.33
$GC,123,-1.62,-341.3,1833,1894,2904,4095,7.6,-12.8,14,132,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1894,2903,2903,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.45,48.62
$GC,167,-1.62,-341.3,1833,1894,2904,4094,14.0,-13.4,20,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1894,2904,2904,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.46,48.26
$GC,211,-1.62,-341.3,1833,1894,2906,4095,19.2,-11.0,26,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1894,2906,2906,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.43,47.99
$GC,256,-1.62,-341.3,1833,1894,2907,4095,23.8,-10.9,32,265,0.00,2.65,0.00,0.000,516,0.000,0.072,1834,931,2907,2907,4095,0,0,0,0,0,0,26.34,25.98,26.35,10.39,46.77
$GC,294,-1.62,-341.3,1833,932,2908,4095,28.7,-12.7,37,303,0.00,2.45,0.00,0.000,1030,0.000,0.031,1834,1910,2908,2908,4095,0,0,0,0,0,0,26.14,26.10,26.15,10.38,46.25
$GC,340,-1.62,-341.3,1833,1911,2908,4095,34.1,-12.0,43,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2909,2909,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.37,45.94
$GC,386,-1.62,-341.3,1833,1912,2910,4094,39.4,-11.4,49,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2910,2910,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.36,45.23
$GC,432,-1.62,-341.3,1833,1912,2910,4095,44.6,-11.1,55,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2911,2911,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.35,45.31
$GC,478,-1.62,-341.3,1833,1912,2912,4094,50.2,-12.4,61,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1912,2912,2912,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.35,44.36
$GC,523,-1.62,-341.3,1834,1913,2912,4094,54.7,-10.4,67,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1913,2912,2912,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.34,43.93
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,573,-0.45,0.0,1833,2040,2914,4095,60.3,-12.6,73,608,4.07,0.00,20.38,1.253,10244,0.062,0.000,2206,2040,2500,2500,4094,0,0,0,0,0,0,26.20,25.34,24.70,10.33,44.76
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,609,begin climb
$GC,611,1.62,341.3,2206,2040,2500,4094,62.9,0.0,77,647,7.03,0.00,20.02,1.238,11270,0.039,0.000,2867,2040,2102,2102,4094,0,0,0,0,0,0,25.77,25.94,24.27,10.25,43.73
$GC,684,1.62,341.3,2866,2040,2102,4094,58.6,10.3,86,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2040,2101,2101,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.15,43.03
$GC,730,1.62,341.3,2866,2040,2100,4094,52.9,13.0,92,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2040,2100,2100,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.14,43.26
$GC,774,1.62,341.3,2866,2040,2099,4094,47.2,12.3,98,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2041,2099,2099,4094,0,0,0,0,0,0,25.92,25.94,25.93,10.14,43.81
$GC,818,1.62,341.3,2866,2040,2098,4094,41.5,13.0,104,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2041,2098,2098,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.14,43.77
$GC,863,1.62,341.3,2866,2040,2097,4094,36.4,10.5,110,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2041,2096,2096,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.14,44.21
$GC,907,1.62,341.3,2866,2040,2095,4094,31.1,12.0,116,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2040,2096,2096,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.13,43.97
$GC,951,1.62,341.3,2866,2040,2095,4094,26.5,10.1,122,961,0.00,2.78,0.00,0.000,516,0.000,0.072,2867,1047,2094,2094,4094,0,0,0,0,0,0,26.17,25.82,26.17,10.12,44.72
$GC,998,1.62,341.3,2867,1047,2093,4094,21.4,11.4,128,1006,0.00,2.40,0.00,0.000,1030,0.000,0.031,2867,1996,2093,2093,4094,0,0,0,0,0,0,25.99,25.96,26.03,10.12,45.11
$GC,1044,1.62,341.3,2866,1995,2092,4094,16.2,11.0,134,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1995,2092,2092,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.14,45.47
$GC,1087,1.62,341.3,2866,1996,2091,4094,11.8,10.1,140,1097,0.00,2.62,0.00,0.000,516,0.000,0.070,2867,1050,2090,2090,4094,0,0,0,0,0,0,26.28,25.94,26.29,10.17,45.98
$GC,1133,1.62,341.3,2866,1050,2090,4094,7.2,10.2,146,1142,0.00,2.35,0.00,0.000,1030,0.000,0.029,2867,1988,2090,2090,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.20,47.20
$STATE,1178,end climb,FINISH_DEPTH_REACHED
$STATE,1178,begin subsurface finish
$FINISH1,1.9,1.024302,90
$GC,1184,0.14,90.4,2866,1993,2088,4094,1.9,11.3,152,1201,5.10,0.00,-2.78,0.000,20486,0.072,0.000,2407,1993,2397,2397,4094,0,0,0,0,0,0,26.08,25.61,26.15,10.21,48.03
$FINISH2,0.2
$STATE,1202,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1203,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,092752
$TT8_MAMPS,0.026215,0.244923
$HUMID,48.46
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.27,2.510
$10V_AH,10.26,3.806
$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,35.075,15.500,40.400,0.000,0.000,22.301,18.618,239.069,0.000,0.000,19.931,441.939,0.389,141.288,948.683,87.432,33.446,415.440,0.000,374.565,0.000,1.733,0.000
$DEVICE_MAMPS,117.045,71.910,1253.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.321,418.382,331.174,490.962,637.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329440
$DATA_FILE_SIZE,14408,154
$CAP_FILE_SIZE,36503,0
$CFSIZE,1024409600,1014579200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280717,104742,5926.275,-17044.742,10,0.8,17,8.5,0.0,13.4,10,5.0