version: 66.13
glider: 401
mission: 22
dive: 107
start: 7 28 117 13 56 23
data:
$ID,401
$MISSION,22
$DIVE,107
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,280717,132732,5925.5732,-17045.3809,3,0.9,17,8.5,0.5,156.7,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-3.2
$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,-0.265545,0.181488
$KALMAN_X,17559.160156,-859.584534,-134.712692,-35400.300781,50.548386
$KALMAN_Y,5595.917969,1329.250244,222.735016,11851.378906,-201.222824
$MHEAD_RNG_PITCHd_Wd,295.9,8525,-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,7,-1.62,-341.3,2406,1894,2398,4092,0.0,0.0,0,21,5.82,0.00,-4.43,0.000,20486,0.026,0.000,1842,1893,2905,2905,4095,0,0,0,0,0,0,26.07,25.19,26.09,10.31,49.68
$GC,23,-1.62,-341.3,1842,1893,2905,4095,0.4,0.0,1,32,0.00,2.67,0.00,0.000,516,0.000,0.075,1842,928,2905,2905,4095,0,0,0,0,0,0,26.25,25.92,26.26,10.42,49.96
$GC,61,-1.62,-341.3,1841,928,2906,4095,3.9,-10.9,6,70,0.00,2.45,0.00,0.000,1030,0.000,0.033,1842,1900,2906,2906,4095,0,0,0,0,0,0,26.11,26.05,26.10,10.42,49.72
$GC,108,-1.62,-341.3,1841,1899,2907,4095,8.4,-8.8,12,117,0.00,2.62,0.00,0.000,260,0.000,0.064,1842,2864,2907,2907,4094,0,0,0,0,0,0,26.33,25.99,26.34,10.42,50.07
$GC,172,-1.62,-341.3,1841,2864,2908,4094,14.7,-10.1,21,182,0.00,2.42,0.00,0.000,1030,0.000,0.031,1842,1918,2908,2908,4094,0,0,0,0,0,0,26.15,26.10,26.17,10.43,49.13
$GC,218,-1.62,-341.3,1841,1918,2908,4094,18.0,-6.3,27,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1919,2908,2908,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.42,49.40
$GC,263,-1.62,-341.3,1841,1918,2909,4095,21.6,-9.0,33,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1918,2909,2909,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.39,48.81
$GC,307,-1.62,-341.3,1841,1918,2910,4094,25.4,-8.3,39,317,0.00,2.60,0.00,0.000,260,0.000,0.058,1841,2872,2910,2910,4094,0,0,0,0,0,0,26.45,26.15,26.46,10.37,48.50
$GC,346,-1.62,-341.3,1841,2871,2910,4094,28.8,-8.7,44,355,0.00,2.40,0.00,0.000,1030,0.000,0.031,1841,1929,2911,2911,4094,0,0,0,0,0,0,26.23,26.18,26.25,10.36,46.73
$GC,393,-1.62,-341.3,1841,1929,2911,4094,32.9,-9.0,50,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1929,2911,2911,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.35,46.49
$GC,439,-1.62,-341.3,1841,1929,2912,4095,37.1,-8.7,56,449,0.00,2.55,0.00,0.000,260,0.000,0.060,1841,2864,2912,2912,4094,0,0,0,0,0,0,26.50,26.17,26.51,10.35,46.57
$GC,478,-1.62,-341.3,1841,2864,2912,4094,40.7,-8.9,61,488,0.00,2.35,0.00,0.000,1030,0.000,0.031,1842,1939,2912,2912,4094,0,0,0,0,0,0,26.29,26.25,26.32,10.34,45.66
$GC,526,-1.62,-341.3,1841,1939,2913,4094,44.6,-8.8,67,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1939,2914,2914,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.33,45.11
$GC,569,-1.62,-341.3,1841,1939,2914,4095,48.6,-8.6,73,579,0.00,2.55,0.00,0.000,260,0.000,0.062,1841,2871,2914,2914,4095,0,0,0,0,0,0,26.55,26.21,26.56,10.33,45.39
$GC,616,-1.62,-341.3,1840,2871,2914,4095,52.5,-8.4,79,626,0.00,2.35,0.00,0.000,1030,0.000,0.031,1841,1945,2915,2915,4095,0,0,0,0,0,0,26.36,26.30,26.36,10.33,45.55
$GC,663,-1.62,-341.3,1841,1944,2916,4095,56.8,-9.4,85,671,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1945,2916,2916,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.32,44.95
$STATE,697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,698,begin apogee
$GC,703,-0.45,0.0,1841,2038,2916,4095,60.3,-8.9,90,730,3.97,0.00,20.40,1.248,10244,0.067,0.000,2206,2039,2500,2500,4095,0,0,0,0,0,0,26.29,25.65,24.77,10.31,45.86
$STATE,731,end apogee,CONTROL_FINISHED_OK
$STATE,731,begin climb
$GC,733,1.62,341.3,2205,2038,2500,4095,61.8,0.0,93,768,7.03,2.72,19.88,1.230,10756,0.044,0.067,2865,1053,2101,2101,4094,0,0,0,0,0,0,25.77,25.69,24.34,10.22,45.66
$GC,792,1.72,408.0,2864,1052,2101,4094,59.3,7.9,100,810,0.22,2.45,5.32,0.842,11270,0.044,0.030,2889,2003,2026,2026,4094,0,0,0,0,0,0,25.46,25.46,24.42,10.14,44.48
$GC,848,1.77,438.9,2888,2002,2025,4094,54.4,8.5,107,859,0.12,2.75,3.65,0.597,10500,0.080,0.067,2904,2994,1987,1987,4094,0,0,0,0,0,0,25.54,25.15,24.53,10.12,45.15
$GC,896,1.83,482.7,2904,2994,1986,4094,50.4,8.3,113,907,0.22,2.55,4.15,0.659,11270,0.041,0.031,2931,2018,1936,1936,4095,0,0,0,0,0,0,25.63,25.58,24.62,10.10,44.64
$GC,945,1.83,482.7,2931,2018,1936,4095,46.0,9.4,119,954,0.00,2.70,0.00,0.000,516,0.000,0.068,2932,1046,1935,1935,4095,0,0,0,0,0,0,25.89,25.58,25.91,10.10,45.55
$GC,1009,1.83,482.7,2931,1046,1934,4095,38.7,11.6,128,1019,0.00,2.42,0.00,0.000,1030,0.000,0.031,2932,1990,1934,1934,4094,0,0,0,0,0,0,25.79,25.75,25.81,10.08,45.19
$GC,1054,1.83,482.7,2931,1990,1933,4094,33.6,11.5,134,1064,0.00,2.80,0.00,0.000,260,0.000,0.070,2931,2990,1932,1932,4094,0,0,0,0,0,0,26.07,25.73,26.08,10.08,45.47
$GC,1101,1.83,482.7,2931,2990,1931,4094,28.4,11.4,140,1110,0.00,2.58,0.00,0.000,1030,0.000,0.031,2932,1996,1931,1931,4095,0,0,0,0,0,0,25.90,25.86,25.93,10.08,45.70
$GC,1147,1.83,482.7,2931,1996,1931,4095,23.8,10.2,146,1156,0.00,2.60,0.00,0.000,516,0.000,0.067,2932,1047,1931,1931,4094,0,0,0,0,0,0,26.17,25.83,26.19,10.08,45.82
$GC,1199,1.83,482.7,2931,1047,1930,4094,18.3,10.8,153,1208,0.00,2.42,0.00,0.000,1030,0.000,0.034,2932,1992,1930,1930,4094,0,0,0,0,0,0,25.99,25.95,26.01,10.08,45.98
$GC,1244,1.86,496.5,2931,1991,1928,4094,13.8,8.8,159,1255,0.00,2.75,2.25,0.119,8452,0.000,0.068,2932,2999,1920,1920,4094,0,0,0,0,0,0,26.26,25.75,25.29,10.12,46.73
$GC,1330,1.86,496.5,2931,2999,1918,4094,5.1,10.4,171,1339,0.00,2.53,0.00,0.000,1030,0.000,0.031,2932,2020,1919,1919,4094,0,0,0,0,0,0,26.09,26.06,26.11,10.16,48.42
$STATE,1360,end climb,FINISH_DEPTH_REACHED
$STATE,1360,begin subsurface finish
$FINISH1,1.9,1.024296,91
$GC,1365,0.14,90.8,2931,2020,1917,4094,1.9,10.1,175,1385,5.88,2.78,-4.12,0.000,20996,0.077,1.313,2411,1042,2398,2398,4094,0,0,0,0,0,0,26.03,25.00,26.12,10.17,49.25
$FINISH2,0.2
$STATE,1386,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1386,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,131819
$TT8_MAMPS,0.026215,0.248668
$HUMID,49.60
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.34,2.671
$10V_AH,10.26,4.088
$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,23.275,59.575,55.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,506.535,0.385,149.127,736.932,48.144,33.421,443.618,0.000,426.436,0.000,0.543,0.000
$DEVICE_MAMPS,80.325,1312.740,1248.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.314,480.820,380.791,564.141,734.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330984
$DATA_FILE_SIZE,17753,177
$CAP_FILE_SIZE,39933,0
$CFSIZE,1024409600,1014218752
$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