version: 66.13
glider: 401
mission: 22
dive: 111
start: 7 28 117 15 39 5
data:
$ID,401
$MISSION,22
$DIVE,111
$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,24
$R_STBD_OVSHOOT,48
$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
$GPS1,280717,145221,5925.2251,-17046.6758,4,0.7,15,8.5,0.0,206.6,11,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.8
$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,-0.248791,0.203809
$KALMAN_X,17742.085938,-942.800049,-245.168884,-36617.160156,35.874756
$KALMAN_Y,4472.364258,1063.227173,-13.688105,12833.366211,-199.400681
$MHEAD_RNG_PITCHd_Wd,300.8,7441,-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,-341.3,2405,1887,2400,4092,0.0,0.0,0,21,5.82,0.00,-4.55,0.000,20486,0.028,0.000,1840,1888,2903,2903,4095,0,0,0,0,0,0,26.23,25.32,26.25,10.29,50.07
$GC,23,-1.62,-341.3,1840,1887,2903,4095,0.1,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1888,2903,2903,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.40,50.23
$GC,67,-1.62,-341.3,1840,1887,2904,4094,2.4,-8.2,7,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1888,2904,2904,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.40,50.43
$GC,111,-1.62,-341.3,1840,1887,2905,4094,7.6,-12.7,13,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1888,2905,2905,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.41,49.80
$GC,154,-1.62,-341.3,1840,1888,2906,4095,13.0,-12.5,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1888,2906,2906,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.41,50.47
$GC,198,-1.62,-341.3,1840,1887,2907,4094,18.1,-11.2,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1888,2907,2907,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.41,49.72
$GC,242,-1.62,-341.3,1840,1887,2908,4094,22.2,-9.5,31,252,0.00,2.60,0.00,0.000,260,0.000,0.059,1840,2849,2908,2908,4094,0,0,0,0,0,0,26.51,26.19,26.53,10.38,49.48
$GC,289,-1.62,-341.3,1839,2849,2908,4094,26.8,-10.6,37,298,0.00,2.45,0.00,0.000,1030,0.000,0.033,1840,1892,2909,2909,4094,0,0,0,0,0,0,26.30,26.25,26.34,10.35,48.26
$GC,336,-1.62,-341.3,1839,1892,2910,4094,31.8,-10.3,43,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1892,2910,2910,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.35,47.51
$GC,381,-1.62,-341.3,1840,1892,2910,4095,36.9,-11.1,49,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1892,2911,2911,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.34,46.49
$GC,426,-1.62,-341.3,1839,1892,2911,4094,42.0,-11.0,55,435,0.00,2.60,0.00,0.000,260,0.000,0.060,1840,2847,2912,2912,4094,0,0,0,0,0,0,26.58,26.25,26.59,10.33,45.94
$GC,464,-1.62,-341.3,1839,2847,2913,4094,46.3,-11.0,60,472,0.00,2.42,0.00,0.000,1030,0.000,0.033,1840,1897,2912,2912,4095,0,0,0,0,0,0,26.34,26.30,26.37,10.32,46.22
$GC,509,-1.62,-341.3,1839,1897,2913,4095,51.2,-11.2,66,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1897,2913,2913,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.31,45.51
$GC,555,-1.62,-341.3,1839,1897,2913,4094,56.4,-11.2,72,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1897,2914,2914,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.31,45.39
$STATE,585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,585,begin apogee
$GC,590,-0.45,0.0,1840,2020,2915,4095,60.2,-11.5,76,617,4.00,0.00,20.38,1.262,10244,0.063,0.000,2205,2020,2500,2500,4094,0,0,0,0,0,0,26.35,25.67,24.79,10.31,45.66
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,620,1.62,341.3,2205,2020,2500,4094,62.4,0.0,79,657,7.00,2.70,20.00,1.239,10756,0.043,0.069,2866,1045,2101,2101,4094,0,0,0,0,0,0,25.79,25.70,24.35,10.22,45.03
$GC,673,1.64,354.4,2865,1045,2100,4094,59.6,8.9,85,683,0.00,2.45,2.58,0.321,9222,0.000,0.031,2866,1993,2086,2086,4094,0,0,0,0,0,0,25.47,25.47,24.44,10.13,44.40
$GC,721,1.64,354.4,2865,1993,2085,4094,54.6,11.5,91,730,0.00,2.80,0.00,0.000,260,0.000,0.063,2866,2994,2084,2084,4094,0,0,0,0,0,0,25.81,25.48,25.82,10.12,44.36
$GC,772,1.64,354.4,2865,2994,2084,4094,48.1,12.2,98,782,0.00,2.53,0.00,0.000,1030,0.000,0.031,2866,2031,2084,2084,4094,0,0,0,0,0,0,25.70,25.64,25.72,10.12,44.99
$GC,818,1.64,354.4,2865,2030,2083,4094,43.1,10.6,104,827,0.00,2.75,0.00,0.000,516,0.000,0.076,2866,1049,2083,2083,4094,0,0,0,0,0,0,26.00,25.65,26.01,10.11,44.80
$GC,895,1.64,354.4,2865,1048,2082,4094,34.5,10.9,115,905,0.00,2.47,0.00,0.000,1030,0.000,0.032,2865,2019,2081,2081,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.11,45.35
$GC,941,1.64,354.4,2865,2018,2080,4094,29.3,11.8,121,950,0.00,2.67,0.00,0.000,260,0.000,0.065,2865,2990,2080,2080,4095,0,0,0,0,0,0,26.16,25.82,26.17,10.10,45.15
$GC,992,1.64,354.4,2865,2990,2079,4095,23.0,12.4,128,1002,0.00,2.53,0.00,0.000,1030,0.000,0.033,2866,2018,2079,2079,4095,0,0,0,0,0,0,26.00,25.94,26.00,10.10,45.55
$GC,1039,1.64,354.4,2865,2018,2077,4095,17.8,11.1,134,1048,0.00,2.70,0.00,0.000,516,0.000,0.073,2866,1043,2077,2077,4094,0,0,0,0,0,0,26.25,25.89,26.26,10.11,45.55
$STATE,1199,end climb,SURFACE_DEPTH_REACHED
$STATE,1200,begin surface coast
$FINISH,0.5,1.024295
$STATE,1208,end surface coast,CONTROL_FINISHED_OK
$STATE,1208,begin surface
$SM_CCo,1306,0.00,0.000,0,0,2073,367.48
$SM_GC,0.95,27.50,2.20,0.00,0.024,0.034,0.000,241,1906,2073,-6.61,-1.41,367.48,0,0,0,0,0,0,26.13,26.12,26.17
$IRIDIUM_FIX,5957.10,-16911.74,280717,132221
$TT8_MAMPS,0.026964,0.253162
$HUMID,49.76
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,24.35,2.750
$10V_AH,10.26,4.239
$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,44.325,36.525,42.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,451.416,60.644,146.858,662.353,43.697,33.408,396.723,0.000,384.138,0.000,0.541,0.000
$DEVICE_MAMPS,63.495,75.735,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.492,431.882,342.062,507.245,660.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330920
$DATA_FILE_SIZE,14333,159
$CAP_FILE_SIZE,32553,0
$CFSIZE,1024409600,1014054912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,160141,5925.367,-17048.043,3,0.8,16,8.5,0.8,246.9,10,4.9