version: 66.13
glider: 401
mission: 22
dive: 102
start: 7 28 117 11 32 57
data:
$ID,401
$MISSION,22
$DIVE,102
$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,42
$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
$GPS1,280717,104742,5926.2754,-17044.7422,10,0.8,17,8.5,0.0,13.4,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,0.1
$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,-0.320848,0.022465
$KALMAN_X,16550.632812,-969.919067,-229.398376,-33580.792969,236.484573
$KALMAN_Y,6854.777832,1646.657471,577.649841,11219.593750,-34.042114
$MHEAD_RNG_PITCHd_Wd,265.5,9060,-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,8,-1.62,-341.3,2406,1901,2402,4092,0.0,0.0,0,20,5.82,0.00,-4.07,0.000,20482,0.026,0.000,1845,1901,2848,2848,4094,0,0,0,0,0,0,26.19,28.83,26.21,10.29,50.07
$GC,22,-1.62,-341.3,1845,1902,2848,4094,0.2,0.0,1,32,0.00,0.00,-0.47,0.000,16390,0.000,0.000,1845,1902,2901,2901,4095,0,0,0,0,0,0,26.39,25.68,26.32,10.39,50.31
$GC,68,-1.62,-341.3,1844,1901,2901,4095,1.9,-7.1,7,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1901,2902,2902,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.41,50.39
$GC,111,-1.62,-341.3,1844,1901,2902,4095,7.0,-11.4,13,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1901,2903,2903,4095,0,0,0,0,0,0,26.29,26.32,26.31,10.41,50.11
$GC,155,-1.62,-341.3,1844,1901,2904,4095,12.6,-12.8,19,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1902,2904,2904,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.41,49.72
$GC,199,-1.62,-341.3,1844,1901,2905,4094,18.0,-11.4,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1902,2905,2905,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.40,49.76
$GC,242,-1.62,-341.3,1844,1901,2905,4094,22.0,-9.3,31,252,0.00,2.70,0.00,0.000,516,0.000,0.077,1845,925,2905,2905,4094,0,0,0,0,0,0,26.39,26.03,26.40,10.37,49.33
$GC,281,-1.62,-341.3,1844,925,2906,4094,26.0,-10.1,36,291,0.00,2.35,0.00,0.000,1030,0.000,0.032,1845,1861,2906,2906,4094,0,0,0,0,0,0,26.17,26.14,26.20,10.36,48.34
$GC,328,-1.62,-341.3,1844,1863,2907,4094,30.6,-9.9,42,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1864,2908,2908,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.34,47.63
$GC,374,-1.62,-341.3,1844,1864,2908,4094,35.3,-9.2,48,383,0.00,2.72,0.00,0.000,260,0.000,0.062,1845,2867,2908,2908,4095,0,0,0,0,0,0,26.45,26.10,26.47,10.33,46.69
$GC,420,-1.62,-341.3,1844,2868,2909,4095,40.0,-10.3,54,429,0.00,2.50,0.00,0.000,1030,0.000,0.034,1845,1892,2909,2909,4094,0,0,0,0,0,0,26.23,26.18,26.26,10.33,46.53
$GC,466,-1.62,-341.3,1844,1892,2910,4094,45.3,-11.9,60,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1892,2910,2910,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.32,45.55
$GC,512,-1.62,-341.3,1844,1892,2910,4094,50.6,-10.7,66,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1892,2911,2911,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.31,45.94
$GC,555,-1.62,-341.3,1844,1892,2911,4094,55.3,-10.4,72,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1892,2912,2912,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.31,45.55
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,603,-0.45,0.0,1844,2042,2913,4095,60.2,-11.6,78,637,3.95,0.00,20.33,1.261,10244,0.064,0.000,2203,2042,2500,2500,4094,0,0,0,0,0,0,26.27,25.60,24.73,10.30,46.10
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,640,1.62,341.3,2203,2042,2500,4094,62.5,0.0,82,676,7.05,0.00,19.90,1.241,11270,0.041,0.000,2865,2042,2104,2104,4094,0,0,0,0,0,0,25.80,25.98,24.30,10.21,45.35
$GC,713,1.62,341.3,2864,2041,2102,4094,56.7,13.0,91,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2102,2102,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.13,44.05
$GC,759,1.62,341.3,2863,2041,2101,4094,51.6,10.3,97,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2101,2101,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.13,45.11
$GC,805,1.62,341.3,2864,2041,2100,4094,46.3,12.0,103,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2100,2100,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.12,44.52
$GC,849,1.62,341.3,2864,2042,2099,4094,40.7,11.7,109,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2099,2099,4095,0,0,0,0,0,0,26.01,26.03,26.02,10.11,44.80
$GC,893,1.62,341.3,2864,2041,2098,4095,35.9,11.0,115,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2098,2098,4094,0,0,0,0,0,0,26.07,26.09,26.08,10.11,45.47
$GC,937,1.62,341.3,2864,2042,2097,4094,30.9,11.2,121,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2097,2097,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.11,44.95
$GC,981,1.62,341.3,2864,2042,2096,4094,26.1,10.5,127,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2042,2095,2095,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.10,45.39
$GC,1025,1.62,341.3,2864,2042,2095,4095,21.1,11.4,133,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2042,2094,2094,4095,0,0,0,0,0,0,26.22,26.23,26.22,10.10,45.43
$GC,1070,1.62,341.3,2864,2042,2094,4095,16.0,11.5,139,1079,0.00,2.78,0.00,0.000,516,0.000,0.072,2865,1046,2093,2093,4094,0,0,0,0,0,0,26.25,25.89,26.27,10.11,45.55
$GC,1173,1.62,341.3,2864,1046,2090,4094,6.1,11.1,154,1183,0.00,2.40,0.00,0.000,1030,0.000,0.030,2865,2002,2091,2091,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.18,48.38
$STATE,1210,end climb,SURFACE_DEPTH_REACHED
$STATE,1210,begin surface coast
$FINISH,0.0,1.000888
$STATE,1225,end surface coast,CONTROL_FINISHED_OK
$STATE,1225,begin surface
$SM_CCo,1322,0.00,0.000,0,0,2089,353.74
$SM_GC,0.96,27.83,0.30,0.00,0.029,0.065,0.000,231,1889,2089,-6.65,0.73,353.74,0,0,0,0,0,0,26.02,26.10,26.13
$IRIDIUM_FIX,5957.10,-16911.74,280717,092752
$TT8_MAMPS,0.025466,0.250915
$HUMID,50.11
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.30,2.539
$10V_AH,10.26,3.877
$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,44.650,16.425,40.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.197,60.085,157.124,668.462,44.858,33.413,417.543,0.000,388.312,0.000,0.541,0.000
$DEVICE_MAMPS,64.260,77.265,1260.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.628,437.357,346.329,513.416,666.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330928
$DATA_FILE_SIZE,14339,161
$CAP_FILE_SIZE,32654,0
$CFSIZE,1024409600,1014497280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,115602,5926.123,-17044.977,5,0.8,29,8.5,0.0,104.1,9,4.8