version: 66.13
glider: 401
mission: 22
dive: 112
start: 7 28 117 16 9 54
data:
$ID,401
$MISSION,22
$DIVE,112
$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,15
$R_STBD_OVSHOOT,32
$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
$GPS1,280717,160141,5925.3672,-17048.0430,3,0.8,16,8.5,0.8,246.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-42.0
$GPS2,280717,160848,5925.3203,-17048.1309,4,0.7,16,8.5,0.0,210.5,11,4.6
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.275593,0.165875
$KALMAN_X,17084.779297,-1083.413452,-393.201202,-37025.867188,-121.822296
$KALMAN_Y,4398.768066,1043.714355,-24.395292,13110.210938,-91.101967
$MHEAD_RNG_PITCHd_Wd,292.5,6068,-12.2,-9.091,-15.78,5645
$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,-341.3,241,1914,2072,4092,0.0,0.0,0,21,11.57,0.00,0.00,0.000,2049,0.106,0.000,1196,1915,2072,2072,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.27,49.05
$GC,23,-1.62,-341.3,1196,1915,2072,4094,0.9,0.0,1,50,7.05,2.92,-7.72,0.000,18948,0.063,1.311,1833,921,2901,2901,4094,0,0,0,0,0,0,25.84,24.79,25.92,10.27,48.89
$GC,79,-1.62,-341.3,1832,920,2902,4094,1.2,-3.9,8,89,0.00,2.50,0.00,0.000,1030,0.000,0.031,1833,1905,2902,2902,4095,0,0,0,0,0,0,25.76,25.72,25.78,10.46,49.17
$GC,126,-1.62,-341.3,1832,1907,2903,4095,5.7,-10.2,14,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1908,2903,2903,4095,0,0,0,0,0,0,26.03,26.05,26.05,10.46,48.22
$GC,169,-1.62,-341.3,1832,1907,2903,4095,11.1,-12.7,20,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1908,2904,2904,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.46,48.11
$GC,213,-1.62,-341.3,1832,1907,2905,4094,16.9,-13.1,26,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1908,2905,2905,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.47,47.55
$GC,258,-1.62,-341.3,1832,1907,2905,4094,21.3,-8.8,32,268,0.00,2.60,0.00,0.000,260,0.000,0.059,1833,2865,2905,2905,4094,0,0,0,0,0,0,26.19,25.86,26.20,10.44,47.32
$GC,310,-1.62,-341.3,1832,2865,2907,4094,26.2,-9.4,39,319,0.00,2.58,0.00,0.000,1030,0.000,0.032,1833,1867,2907,2907,4095,0,0,0,0,0,0,26.00,25.95,26.03,10.39,46.33
$GC,355,-1.62,-341.3,1832,1867,2907,4095,30.7,-9.8,45,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1867,2908,2908,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.38,45.51
$GC,399,-1.62,-341.3,1832,1867,2908,4094,35.7,-11.6,51,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1867,2908,2908,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.37,45.47
$GC,445,-1.62,-341.3,1832,1867,2909,4095,40.8,-11.5,57,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1867,2909,2909,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.37,44.48
$GC,491,-1.62,-341.3,1832,1867,2910,4095,46.2,-11.7,63,500,0.00,2.70,0.00,0.000,260,0.000,0.057,1832,2864,2910,2910,4094,0,0,0,0,0,0,26.36,26.03,26.38,10.35,43.97
$GC,530,-1.62,-341.3,1832,2864,2911,4094,51.0,-11.4,68,539,0.00,2.55,0.00,0.000,1030,0.000,0.032,1833,1873,2911,2911,4095,0,0,0,0,0,0,26.15,26.14,26.17,10.35,43.58
$GC,576,-1.62,-341.3,1832,1872,2912,4095,56.1,-11.7,74,585,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1873,2912,2912,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.35,43.89
$STATE,612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,612,begin apogee
$GC,617,-0.45,0.0,1833,2036,2913,4095,60.6,-11.3,79,645,4.10,0.00,20.45,1.260,10244,0.063,0.000,2205,2037,2499,2499,4094,0,0,0,0,0,0,26.14,25.49,24.62,10.33,43.81
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,648,1.62,341.3,2204,2037,2500,4094,62.7,0.0,82,683,7.07,0.00,19.90,1.230,11270,0.041,0.000,2865,2037,2105,2105,4094,0,0,0,0,0,0,25.67,25.84,24.20,10.24,44.36
$GC,720,1.62,341.3,2865,2036,2104,4094,57.5,10.7,91,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2036,2104,2104,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.16,43.26
$GC,766,1.62,341.3,2864,2036,2104,4094,52.9,9.6,97,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2037,2103,2103,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.15,42.91
$GC,812,1.62,341.3,2865,2037,2102,4094,47.8,11.0,103,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2037,2102,2102,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.14,43.22
$GC,858,1.62,341.3,2865,2036,2101,4094,43.0,10.6,109,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2037,2101,2101,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.13,43.93
$GC,903,1.62,341.3,2864,2036,2100,4094,37.9,11.4,115,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2037,2100,2100,4095,0,0,0,0,0,0,26.05,26.06,26.06,10.14,43.93
$GC,948,1.62,341.3,2865,2036,2099,4095,32.8,11.5,121,957,0.00,2.80,0.00,0.000,516,0.000,0.072,2865,1040,2099,2099,4095,0,0,0,0,0,0,26.10,25.76,26.11,10.13,44.13
$GC,994,1.62,341.3,2865,1039,2098,4095,27.4,12.0,127,1003,0.00,2.42,0.00,0.000,1030,0.000,0.031,2865,1995,2098,2098,4094,0,0,0,0,0,0,25.96,25.91,25.96,10.13,44.40
$GC,1040,1.62,341.3,2865,1995,2097,4094,22.3,10.6,133,1050,0.00,2.72,0.00,0.000,260,0.000,0.063,2865,2986,2096,2096,4094,0,0,0,0,0,0,26.20,25.86,26.21,10.13,44.25
$GC,1138,1.62,341.3,2865,2986,2094,4094,10.7,10.8,147,1147,0.00,2.50,0.00,0.000,1030,0.000,0.031,2866,2018,2094,2094,4094,0,0,0,0,0,0,26.03,26.03,26.07,10.19,46.69
$GC,1183,1.62,341.3,2865,2018,2093,4094,6.3,10.0,153,1192,0.00,2.70,0.00,0.000,516,0.000,0.075,2865,1044,2093,2093,4094,0,0,0,0,0,0,26.31,25.97,26.32,10.20,47.87
$STATE,1233,end climb,FINISH_DEPTH_REACHED
$STATE,1233,begin subsurface finish
$FINISH1,1.9,1.024289,91
$GC,1241,0.14,91.4,2865,2021,2092,4094,1.9,8.1,160,1252,5.20,0.00,-2.75,0.000,20998,0.086,0.000,2411,2028,2400,2400,4095,0,0,0,0,0,0,26.03,25.25,26.13,10.22,48.74
$FINISH2,0.4
$STATE,1253,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1253,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,144640
$TT8_MAMPS,0.025466,0.250166
$HUMID,48.81
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.20,2.785
$10V_AH,10.28,4.280
$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,35.000,31.850,40.350,0.000,0.000,24.323,18.891,276.250,0.000,0.000,17.993,460.892,0.000,140.650,1012.962,88.217,33.449,417.238,0.000,390.855,0.000,1.732,0.000
$DEVICE_MAMPS,106.335,1311.210,1259.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.347,437.368,346.344,513.151,670.098,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329480
$DATA_FILE_SIZE,14222,161
$CAP_FILE_SIZE,37955,0
$CFSIZE,1024409600,1013989376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,160848,5925.320,-17048.131,4,0.7,16,8.5,0.0,210.5,11,4.6