version: 66.13
glider: 401
mission: 22
dive: 106
start: 7 28 117 13 28 37
data:
$ID,401
$MISSION,22
$DIVE,106
$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,36
$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
$GPS1,280717,131651,5925.6968,-17045.4102,3,0.9,16,8.5,0.0,235.6,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-34.7
$GPS2,280717,132732,5925.5732,-17045.3809,3,0.9,17,8.5,0.5,156.7,10,5.0
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.229917,0.224891
$KALMAN_X,17398.576172,-909.652893,-174.669525,-35140.554688,71.672485
$KALMAN_Y,5720.042480,1417.332031,312.171326,11562.842773,-267.615662
$MHEAD_RNG_PITCHd_Wd,305.9,8525,-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,-341.3,241,1914,1826,4092,0.0,0.0,0,21,11.48,0.00,0.00,0.000,2049,0.093,0.000,1209,1911,1826,1826,4094,0,0,0,0,0,0,26.10,28.83,28.83,10.23,48.93
$GC,23,-1.62,-341.3,1209,1911,1826,4094,0.6,0.0,1,50,6.70,2.85,-9.85,0.000,18948,0.047,1.304,1832,936,2901,2901,4095,0,0,0,0,0,0,25.82,24.77,25.89,10.24,48.54
$GC,137,-1.62,-341.3,1832,935,2902,4095,5.0,-10.0,17,147,0.00,2.40,0.00,0.000,1030,0.000,0.030,1832,1888,2902,2902,4095,0,0,0,0,0,0,25.86,25.83,25.88,10.47,47.59
$GC,182,-1.62,-341.3,1832,1891,2903,4095,9.5,-9.5,23,191,0.00,2.65,0.00,0.000,260,0.000,0.060,1833,2863,2903,2903,4094,0,0,0,0,0,0,26.12,25.79,26.13,10.47,47.36
$GC,214,-1.62,-341.3,1832,2863,2904,4094,12.4,-9.1,27,223,0.00,2.42,0.00,0.000,1030,0.000,0.031,1833,1922,2903,2903,4095,0,0,0,0,0,0,25.92,25.88,25.94,10.47,47.36
$GC,260,-1.62,-341.3,1832,1922,2904,4095,16.7,-8.9,33,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1922,2904,2904,4093,0,0,0,0,0,0,26.20,26.21,26.20,10.48,47.04
$GC,303,-1.62,-341.3,1832,1921,2905,4093,20.1,-7.1,39,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1922,2904,2904,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.44,46.69
$GC,350,-1.62,-341.3,1832,1922,2905,4095,23.7,-8.3,45,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1922,2906,2906,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.41,46.53
$GC,393,-1.62,-341.3,1832,1922,2906,4094,27.5,-8.3,51,403,0.00,2.58,0.00,0.000,260,0.000,0.057,1833,2864,2906,2906,4095,0,0,0,0,0,0,26.31,26.02,26.32,10.39,45.31
$GC,426,-1.62,-341.3,1832,2864,2907,4095,30.1,-8.0,55,435,0.00,2.42,0.00,0.000,1030,0.000,0.029,1833,1914,2907,2907,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.38,44.76
$GC,471,-1.62,-341.3,1832,1914,2908,4094,34.2,-8.8,61,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1914,2907,2907,4095,0,0,0,0,0,0,26.35,26.37,26.36,10.38,44.01
$GC,515,-1.62,-341.3,1832,1914,2908,4095,37.6,-7.8,67,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1914,2908,2908,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.37,44.17
$GC,562,-1.62,-341.3,1833,1914,2909,4095,41.1,-7.5,73,571,0.00,2.58,0.00,0.000,260,0.000,0.057,1833,2861,2909,2909,4094,0,0,0,0,0,0,26.41,26.08,26.42,10.36,43.85
$GC,587,-1.62,-341.3,1832,2861,2909,4094,43.4,-8.1,76,596,0.00,2.38,0.00,0.000,1030,0.000,0.031,1833,1930,2910,2910,4095,0,0,0,0,0,0,26.22,26.15,26.21,10.36,43.81
$GC,633,-1.62,-341.3,1832,1930,2910,4095,46.8,-7.9,82,641,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1930,2910,2910,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.35,43.73
$GC,677,-1.62,-341.3,1832,1930,2911,4095,50.8,-8.2,88,686,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1930,2910,2910,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.35,43.58
$GC,721,-1.62,-341.3,1832,1930,2912,4094,54.5,-8.9,94,730,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1930,2911,2911,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.34,43.42
$GC,766,-1.62,-341.3,1832,1929,2912,4094,58.1,-7.7,100,775,0.00,2.53,0.00,0.000,260,0.000,0.059,1832,2856,2912,2912,4095,0,0,0,0,0,0,26.50,26.21,26.52,10.34,43.46
$STATE,791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,791,begin apogee
$GC,798,-0.45,0.0,1832,2016,2912,4094,60.2,-8.3,103,833,4.07,0.00,20.33,1.245,10244,0.066,0.000,2205,2016,2500,2500,4094,0,0,0,0,0,0,26.21,25.57,24.70,10.34,43.50
$STATE,834,end apogee,CONTROL_FINISHED_OK
$STATE,834,begin climb
$GC,836,1.62,341.3,2205,2016,2500,4094,62.5,0.0,107,871,7.03,0.00,20.00,1.229,11270,0.038,0.000,2864,2016,2102,2102,4094,0,0,0,0,0,0,25.77,25.95,24.30,10.25,43.54
$GC,908,1.68,377.5,2864,2015,2101,4094,58.5,8.4,116,919,0.10,2.67,3.80,0.644,10500,0.075,0.057,2881,2982,2060,2060,4094,0,0,0,0,0,0,25.51,25.08,24.46,10.16,43.18
$GC,949,1.68,377.5,2880,2982,2059,4094,54.7,9.2,121,958,0.00,2.55,0.00,0.000,1030,0.000,0.031,2881,2012,2059,2059,4094,0,0,0,0,0,0,25.54,25.51,25.58,10.14,43.97
$GC,996,1.68,379.0,2880,2012,2058,4094,50.7,9.1,127,1005,0.00,2.70,0.00,0.000,516,0.000,0.074,2881,1045,2058,2058,4095,0,0,0,0,0,0,25.88,25.55,25.89,10.14,44.13
$GC,1075,1.68,379.0,2880,1044,2057,4095,42.8,9.4,138,1084,0.00,2.35,0.00,0.000,1030,0.000,0.030,2881,1974,2056,2056,4094,0,0,0,0,0,0,25.82,25.78,25.84,10.14,44.25
$GC,1122,1.68,379.0,2880,1977,2056,4094,38.1,10.0,144,1131,0.00,2.80,0.00,0.000,260,0.000,0.060,2881,2993,2055,2055,4094,0,0,0,0,0,0,26.09,25.75,26.09,10.13,44.40
$GC,1160,1.68,379.0,2880,2992,2054,4094,34.3,9.9,149,1170,0.00,2.62,0.00,0.000,1030,0.000,0.032,2881,1983,2054,2054,4094,0,0,0,0,0,0,25.91,25.86,25.92,10.13,44.36
$GC,1207,1.72,403.9,2880,1982,2054,4094,30.2,8.6,155,1218,0.00,2.58,3.05,0.371,8708,0.000,0.074,2881,1041,2028,2028,4094,0,0,0,0,0,0,26.17,25.60,25.08,10.13,44.60
$GC,1305,1.72,403.9,2880,1041,2026,4094,20.7,9.9,169,1314,0.00,2.33,0.00,0.000,1030,0.000,0.031,2881,1967,2025,2025,4094,0,0,0,0,0,0,26.03,26.00,26.05,10.11,45.31
$GC,1350,1.72,409.6,2880,1968,2025,4094,16.6,9.0,175,1360,0.00,2.80,0.00,0.000,260,0.000,0.063,2881,2993,2024,2024,4094,0,0,0,0,0,0,26.27,25.94,26.29,10.13,45.58
$GC,1389,1.72,409.6,2880,2992,2023,4094,13.0,9.3,180,1398,0.00,2.70,0.00,0.000,1030,0.000,0.033,2881,1951,2024,2024,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.17,46.57
$GC,1435,1.83,479.9,2881,1951,2022,4094,9.4,7.8,186,1447,0.43,2.53,5.38,0.516,10756,0.044,0.076,2928,1039,1939,1939,4094,0,0,0,0,0,0,26.13,25.91,25.35,10.19,48.07
$STATE,1515,end climb,FINISH_DEPTH_REACHED
$STATE,1515,begin subsurface finish
$FINISH1,1.4,1.024303,90
$GC,1524,0.14,90.4,2927,2032,1937,4094,1.4,9.3,197,1542,5.50,0.00,-4.12,0.000,20486,0.041,0.000,2407,2033,2399,2399,4095,0,0,0,0,0,0,26.10,25.61,26.15,10.19,49.21
$FINISH2,0.2
$STATE,1543,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1544,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,131819
$TT8_MAMPS,0.024717,0.248668
$HUMID,49.25
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,24.30,2.652
$10V_AH,10.27,4.048
$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,35.300,56.100,52.550,0.000,0.000,49.640,40.795,368.276,0.000,0.000,19.160,561.520,45.304,169.721,1326.357,102.531,33.450,497.688,0.000,479.340,0.000,2.922,0.000
$DEVICE_MAMPS,93.330,1304.325,1244.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.267,540.548,428.071,633.970,822.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329472
$DATA_FILE_SIZE,17679,199
$CAP_FILE_SIZE,50964,0
$CFSIZE,1024409600,1014251520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,132732,5925.573,-17045.381,3,0.9,17,8.5,0.5,156.7,10,5.0