version: 66.13
glider: 401
mission: 22
dive: 127
start: 7 28 117 22 34 50
data:
$ID,401
$MISSION,22
$DIVE,127
$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,12
$R_STBD_OVSHOOT,22
$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
$GPS1,280717,222709,5928.3804,-17051.2246,7,0.8,16,8.4,0.5,108.2,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-38.3
$GPS2,280717,223344,5928.4038,-17051.1191,8,0.8,22,8.4,0.5,46.1,10,5.0
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.280248,0.219209
$KALMAN_X,19271.001953,-1324.203125,-450.547241,-41766.285156,255.908875
$KALMAN_Y,6785.543457,1510.693237,637.298340,15292.213867,93.560242
$MHEAD_RNG_PITCHd_Wd,299.6,14091,-10.5,-9.091,-14.33,7192
$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,6,begin dive
$GC,8,-1.61,-437.8,229,1897,1914,4092,0.0,0.0,0,17,7.30,0.00,0.00,0.000,2049,0.105,0.000,836,1892,1914,1914,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.23,49.68
$GC,19,-1.61,-437.8,836,1893,1915,4094,0.7,0.0,1,48,11.07,2.47,-10.25,0.000,18948,0.064,1.307,1834,1022,3015,3015,4094,0,0,0,0,0,0,25.89,24.84,25.92,10.23,49.52
$GC,96,-1.61,-437.8,1833,1021,3016,4094,5.2,-13.0,14,103,0.00,2.20,0.00,0.000,1030,0.000,0.031,1834,1910,3017,3017,4095,0,0,0,0,0,0,25.94,25.86,25.96,10.47,48.70
$GC,134,-1.61,-437.8,1833,1914,3017,4095,10.2,-13.2,20,139,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3017,3017,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.48,48.62
$GC,170,-1.61,-437.8,1833,1914,3018,4095,15.0,-13.3,26,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3018,3018,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.47,48.22
$GC,206,-1.61,-437.8,1833,1914,3019,4095,19.5,-11.5,32,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3019,3019,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.44,47.95
$GC,242,-1.61,-437.8,1833,1914,3019,4095,23.4,-10.9,38,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3020,3020,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.41,47.63
$GC,278,-1.61,-437.8,1833,1914,3020,4094,27.3,-11.0,44,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3020,3020,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.39,47.28
$GC,314,-1.61,-437.8,1833,1914,3021,4094,31.2,-11.2,50,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3021,3021,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.38,46.61
$GC,350,-1.61,-437.8,1833,1914,3022,4095,35.4,-11.8,56,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3022,3022,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.38,45.66
$GC,386,-1.61,-437.8,1833,1914,3023,4095,39.3,-10.6,62,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3022,3022,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.37,45.55
$GC,422,-1.61,-437.8,1833,1914,3023,4094,43.6,-11.7,68,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3023,3023,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.37,44.84
$GC,458,-1.61,-437.8,1833,1914,3024,4094,48.0,-12.2,74,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3024,3024,4095,0,0,0,0,0,0,26.41,26.44,26.42,10.36,44.64
$GC,494,-1.61,-437.8,1833,1914,3025,4095,52.0,-11.1,80,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3025,3025,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.35,44.48
$GC,530,-1.61,-437.8,1833,1914,3025,4095,55.8,-10.3,86,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1914,3025,3025,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.35,44.92
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,570,-0.45,0.0,1834,2036,3026,4094,60.3,-12.7,92,603,4.03,0.00,25.42,1.278,10244,0.060,0.000,2205,2037,2500,2500,4094,0,0,0,0,0,0,26.17,25.38,24.52,10.35,44.60
$STATE,604,end apogee,CONTROL_FINISHED_OK
$STATE,604,begin climb
$GC,606,1.61,437.8,2205,2036,2500,4094,62.6,0.0,98,645,7.00,0.00,25.15,1.255,11270,0.037,0.000,2863,2037,1991,1991,4094,0,0,0,0,0,0,25.59,25.74,24.02,10.23,44.32
$GC,676,1.61,437.8,2862,2036,1990,4094,57.4,10.8,110,682,0.00,2.28,0.00,0.000,260,0.000,0.057,2863,2863,1991,1991,4094,0,0,0,0,0,0,25.48,25.19,25.49,10.12,43.62
$GC,718,1.61,437.8,2862,2862,1989,4094,51.9,13.8,117,724,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,2009,1989,1989,4094,0,0,0,0,0,0,25.48,25.39,25.50,10.11,44.40
$GC,755,1.61,437.8,2862,2009,1988,4094,47.7,11.2,123,761,0.00,2.38,0.00,0.000,516,0.000,0.069,2863,1149,1988,1988,4094,0,0,0,0,0,0,25.77,25.44,25.78,10.10,44.29
$GC,822,1.61,437.8,2862,1148,1986,4094,39.0,12.1,134,829,0.00,2.05,0.00,0.000,1030,0.000,0.028,2863,1972,1986,1986,4094,0,0,0,0,0,0,25.75,25.68,25.76,10.10,44.68
$GC,861,1.61,437.8,2862,1972,1985,4094,34.4,12.0,140,867,0.00,2.47,0.00,0.000,260,0.000,0.060,2862,2878,1985,1985,4094,0,0,0,0,0,0,25.98,25.66,25.99,10.09,44.64
$GC,898,1.61,437.8,2862,2878,1983,4094,29.4,13.5,146,904,0.00,2.33,0.00,0.000,1030,0.000,0.032,2863,1976,1983,1983,4094,0,0,0,0,0,0,25.84,25.77,25.87,10.09,44.80
$GC,937,1.61,437.8,2862,1976,1983,4094,24.9,12.2,152,943,0.00,2.22,0.00,0.000,516,0.000,0.069,2863,1149,1983,1983,4094,0,0,0,0,0,0,26.08,25.75,26.10,10.09,45.23
$GC,991,1.61,437.8,2862,1149,1981,4094,18.0,12.1,161,997,0.00,2.00,0.00,0.000,1030,0.000,0.029,2863,1959,1981,1981,4094,0,0,0,0,0,0,25.97,25.90,25.98,10.08,45.78
$GC,1028,1.68,484.5,2861,1958,1980,4094,14.5,8.4,167,1035,0.10,0.00,3.90,0.437,10246,0.076,0.000,2880,1960,1934,1934,4094,0,0,0,0,0,0,25.98,25.78,25.19,10.11,45.55
$GC,1066,1.68,484.5,2879,1961,1933,4094,11.1,9.4,173,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1961,1933,1933,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.14,47.20
$GC,1102,1.68,484.5,2879,1961,1932,4094,7.5,10.1,179,1108,0.00,2.50,0.00,0.000,260,0.000,0.060,2880,2881,1932,1932,4094,0,0,0,0,0,0,26.22,25.89,26.22,10.15,48.22
$GC,1145,1.68,484.5,2879,2880,1930,4094,3.0,10.6,186,1151,0.00,2.35,0.00,0.000,1030,0.000,0.032,2880,1962,1931,1931,4094,0,0,0,0,0,0,26.06,25.98,26.08,10.17,49.29
$STATE,1157,end climb,FINISH_DEPTH_REACHED
$STATE,1157,begin subsurface finish
$FINISH1,1.5,1.025600,0
$GC,1163,0.00,0.0,2879,2051,1930,4094,1.5,11.9,188,1181,5.60,2.55,-5.05,0.000,20996,0.063,1.309,2363,1149,2504,2504,4095,0,0,0,0,0,0,26.03,24.94,26.06,10.17,49.72
$FINISH2,0.4
$STATE,1182,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1182,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,280717,211255
$TT8_MAMPS,0.025466,0.072653
$HUMID,49.88
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,24.02,3.171
$10V_AH,10.58,4.747
$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,35.100,30.425,54.475,0.000,0.000,23.291,31.065,231.237,0.000,0.000,23.815,434.075,327.650,159.595,594.380,83.975,33.475,381.307,0.000,286.925,0.000,0.541,0.000
$DEVICE_MAMPS,104.805,1308.915,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329464
$DATA_FILE_SIZE,14315,191
$CAP_FILE_SIZE,41187,0
$CFSIZE,1024409600,1013252096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280717,223344,5928.404,-17051.119,8,0.8,22,8.4,0.5,46.1,10,5.0