version: 66.13
glider: 401
mission: 22
dive: 109
start: 7 28 117 14 53 26
data:
$ID,401
$MISSION,22
$DIVE,109
$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,16
$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
$GPS1,280717,144513,5925.3008,-17046.6152,3,0.8,49,8.5,1.0,177.4,10,5.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-43.6
$GPS2,280717,145221,5925.2251,-17046.6758,4,0.7,15,8.5,0.0,206.6,11,4.7
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.208941,0.244502
$KALMAN_X,17290.501953,-953.125000,-242.180023,-36136.074219,-75.453461
$KALMAN_Y,4809.699707,1195.116577,90.294861,12268.665039,-239.799423
$MHEAD_RNG_PITCHd_Wd,311.0,7441,-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,-341.3,240,1922,2086,4092,0.0,0.0,0,21,11.50,0.00,0.00,0.000,2049,0.103,0.000,1195,1922,2087,2087,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.28,48.89
$GC,23,-1.62,-341.3,1195,1922,2086,4094,0.8,0.0,1,50,7.03,2.90,-7.53,0.000,18948,0.061,1.308,1833,925,2903,2903,4094,0,0,0,0,0,0,25.86,24.82,25.93,10.28,48.81
$GC,92,-1.62,-341.3,1833,925,2904,4094,4.3,-11.2,10,101,0.00,2.45,0.00,0.000,1030,0.000,0.030,1833,1885,2903,2903,4095,0,0,0,0,0,0,25.81,25.75,25.84,10.46,48.81
$GC,137,-1.62,-341.3,1833,1891,2904,4095,9.8,-12.3,16,146,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1891,2904,2904,4095,0,0,0,0,0,0,26.06,26.06,26.06,10.46,48.26
$GC,181,-1.62,-341.3,1833,1891,2905,4095,15.7,-13.0,22,191,0.00,2.67,0.00,0.000,260,0.000,0.057,1833,2868,2904,2904,4094,0,0,0,0,0,0,26.10,25.79,26.12,10.46,47.99
$GC,207,-1.62,-341.3,1832,2868,2906,4094,18.1,-10.1,25,216,0.00,2.47,0.00,0.000,1030,0.000,0.031,1833,1913,2906,2906,4094,0,0,0,0,0,0,25.90,25.86,25.93,10.43,47.99
$GC,253,-1.62,-341.3,1833,1912,2907,4094,22.2,-9.2,31,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1913,2907,2907,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.40,47.63
$GC,299,-1.62,-341.3,1833,1912,2907,4095,27.0,-10.6,37,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1913,2908,2908,4095,0,0,0,0,0,0,26.23,26.24,26.24,10.38,45.82
$GC,345,-1.62,-341.3,1833,1912,2908,4095,32.0,-10.9,43,354,0.00,2.62,0.00,0.000,260,0.000,0.060,1833,2867,2909,2909,4095,0,0,0,0,0,0,26.27,25.97,26.28,10.38,45.07
$GC,377,-1.62,-341.3,1833,2866,2909,4095,35.7,-11.0,47,386,0.00,2.45,0.00,0.000,1030,0.000,0.031,1833,1914,2909,2909,4094,0,0,0,0,0,0,26.06,26.01,26.10,10.36,45.07
$GC,422,-1.62,-341.3,1833,1914,2910,4094,40.7,-10.9,53,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,2910,2910,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.36,44.56
$GC,466,-1.62,-341.3,1833,1914,2911,4095,45.5,-11.1,59,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,2911,2911,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.35,44.01
$GC,511,-1.62,-341.3,1833,1914,2912,4095,50.6,-11.1,65,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1914,2912,2912,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.34,44.05
$GC,555,-1.62,-341.3,1833,1913,2913,4094,55.7,-12.0,71,565,0.00,2.65,0.00,0.000,260,0.000,0.064,1834,2873,2913,2913,4094,0,0,0,0,0,0,26.40,26.07,26.41,10.33,43.73
$GC,587,-1.62,-341.3,1833,2873,2913,4094,59.2,-11.1,75,596,0.00,2.45,0.00,0.000,1030,0.000,0.031,1833,1913,2914,2914,4094,0,0,0,0,0,0,26.19,26.15,26.21,10.34,43.77
$STATE,603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,603,begin apogee
$GC,608,-0.45,0.0,1833,2056,2914,4094,61.4,-12.1,77,637,4.12,0.10,20.52,1.266,10244,0.065,0.085,2206,2007,2499,2499,4095,0,0,0,0,0,0,26.13,25.48,24.59,10.33,43.93
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,640,1.62,341.3,2206,2006,2499,4095,63.6,0.0,80,674,7.05,0.00,19.92,1.245,11270,0.039,0.000,2866,2007,2105,2105,4094,0,0,0,0,0,0,25.67,25.84,24.17,10.24,43.42
$GC,711,1.62,341.3,2866,2007,2104,4094,58.7,10.9,89,721,0.00,2.67,0.00,0.000,260,0.000,0.060,2866,2954,2105,2105,4094,0,0,0,0,0,0,25.63,25.31,25.64,10.15,42.99
$GC,776,1.62,341.3,2866,2954,2102,4094,50.8,12.0,98,785,0.00,2.38,0.00,0.000,1030,0.000,0.031,2866,2048,2102,2102,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.14,43.62
$GC,821,1.62,341.3,2866,2048,2102,4094,45.6,11.8,104,831,0.00,2.83,0.00,0.000,516,0.000,0.073,2866,1040,2101,2101,4095,0,0,0,0,0,0,25.91,25.58,25.93,10.14,43.66
$GC,892,1.62,341.3,2866,1039,2099,4095,37.5,11.5,114,902,0.00,2.40,0.00,0.000,1030,0.000,0.030,2866,1985,2099,2099,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.13,44.32
$GC,939,1.62,341.3,2866,1985,2098,4094,32.5,11.6,120,949,0.00,2.78,0.00,0.000,260,0.000,0.063,2866,2990,2098,2098,4094,0,0,0,0,0,0,26.09,25.76,26.10,10.13,44.25
$GC,991,1.62,341.3,2865,2989,2097,4094,25.6,12.9,127,1000,0.00,2.53,0.00,0.000,1030,0.000,0.033,2866,2018,2096,2096,4094,0,0,0,0,0,0,25.92,25.88,25.94,10.12,44.76
$GC,1036,1.62,341.3,2866,2018,2095,4094,20.2,11.7,133,1045,0.00,2.70,0.00,0.000,516,0.000,0.073,2866,1042,2095,2095,4095,0,0,0,0,0,0,26.20,25.84,26.20,10.12,44.76
$GC,1178,1.62,341.3,2866,1042,2092,4095,5.1,10.3,154,1187,0.00,2.42,0.00,0.000,1030,0.000,0.033,2867,2000,2092,2092,4094,0,0,0,0,0,0,26.09,26.06,26.11,10.20,48.11
$STATE,1216,end climb,FINISH_DEPTH_REACHED
$STATE,1216,begin subsurface finish
$FINISH1,1.4,1.024300,91
$GC,1222,0.14,90.6,2866,2003,2090,4094,1.4,10.3,159,1233,4.75,0.00,-2.78,0.000,20742,0.034,0.000,2409,2004,2401,2401,4094,0,0,0,0,0,0,26.10,25.25,26.15,10.21,48.70
$FINISH2,0.2
$STATE,1234,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1234,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,132221
$TT8_MAMPS,0.025466,0.259154
$HUMID,48.62
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.17,2.720
$10V_AH,10.28,4.166
$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,34.450,41.750,40.450,0.000,0.000,24.798,18.741,272.931,0.000,0.000,16.343,454.822,0.000,134.601,1003.648,90.645,33.449,405.081,0.000,388.368,0.000,1.734,0.000
$DEVICE_MAMPS,102.510,1308.150,1266.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.778,434.658,344.164,509.968,664.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329432
$DATA_FILE_SIZE,14377,160
$CAP_FILE_SIZE,38718,0
$CFSIZE,1024409600,1014136832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,145221,5925.225,-17046.676,4,0.7,15,8.5,0.0,206.6,11,4.7