version: 66.13
glider: 401
mission: 22
dive: 125
start: 7 28 117 21 41 28
data:
$ID,401
$MISSION,22
$DIVE,125
$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,25
$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
$GPS1,280717,211746,5927.6846,-17051.4941,8,0.9,16,8.4,0.6,3.0,9,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-0.7
$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,-0.250687,0.253365
$KALMAN_X,18518.621094,-1418.816284,-570.735168,-41149.703125,210.954773
$KALMAN_Y,6552.080078,1309.462646,433.088348,14624.024414,149.441345
$MHEAD_RNG_PITCHd_Wd,306.9,15286,-10.5,-9.091,-14.31,7223
$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,-1.61,-438.8,2407,1946,2397,4092,0.0,0.0,0,17,5.82,0.00,-1.30,0.000,20482,0.025,0.000,1843,1947,2541,2541,4094,0,0,0,0,0,0,26.05,28.83,26.09,10.30,49.88
$GC,19,-1.61,-438.8,1842,1946,2542,4094,0.1,0.0,1,31,0.00,2.58,-4.12,0.000,16900,0.000,1.299,1843,1038,3017,3017,4094,0,0,0,0,0,0,26.24,24.96,26.25,10.34,49.84
$GC,44,-1.61,-438.8,1842,1038,3017,4094,1.9,-6.0,5,50,0.00,2.17,0.00,0.000,1030,0.000,0.031,1843,1905,3018,3018,4095,0,0,0,0,0,0,25.96,25.91,25.98,10.43,50.19
$GC,99,-1.61,-438.8,1842,1905,3019,4095,9.0,-13.0,14,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,3019,3019,4095,0,0,0,0,0,0,26.20,26.22,26.21,10.44,49.96
$GC,152,-1.61,-438.8,1842,1904,3021,4095,16.6,-14.7,23,158,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,3021,3021,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.44,50.19
$GC,207,-1.61,-438.8,1842,1908,3021,4095,21.8,-9.0,32,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3021,3021,4095,0,0,0,0,0,0,26.29,26.32,26.31,10.39,48.85
$GC,261,-1.61,-438.8,1842,1908,3022,4095,27.0,-9.8,41,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3023,3023,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.37,48.30
$GC,315,-1.61,-438.8,1842,1907,3023,4095,32.5,-10.3,50,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3023,3023,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.36,47.16
$GC,369,-1.61,-438.8,1842,1908,3024,4095,38.2,-10.8,59,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3025,3025,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.35,46.61
$GC,423,-1.61,-438.8,1842,1908,3026,4095,43.9,-10.4,68,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1908,3025,3025,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.34,46.45
$GC,477,-1.61,-438.8,1842,1908,3026,4095,49.7,-10.9,77,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3026,3026,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.33,46.33
$GC,532,-1.61,-438.8,1842,1908,3028,4095,55.6,-10.6,86,538,0.00,2.35,0.00,0.000,516,0.000,0.070,1843,1038,3028,3028,4095,0,0,0,0,0,0,26.48,26.14,26.50,10.33,46.25
$GC,564,-1.61,-438.8,1842,1038,3029,4095,59.5,-11.9,91,570,0.00,2.12,0.00,0.000,1030,0.000,0.031,1842,1897,3029,3029,4094,0,0,0,0,0,0,26.31,26.25,26.33,10.33,46.53
$STATE,574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1842,2029,3028,4095,61.1,-12.2,93,613,3.97,0.00,25.55,1.280,10244,0.061,0.000,2206,2029,2499,2499,4095,0,0,0,0,0,0,26.21,25.42,24.56,10.33,46.18
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,1.61,438.8,2206,2029,2500,4095,63.1,0.0,99,655,7.00,0.00,25.30,1.258,11270,0.039,0.000,2860,2029,1987,1987,4094,0,0,0,0,0,0,25.62,25.77,24.03,10.21,45.62
$GC,704,1.61,438.8,2859,2029,1985,4094,56.0,11.0,114,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2030,1986,1986,4095,0,0,0,0,0,0,25.58,25.60,25.59,10.10,44.52
$GC,758,1.61,438.8,2859,2029,1984,4095,49.9,11.1,123,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2029,1985,1985,4094,0,0,0,0,0,0,25.76,25.78,25.77,10.09,45.03
$GC,812,1.61,438.8,2859,2029,1983,4094,44.0,10.9,132,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2029,1983,1983,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.08,45.19
$GC,866,1.61,438.8,2859,2029,1982,4094,38.2,10.9,141,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2030,1981,1981,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.08,46.02
$GC,920,1.61,438.8,2859,2029,1981,4094,32.3,11.1,150,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2029,1981,1981,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.08,46.14
$GC,974,1.61,438.8,2859,2029,1979,4094,26.4,10.7,159,983,0.00,2.38,0.00,0.000,516,0.000,0.069,2860,1157,1979,1979,4094,0,0,0,0,0,0,26.13,25.79,26.14,10.07,46.14
$GC,1015,1.61,438.8,2859,1156,1979,4094,22.0,11.2,165,1021,0.00,2.10,0.00,0.000,1030,0.000,0.030,2860,1998,1978,1978,4095,0,0,0,0,0,0,25.99,25.92,26.01,10.06,46.10
$GC,1070,1.61,438.8,2859,1998,1977,4095,16.0,10.4,174,1076,0.00,2.40,0.00,0.000,260,0.000,0.062,2860,2882,1977,1977,4094,0,0,0,0,0,0,26.22,25.89,26.24,10.08,46.65
$GC,1113,1.61,438.8,2859,2882,1976,4094,12.0,9.2,181,1119,0.00,2.25,0.00,0.000,1030,0.000,0.032,2860,2001,1976,1976,4095,0,0,0,0,0,0,26.06,25.98,26.08,10.12,47.87
$GC,1169,1.62,444.8,2859,2001,1975,4095,7.0,9.0,190,1175,0.00,2.28,0.00,0.000,516,0.000,0.070,2860,1153,1974,1974,4094,0,0,0,0,0,0,26.29,25.95,26.31,10.14,48.97
$STATE,1222,end climb,FINISH_DEPTH_REACHED
$STATE,1222,begin subsurface finish
$FINISH1,1.6,1.025600,0
$GC,1229,0.00,0.0,2860,2020,1973,4094,1.6,9.9,199,1247,5.53,2.45,-4.68,0.000,20740,0.076,1.308,2368,2885,2504,2504,4094,0,0,0,0,0,0,26.02,25.02,26.08,10.16,50.31
$FINISH2,0.2
$STATE,1248,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1248,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,280717,195813
$TT8_MAMPS,0.025466,0.085386
$HUMID,50.43
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.03,3.114
$10V_AH,10.53,4.695
$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,22.325,27.475,50.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.732,384.756,139.932,301.789,36.123,33.419,352.688,0.000,300.864,0.000,0.541,0.000
$DEVICE_MAMPS,75.735,1308.150,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331008
$DATA_FILE_SIZE,14328,202
$CAP_FILE_SIZE,33092,0
$CFSIZE,1024409600,1013350400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,975.27,0x236162,1,24
$GPS,280717,211746,5927.685,-17051.494,8,0.9,16,8.4,0.6,3.0,9,4.8