version: 66.13
glider: 401
mission: 22
dive: 114
start: 7 28 117 16 55 47
data:
$ID,401
$MISSION,22
$DIVE,114
$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,18
$R_STBD_OVSHOOT,24
$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
$GPS1,280717,160848,5925.3203,-17048.1309,4,0.7,16,8.5,0.0,210.5,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.6
$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,-0.293500,0.131571
$KALMAN_X,17651.634766,-1082.051514,-390.499634,-37621.890625,51.206757
$KALMAN_Y,4148.742188,968.089539,-54.372231,13469.739258,-85.000267
$MHEAD_RNG_PITCHd_Wd,285.6,6068,-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,-341.3,2406,1911,2399,4091,0.0,0.0,0,21,5.93,0.00,-4.68,0.000,20486,0.037,0.000,1841,1912,2904,2904,4094,0,0,0,0,0,0,26.09,25.20,26.10,10.29,49.52
$GC,23,-1.62,-341.3,1841,1912,2904,4094,0.0,0.0,1,32,0.00,2.78,0.00,0.000,516,0.000,0.080,1841,923,2904,2904,4095,0,0,0,0,0,0,26.27,25.91,26.28,10.40,50.15
$GC,55,-1.62,-341.3,1840,922,2904,4095,2.4,-6.8,5,64,0.00,2.47,0.00,0.000,1030,0.000,0.034,1840,1905,2905,2905,4094,0,0,0,0,0,0,26.12,26.08,26.13,10.41,49.96
$GC,100,-1.62,-341.3,1840,1908,2906,4094,7.7,-12.5,11,110,0.00,2.62,0.00,0.000,260,0.000,0.064,1841,2863,2906,2906,4094,0,0,0,0,0,0,26.34,26.01,26.35,10.41,49.96
$GC,138,-1.62,-341.3,1840,2863,2907,4094,12.8,-13.1,16,148,0.00,2.47,0.00,0.000,1030,0.000,0.034,1841,1903,2908,2908,4094,0,0,0,0,0,0,26.13,26.08,26.17,10.42,49.56
$GC,185,-1.62,-341.3,1840,1902,2908,4094,18.3,-12.3,22,193,0.00,2.62,0.00,0.000,260,0.000,0.063,1841,2861,2908,2908,4095,0,0,0,0,0,0,26.39,26.05,26.40,10.41,49.33
$GC,236,-1.62,-341.3,1840,2860,2908,4095,23.2,-9.5,29,245,0.00,2.38,0.00,0.000,1030,0.000,0.033,1841,1935,2909,2909,4095,0,0,0,0,0,0,26.18,26.13,26.20,10.38,48.58
$GC,281,-1.62,-341.3,1840,1935,2909,4095,27.9,-10.6,35,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1935,2910,2910,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.36,47.44
$GC,325,-1.62,-341.3,1840,1935,2910,4095,32.7,-10.7,41,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1936,2910,2910,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.34,46.92
$GC,370,-1.62,-341.3,1840,1935,2911,4095,37.3,-10.9,47,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1935,2911,2911,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.33,46.25
$GC,416,-1.62,-341.3,1840,1935,2912,4094,42.3,-11.2,53,425,0.00,2.53,0.00,0.000,260,0.000,0.061,1841,2858,2912,2912,4095,0,0,0,0,0,0,26.50,26.17,26.51,10.32,45.90
$GC,454,-1.62,-341.3,1840,2857,2913,4095,46.9,-11.2,58,464,0.00,2.35,0.00,0.000,1030,0.000,0.032,1841,1937,2913,2913,4094,0,0,0,0,0,0,26.29,26.25,26.31,10.32,45.78
$GC,501,-1.62,-341.3,1840,1936,2914,4094,52.2,-11.6,64,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1937,2914,2914,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.31,45.74
$GC,544,-1.62,-341.3,1840,1937,2915,4095,57.4,-11.7,70,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1937,2915,2915,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.31,46.02
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,573,-0.45,0.0,1840,2035,2915,4094,60.2,-11.2,73,601,4.00,0.00,20.48,1.259,10244,0.064,0.000,2204,2036,2499,2499,4094,0,0,0,0,0,0,26.25,25.60,24.74,10.31,45.27
$STATE,602,end apogee,CONTROL_FINISHED_OK
$STATE,602,begin climb
$GC,603,1.62,341.3,2203,2036,2499,4094,62.4,0.0,76,640,7.05,0.00,19.98,1.235,11270,0.041,0.000,2866,2036,2101,2101,4094,0,0,0,0,0,0,25.79,25.96,24.30,10.22,44.92
$GC,677,1.62,341.3,2865,2035,2101,4094,57.7,9.9,85,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2036,2100,2100,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.13,44.01
$GC,723,1.62,341.3,2865,2036,2100,4094,53.0,10.6,91,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2036,2099,2099,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.12,44.56
$GC,767,1.62,341.3,2865,2036,2099,4094,47.6,11.4,97,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2036,2098,2098,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.12,44.25
$GC,811,1.62,341.3,2865,2036,2096,4094,42.6,10.9,103,821,0.00,2.80,0.00,0.000,516,0.000,0.071,2866,1041,2098,2098,4094,0,0,0,0,0,0,26.01,25.67,26.02,10.12,44.76
$GC,863,1.62,341.3,2865,1041,2096,4094,36.5,12.3,110,872,0.00,2.42,0.00,0.000,1030,0.000,0.031,2866,1993,2095,2095,4095,0,0,0,0,0,0,25.86,25.82,25.88,10.12,45.43
$GC,908,1.62,341.3,2865,1994,2095,4095,31.2,11.6,116,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1994,2095,2095,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.11,45.23
$GC,952,1.62,341.3,2864,1994,2094,4094,26.3,11.3,122,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1994,2094,2094,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.11,45.43
$GC,998,1.62,341.3,2865,1994,2093,4094,21.2,11.8,128,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1994,2093,2093,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.11,45.11
$GC,1043,1.62,341.3,2865,1994,2092,4094,16.1,10.9,134,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1994,2092,2092,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.13,46.10
$GC,1087,1.62,341.3,2865,1995,2090,4094,11.7,9.8,140,1096,0.00,2.72,0.00,0.000,260,0.000,0.063,2866,2987,2090,2090,4095,0,0,0,0,0,0,26.29,25.96,26.31,10.17,47.08
$GC,1138,1.62,341.3,2865,2987,2089,4095,6.5,9.5,147,1148,0.00,2.53,0.00,0.000,1030,0.000,0.032,2866,2008,2089,2089,4094,0,0,0,0,0,0,26.10,26.06,26.15,10.19,47.75
$STATE,1182,end climb,SURFACE_DEPTH_REACHED
$STATE,1182,begin surface coast
$FINISH,0.2,1.024292
$STATE,1197,end surface coast,CONTROL_FINISHED_OK
$STATE,1197,begin surface
$SM_CCo,1293,0.00,0.000,0,0,2087,356.32
$SM_GC,1.00,27.58,0.28,0.00,0.025,0.063,0.000,240,1897,2087,-6.61,0.96,356.32,0,0,0,0,0,0,26.13,26.11,26.17
$IRIDIUM_FIX,5957.10,-16911.74,280717,144640
$TT8_MAMPS,0.025466,0.249417
$HUMID,49.52
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.30,2.815
$10V_AH,10.27,4.351
$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,44.550,33.400,40.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,444.569,60.026,157.869,645.225,45.765,33.417,418.274,0.000,374.984,0.000,0.543,0.000
$DEVICE_MAMPS,64.260,79.560,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.471,421.039,333.484,494.144,642.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331064
$DATA_FILE_SIZE,14402,155
$CAP_FILE_SIZE,34133,0
$CFSIZE,1024409600,1013891072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,171843,5925.768,-17049.785,3,0.8,49,8.5,0.7,268.1,10,22.4