version: 66.13
glider: 401
mission: 22
dive: 128
start: 7 28 117 22 56 32
data:
$ID,401
$MISSION,22
$DIVE,128
$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,17
$R_STBD_OVSHOOT,36
$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
$GPS1,280717,223344,5928.4038,-17051.1191,8,0.8,22,8.4,0.5,46.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-4.8
$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,-0.238398,0.265501
$KALMAN_X,19432.623047,-1237.640625,-346.888702,-42114.128906,187.773438
$KALMAN_Y,6645.690430,1485.606079,603.403992,15514.262695,74.598450
$MHEAD_RNG_PITCHd_Wd,309.7,14091,-10.5,-9.091,-14.29,7242
$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,-438.8,2363,1901,2504,4092,0.0,0.0,0,21,5.35,0.00,-4.80,0.000,20486,0.025,0.000,1847,1901,3017,3017,4095,0,0,0,0,0,0,26.06,25.18,26.09,10.32,51.06
$GC,23,-1.61,-438.8,1846,1901,3018,4095,0.1,0.0,1,32,0.00,2.40,0.00,0.000,516,0.000,0.074,1847,1035,3018,3018,4095,0,0,0,0,0,0,26.24,25.90,26.25,10.43,50.59
$GC,74,-1.61,-438.8,1846,1034,3019,4095,5.1,-13.3,8,84,0.00,2.17,0.00,0.000,1030,0.000,0.034,1847,1891,3019,3019,4095,0,0,0,0,0,0,26.08,26.04,26.09,10.43,50.51
$GC,120,-1.61,-438.8,1846,1893,3020,4095,10.9,-12.2,14,127,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1893,3020,3020,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.44,50.90
$GC,163,-1.61,-438.8,1846,1893,3021,4094,16.7,-13.6,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1894,3022,3022,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.43,50.03
$GC,209,-1.61,-438.8,1846,1894,3022,4095,21.4,-9.8,26,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1895,3023,3023,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.38,49.44
$GC,254,-1.61,-438.8,1846,1894,3023,4095,26.1,-10.4,32,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1895,3023,3023,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.37,48.46
$GC,298,-1.61,-438.8,1846,1894,3024,4094,30.9,-10.5,38,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1895,3023,3023,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.36,47.71
$GC,343,-1.61,-438.8,1846,1894,3024,4094,34.7,-8.5,44,352,0.00,2.33,0.00,0.000,260,0.000,0.057,1847,2760,3024,3024,4094,0,0,0,0,0,0,26.46,26.14,26.47,10.35,47.67
$GC,395,-1.61,-438.8,1846,2760,3025,4094,38.8,-8.3,51,404,0.00,2.22,0.00,0.000,1030,0.000,0.032,1847,1890,3025,3025,4095,0,0,0,0,0,0,26.28,26.21,26.26,10.34,46.18
$GC,441,-1.61,-438.8,1846,1889,3025,4095,43.0,-9.8,57,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1890,3026,3026,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.34,45.94
$GC,487,-1.61,-438.8,1846,1889,3027,4095,47.4,-10.1,63,496,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1890,3026,3026,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.33,45.82
$GC,533,-1.61,-438.8,1846,1889,3028,4095,51.9,-10.0,69,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1889,3028,3028,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.33,45.58
$GC,579,-1.61,-438.8,1846,1889,3029,4095,56.2,-9.7,75,588,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1890,3029,3029,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.32,46.02
$STATE,623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,629,-0.45,0.0,1846,2040,3030,4095,60.4,-9.0,81,665,3.92,0.08,25.60,1.277,10244,0.060,0.102,2204,2002,2500,2500,4095,0,0,0,0,0,0,26.28,25.52,24.63,10.32,46.18
$STATE,666,end apogee,CONTROL_FINISHED_OK
$STATE,666,begin climb
$GC,668,1.61,438.8,2205,2001,2500,4095,62.3,0.0,85,705,7.03,0.00,25.25,1.255,11270,0.038,0.000,2861,2002,1988,1988,4094,0,0,0,0,0,0,25.68,25.86,24.10,10.20,45.51
$GC,742,1.61,441.3,2861,2002,1986,4094,58.0,9.1,94,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2002,1986,1986,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.09,44.40
$GC,786,1.62,442.4,2860,2001,1986,4094,53.9,9.1,100,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2002,1985,1985,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.09,45.03
$GC,829,1.62,442.4,2861,2001,1985,4094,49.8,9.5,106,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2002,1985,1985,4094,0,0,0,0,0,0,25.84,25.85,25.84,10.09,44.72
$GC,874,1.62,442.4,2861,2002,1984,4094,45.4,10.2,112,883,0.00,2.35,0.00,0.000,516,0.000,0.071,2861,1155,1984,1984,4094,0,0,0,0,0,0,25.93,25.59,25.94,10.09,44.99
$GC,932,1.62,442.4,2861,1155,1983,4094,39.3,11.3,120,941,0.00,2.08,0.00,0.000,1030,0.000,0.030,2862,1978,1983,1983,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.08,45.90
$GC,979,1.62,442.4,2861,1980,1982,4094,34.9,10.3,126,987,0.00,2.45,0.00,0.000,260,0.000,0.060,2862,2870,1982,1982,4094,0,0,0,0,0,0,26.08,25.76,26.09,10.07,45.90
$GC,1016,1.62,442.4,2861,2870,1981,4094,30.6,11.6,131,1026,0.00,2.22,0.00,0.000,1030,0.000,0.032,2861,2014,1981,1981,4094,0,0,0,0,0,0,25.90,25.84,25.94,10.07,45.39
$GC,1063,1.62,442.4,2861,2014,1980,4094,26.0,9.7,137,1073,0.00,2.38,0.00,0.000,516,0.000,0.071,2861,1152,1979,1979,4094,0,0,0,0,0,0,26.17,25.82,26.19,10.07,45.94
$GC,1180,1.80,566.8,2861,1152,1977,4094,14.7,7.3,154,1200,0.52,2.08,7.80,0.657,11270,0.039,0.030,2917,1987,1838,1838,4094,0,0,0,0,0,0,26.03,26.04,25.20,10.09,46.57
$GC,1237,1.81,574.1,2916,1986,1836,4094,10.1,9.0,161,1247,0.00,2.40,0.50,0.003,8452,0.000,0.060,2917,2865,1837,1837,4094,0,0,0,0,0,0,26.21,25.88,26.21,10.10,48.30
$GC,1285,1.81,574.1,2916,2865,1836,4094,5.2,11.0,167,1295,0.00,2.28,0.05,0.003,9222,0.000,0.033,2917,1987,1835,1835,4094,0,0,0,0,0,0,26.05,25.97,26.06,10.12,48.54
$STATE,1322,end climb,FINISH_DEPTH_REACHED
$STATE,1322,begin subsurface finish
$FINISH1,1.4,1.024270,93
$GC,1328,0.14,92.7,2917,1986,1834,4094,1.4,9.4,172,1347,5.50,2.33,-5.10,0.000,20996,0.053,1.310,2407,1153,2397,2397,4094,0,0,0,0,0,0,26.06,24.96,26.10,10.14,50.00
$FINISH2,0.1
$STATE,1348,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1348,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,280717,211255
$TT8_MAMPS,0.025466,0.26964
$HUMID,50.59
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.10,3.192
$10V_AH,10.26,4.785
$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,22.325,31.925,59.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,487.644,0.000,145.760,726.230,45.586,33.423,433.284,0.000,419.383,0.000,0.541,0.000
$DEVICE_MAMPS,60.435,1310.445,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.150,472.655,374.361,554.763,723.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331000
$DATA_FILE_SIZE,17903,174
$CAP_FILE_SIZE,35041,0
$CFSIZE,1024409600,1013186560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,223344,5928.404,-17051.119,8,0.8,22,8.4,0.5,46.1,10,5.0