version: 66.13
glider: 401
mission: 22
dive: 130
start: 7 28 117 23 59 0
data:
$ID,401
$MISSION,22
$DIVE,130
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,280717,234340,5928.8750,-17050.8691,7,0.8,24,8.4,0.4,60.3,10,5.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-41.5
$GPS2,280717,235754,5928.8540,-17050.7090,13,0.9,41,8.4,0.6,305.2,9,4.8
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.248235,0.255125
$KALMAN_X,20204.603516,-1153.671387,-253.086548,-42680.164062,222.567856
$KALMAN_Y,6518.683594,1619.198486,726.544495,16202.151367,-34.797302
$MHEAD_RNG_PITCHd_Wd,307.4,13414,-10.5,-9.091,-14.33,7200
$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,-438.3,239,1884,1894,4092,0.0,0.0,0,20,10.57,0.00,0.00,0.000,2049,0.110,0.000,1108,1881,1894,1894,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.25,48.85
$GC,22,-1.61,-438.3,1108,1881,1894,4094,0.9,0.0,1,50,7.85,2.42,-10.48,0.000,18948,0.047,1.310,1837,1047,3014,3014,4095,0,0,0,0,0,0,25.89,24.84,25.95,10.25,48.11
$GC,119,-1.61,-438.3,1836,1048,3017,4095,5.4,-13.4,14,129,0.00,2.15,0.00,0.000,1030,0.000,0.028,1837,1903,3017,3017,4094,0,0,0,0,0,0,25.91,25.85,25.91,10.50,47.83
$GC,166,-1.61,-438.3,1836,1902,3018,4094,11.5,-13.0,20,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1902,3018,3018,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.50,47.28
$GC,211,-1.61,-438.3,1836,1904,3018,4095,17.7,-14.3,26,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1905,3019,3019,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.49,47.04
$GC,257,-1.61,-438.3,1836,1906,3019,4094,22.6,-10.2,32,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,3020,3020,4095,0,0,0,0,0,0,26.25,26.26,26.25,10.43,46.29
$GC,303,-1.61,-438.3,1836,1906,3020,4095,27.5,-10.5,38,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,3021,3021,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.41,45.11
$GC,349,-1.61,-438.3,1836,1906,3021,4095,32.5,-10.8,44,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,3022,3022,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.40,45.03
$GC,395,-1.61,-438.3,1836,1906,3022,4095,37.7,-10.9,50,404,0.00,2.28,0.00,0.000,260,0.000,0.054,1836,2758,3022,3022,4094,0,0,0,0,0,0,26.34,26.03,26.36,10.39,44.56
$GC,426,-1.61,-438.8,1836,2757,3023,4094,40.4,-8.6,54,436,0.00,2.15,0.00,0.000,1030,0.000,0.030,1837,1913,3023,3023,4094,0,0,0,0,0,0,26.12,26.10,26.15,10.38,44.01
$GC,472,-1.61,-438.8,1836,1913,3023,4094,44.2,-7.6,60,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1913,3023,3023,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.38,43.69
$GC,517,-1.61,-438.8,1836,1913,3024,4095,48.0,-8.4,66,526,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1914,3024,3024,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.37,43.81
$GC,562,-1.61,-438.8,1836,1913,3025,4094,51.5,-7.6,72,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1913,3025,3025,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.37,43.66
$GC,607,-1.61,-438.8,1836,1913,3024,4095,55.0,-8.0,78,615,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1914,3026,3026,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.36,43.18
$GC,651,-1.61,-438.8,1836,1913,3026,4095,58.5,-7.5,84,660,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1913,3026,3026,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.36,43.26
$STATE,676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,676,begin apogee
$GC,681,-0.45,0.0,1837,2056,3026,4094,60.4,-7.5,87,717,4.03,0.10,25.50,1.274,10244,0.058,0.086,2206,2005,2500,2500,4094,0,0,0,0,0,0,26.21,25.41,24.56,10.35,43.14
$STATE,718,end apogee,CONTROL_FINISHED_OK
$STATE,719,begin climb
$GC,720,1.61,438.8,2206,2005,2500,4094,61.9,0.0,91,766,7.00,2.30,25.38,1.252,10756,0.040,0.066,2865,1170,1987,1987,4095,0,0,0,0,0,0,25.56,25.48,24.05,10.24,43.06
$GC,888,1.61,438.8,2864,1169,1984,4095,48.4,9.5,114,897,0.00,2.05,0.00,0.000,1030,0.000,0.028,2865,1983,1984,1984,4094,0,0,0,0,0,0,25.63,25.58,25.68,10.12,43.89
$GC,933,1.61,438.8,2864,1985,1984,4094,44.1,9.4,120,942,0.00,2.30,0.00,0.000,516,0.000,0.068,2865,1164,1983,1983,4094,0,0,0,0,0,0,25.92,25.60,25.94,10.11,43.58
$GC,1012,1.61,438.8,2864,1163,1982,4094,36.0,10.6,131,1022,0.00,2.22,0.00,0.000,1030,0.000,0.028,2865,2040,1982,1982,4095,0,0,0,0,0,0,25.85,25.80,25.86,10.11,44.17
$GC,1059,1.61,438.8,2864,2040,1980,4095,31.1,10.2,137,1069,0.00,2.30,0.00,0.000,260,0.000,0.060,2864,2879,1980,1980,4094,0,0,0,0,0,0,26.10,25.80,26.11,10.10,44.44
$GC,1131,1.61,438.8,2864,2879,1979,4094,22.9,10.9,147,1140,0.00,2.10,0.00,0.000,1030,0.000,0.031,2865,2065,1978,1978,4094,0,0,0,0,0,0,25.96,25.92,25.98,10.09,45.39
$GC,1177,1.61,438.8,2864,2064,1977,4094,17.9,10.9,153,1187,0.00,2.47,0.00,0.000,516,0.000,0.069,2864,1160,1977,1977,4095,0,0,0,0,0,0,26.22,25.89,26.24,10.09,45.03
$GC,1236,1.72,508.4,2864,1160,1976,4095,12.8,8.1,161,1247,0.22,2.15,4.90,0.515,11270,0.040,0.030,2890,2020,1905,1905,4094,0,0,0,0,0,0,26.05,26.03,25.27,10.14,45.51
$GC,1285,1.79,554.7,2890,2020,1905,4094,8.7,8.4,167,1295,0.15,2.40,4.15,0.425,10500,0.070,0.062,2909,2886,1851,1851,4094,0,0,0,0,0,0,26.02,25.89,25.31,10.15,47.67
$STATE,1342,end climb,FINISH_DEPTH_REACHED
$STATE,1342,begin subsurface finish
$FINISH1,1.9,1.024265,93
$GC,1350,0.14,93.0,2909,2019,1849,4094,1.9,11.4,175,1370,5.43,2.47,-4.68,0.000,20996,0.055,1.309,2406,1150,2396,2396,4094,0,0,0,0,0,0,26.04,24.94,26.08,10.16,49.01
$FINISH2,0.4
$STATE,1371,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1371,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,280717,234503
$TT8_MAMPS,0.025466,0.244923
$HUMID,49.09
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,24.05,3.259
$10V_AH,10.26,4.844
$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,35.250,34.400,59.925,0.000,0.000,125.534,121.585,268.455,0.000,0.000,42.229,501.886,178.730,148.680,1325.539,94.377,33.449,443.577,0.000,428.389,0.000,0.545,0.000
$DEVICE_MAMPS,110.160,1310.445,1274.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.200,480.776,380.805,563.937,738.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,17953,177
$CAP_FILE_SIZE,43603,0
$CFSIZE,1024409600,1013088256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280717,235754,5928.854,-17050.709,13,0.9,41,8.4,0.6,305.2,9,4.8