version: 66.13
glider: 401
mission: 22
dive: 124
start: 7 28 117 21 18 51
data:
$ID,401
$MISSION,22
$DIVE,124
$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,450
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,280717,211133,5927.6411,-17051.5742,7,1.3,52,8.4,0.7,32.3,8,3.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-35.7
$GPS2,280717,211746,5927.6846,-17051.4941,8,0.9,16,8.4,0.6,3.0,9,4.8
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.276873,0.223941
$KALMAN_X,18346.929688,-1493.014038,-676.513245,-40806.367188,252.191528
$KALMAN_Y,6677.974609,1340.843384,461.404419,14406.089844,163.406128
$MHEAD_RNG_PITCHd_Wd,300.6,15286,-10.5,-9.091,-14.32,7207
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.61,-438.7,239,1899,1829,4092,0.0,0.0,0,21,10.68,0.00,0.00,0.000,2049,0.093,0.000,1146,1896,1829,1829,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.21,50.31
$GC,23,-1.61,-438.7,1145,1898,1828,4094,0.6,0.0,1,50,7.47,2.47,-11.07,0.000,18948,0.050,1.310,1835,1033,3015,3015,4095,0,0,0,0,0,0,25.87,24.84,25.94,10.22,50.35
$GC,124,-1.61,-438.7,1834,1033,3016,4095,6.9,-12.9,15,133,0.00,2.20,0.00,0.000,1030,0.000,0.031,1835,1905,3016,3016,4095,0,0,0,0,0,0,25.91,25.87,25.95,10.47,49.40
$GC,188,-1.61,-438.7,1834,1905,3017,4095,15.6,-13.9,24,198,0.00,2.30,0.00,0.000,260,0.000,0.059,1835,2751,3017,3017,4095,0,0,0,0,0,0,26.19,25.86,26.20,10.47,49.29
$GC,220,-1.61,-438.7,1834,2751,3018,4095,19.5,-12.0,28,229,0.00,2.15,0.00,0.000,1030,0.000,0.031,1835,1916,3018,3018,4095,0,0,0,0,0,0,25.99,25.96,26.02,10.43,48.77
$GC,285,-1.61,-438.7,1834,1916,3019,4095,26.5,-10.7,37,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1916,3019,3019,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.39,47.28
$GC,349,-1.61,-438.7,1834,1916,3021,4095,33.6,-11.2,46,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1916,3021,3021,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.38,46.10
$GC,412,-1.61,-438.7,1834,1916,3022,4095,40.8,-11.3,55,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1915,3022,3022,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.37,45.07
$GC,475,-1.61,-438.7,1834,1915,3023,4095,48.0,-11.5,64,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1916,3023,3023,4095,0,0,0,0,0,0,26.39,26.42,26.41,10.36,44.72
$GC,539,-1.61,-438.7,1835,1915,3025,4095,55.6,-11.6,73,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1916,3025,3025,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.35,44.52
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1835,2044,3025,4094,60.2,-12.2,78,615,4.03,0.00,25.50,1.277,10244,0.061,0.000,2202,2044,2500,2500,4094,0,0,0,0,0,0,26.17,25.38,24.52,10.35,44.76
$STATE,616,end apogee,CONTROL_FINISHED_OK
$STATE,616,begin climb
$GC,618,1.61,438.7,2202,2044,2500,4094,62.6,0.0,82,655,7.07,0.00,25.30,1.252,11270,0.038,0.000,2862,2044,1989,1989,4094,0,0,0,0,0,0,25.59,25.75,24.03,10.24,44.21
$GC,710,1.61,438.7,2862,2044,1988,4094,55.5,11.2,94,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,1987,1987,4094,0,0,0,0,0,0,25.58,25.60,25.60,10.11,43.38
$GC,774,1.61,438.7,2861,2044,1986,4094,48.3,10.9,103,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,1986,1986,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.11,43.69
$GC,838,1.61,438.7,2862,2044,1984,4094,41.0,11.4,112,847,0.00,2.47,0.00,0.000,516,0.000,0.066,2862,1154,1984,1984,4094,0,0,0,0,0,0,25.93,25.60,25.94,10.11,44.40
$GC,889,1.61,438.7,2861,1154,1983,4094,35.1,11.3,119,899,0.00,2.10,0.00,0.000,1030,0.000,0.030,2862,1983,1983,1983,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.10,44.32
$GC,954,1.61,438.7,2861,1984,1981,4094,27.6,11.4,128,964,0.00,2.45,0.00,0.000,260,0.000,0.060,2862,2877,1981,1981,4094,0,0,0,0,0,0,26.10,25.78,26.11,10.09,45.23
$GC,993,1.61,438.7,2861,2876,1980,4094,23.0,12.1,133,1002,0.00,2.25,0.00,0.000,1030,0.000,0.031,2862,2010,1980,1980,4094,0,0,0,0,0,0,25.91,25.87,25.96,10.09,45.11
$GC,1058,1.61,438.7,2861,2009,1978,4094,15.6,10.8,142,1067,0.00,2.35,0.00,0.000,516,0.000,0.070,2861,1153,1979,1979,4094,0,0,0,0,0,0,26.20,25.86,26.22,10.10,44.88
$GC,1096,1.61,438.7,2862,1153,1978,4094,12.2,9.1,147,1106,0.00,2.12,0.00,0.000,1030,0.000,0.030,2862,1999,1977,1977,4095,0,0,0,0,0,0,26.02,25.99,26.04,10.14,46.10
$GC,1161,1.61,438.7,2862,1999,1976,4095,6.2,9.6,156,1171,0.00,2.42,0.00,0.000,260,0.000,0.063,2862,2884,1976,1976,4094,0,0,0,0,0,0,26.29,25.99,26.30,10.17,47.91
$STATE,1206,end climb,FINISH_DEPTH_REACHED
$STATE,1206,begin subsurface finish
$FINISH1,1.3,1.024265,93
$GC,1214,0.14,93.0,2862,2010,1975,4094,1.3,11.3,162,1233,4.70,2.38,-3.85,0.000,20996,0.030,1.305,2407,1164,2397,2397,4094,0,0,0,0,0,0,26.09,25.00,26.14,10.18,48.38
$FINISH2,0.1
$STATE,1234,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1235,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,280717,195813
$TT8_MAMPS,0.024717,0.244174
$HUMID,49.17
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.03,3.094
$10V_AH,10.25,4.684
$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,33.950,30.200,50.800,0.000,0.000,23.834,21.722,223.869,0.000,0.000,17.472,449.890,0.000,128.788,974.781,78.254,33.447,388.396,0.000,396.824,0.000,0.544,0.000
$DEVICE_MAMPS,92.565,1309.680,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.073,445.461,352.843,522.398,681.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329448
$DATA_FILE_SIZE,14355,164
$CAP_FILE_SIZE,33874,0
$CFSIZE,1024409600,1013399552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280717,211746,5927.685,-17051.494,8,0.9,16,8.4,0.6,3.0,9,4.8