version: 66.13
glider: 401
mission: 22
dive: 78
start: 7 28 117 1 27 13
data:
$ID,401
$MISSION,22
$DIVE,78
$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,350
$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,45
$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,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
$GPS1,280717,004205,5923.4878,-17038.2480,7,0.8,17,8.5,0.0,192.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.0
$GPS2,280717,004205,5923.4878,-17038.2480,7,0.8,17,8.5,0.0,192.4,9,4.9
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.277483,0.162618
$KALMAN_X,13338.003906,-509.868500,-143.454498,-24768.160156,104.287567
$KALMAN_Y,3223.250732,1315.594727,388.920319,10210.564453,-129.655853
$MHEAD_RNG_PITCHd_Wd,291.9,15960,-12.2,-9.091,-15.78,5643
$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,-1.62,-341.3,2406,1887,2402,4092,0.0,0.0,0,20,5.88,0.00,-4.57,0.000,20483,0.031,0.000,1844,1887,2902,2902,4094,0,0,0,0,0,0,26.05,28.83,26.07,10.30,49.84
$GC,22,-1.62,-341.3,1843,1886,2902,4094,0.1,0.0,1,32,0.00,2.65,0.00,0.000,516,0.000,0.074,1844,936,2902,2902,4094,0,0,0,0,0,0,26.23,25.90,26.25,10.41,49.88
$GC,61,-1.62,-341.3,1843,935,2903,4094,3.3,-10.4,6,70,0.00,2.45,0.00,0.000,1030,0.000,0.034,1844,1902,2903,2903,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.41,50.07
$GC,107,-1.62,-341.3,1843,1904,2904,4094,9.2,-13.6,12,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1905,2904,2904,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.42,49.44
$GC,151,-1.62,-341.3,1843,1905,2905,4094,14.8,-12.3,18,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,2905,2905,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.42,49.05
$GC,196,-1.62,-341.3,1843,1906,2906,4095,19.4,-10.1,24,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,2906,2906,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.39,48.77
$GC,240,-1.62,-341.3,1842,1906,2907,4095,23.8,-9.8,30,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,2907,2907,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.37,48.18
$GC,284,-1.62,-341.3,1843,1906,2908,4095,28.4,-10.7,36,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1906,2908,2908,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.35,47.40
$GC,329,-1.62,-341.3,1843,1905,2908,4094,33.3,-11.0,42,337,0.00,2.60,0.00,0.000,260,0.000,0.063,1843,2860,2908,2908,4095,0,0,0,0,0,0,26.45,26.10,26.46,10.34,46.53
$GC,366,-1.62,-341.3,1843,2860,2910,4095,37.7,-11.6,47,376,0.00,2.45,0.00,0.000,1030,0.000,0.033,1844,1904,2910,2910,4094,0,0,0,0,0,0,26.22,26.19,26.25,10.34,46.02
$GC,413,-1.62,-341.3,1843,1904,2910,4094,42.8,-10.9,53,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2911,2911,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.33,46.02
$GC,457,-1.62,-341.3,1843,1904,2912,4094,47.8,-11.2,59,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2911,2911,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.32,45.74
$GC,500,-1.62,-341.3,1843,1904,2912,4094,52.7,-11.5,65,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2912,2912,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.33,45.55
$GC,545,-1.62,-341.3,1843,1904,2913,4095,57.8,-11.2,71,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2913,2913,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.32,45.15
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,574,-0.45,0.0,1843,2036,2914,4095,60.8,-12.0,74,609,3.95,0.00,20.38,1.260,10244,0.065,0.000,2205,2036,2500,2500,4095,0,0,0,0,0,0,26.25,25.60,24.72,10.31,45.86
$STATE,610,end apogee,CONTROL_FINISHED_OK
$STATE,610,begin climb
$GC,612,1.62,341.3,2205,2036,2500,4095,63.3,0.0,78,647,7.03,0.00,19.98,1.245,11270,0.041,0.000,2864,2036,2103,2103,4095,0,0,0,0,0,0,25.80,25.98,24.30,10.23,45.07
$GC,684,1.62,341.3,2863,2036,2102,4095,58.3,10.0,87,694,0.00,2.58,0.00,0.000,260,0.000,0.060,2863,2960,2102,2102,4094,0,0,0,0,0,0,25.71,25.42,25.72,10.14,44.29
$GC,731,1.62,341.3,2863,2960,2101,4094,52.8,12.4,93,740,0.00,2.47,0.00,0.000,1030,0.000,0.032,2863,2019,2100,2100,4094,0,0,0,0,0,0,25.62,25.56,25.64,10.13,45.03
$GC,777,1.62,341.3,2863,2018,2100,4094,47.2,11.9,99,787,0.00,2.72,0.00,0.000,516,0.000,0.074,2863,1045,2099,2099,4094,0,0,0,0,0,0,25.94,25.59,25.94,10.13,44.64
$GC,829,1.62,341.3,2863,1045,2098,4094,40.6,12.7,106,838,0.00,2.38,0.00,0.000,1030,0.000,0.031,2864,1976,2098,2098,4094,0,0,0,0,0,0,25.81,25.79,25.83,10.12,44.72
$GC,874,1.62,341.3,2863,1975,2097,4094,35.2,12.1,112,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1976,2097,2097,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.12,45.23
$GC,919,1.62,341.3,2863,1976,2096,4094,30.0,11.5,118,928,0.00,2.78,0.00,0.000,260,0.000,0.062,2863,2985,2096,2096,4094,0,0,0,0,0,0,26.13,25.80,26.15,10.11,45.11
$GC,977,1.62,341.3,2863,2984,2094,4094,22.5,13.3,126,986,0.00,2.55,0.00,0.000,1030,0.000,0.033,2863,2002,2094,2094,4094,0,0,0,0,0,0,25.96,25.91,26.03,10.11,46.06
$GC,1023,1.62,341.3,2863,2002,2093,4094,16.6,12.5,132,1033,0.00,2.65,0.00,0.000,516,0.000,0.075,2863,1045,2093,2093,4094,0,0,0,0,0,0,26.23,25.88,26.25,10.12,45.43
$GC,1127,1.62,341.3,2863,1045,2090,4094,5.0,11.9,147,1136,0.00,2.33,0.00,0.000,1030,0.000,0.032,2863,1970,2090,2090,4094,0,0,0,0,0,0,26.10,26.07,26.15,10.19,48.50
$STATE,1151,end climb,SURFACE_DEPTH_REACHED
$STATE,1151,begin surface coast
$FINISH,0.3,1.024326
$STATE,1166,end surface coast,CONTROL_FINISHED_OK
$STATE,1166,begin surface
$SM_CCo,1262,0.00,0.000,0,0,2088,353.74
$SM_GC,0.86,27.58,0.20,0.00,0.027,0.075,0.000,240,1890,2088,-6.61,1.00,353.74,0,0,0,0,0,0,26.10,26.09,26.15
$IRIDIUM_FIX,5957.10,-16911.74,270717,232016
$TT8_MAMPS,0.026215,0.245672
$HUMID,49.52
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.30,2.025
$10V_AH,10.28,2.986
$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,44.425,33.200,40.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.118,60.036,154.172,634.497,43.180,33.405,408.655,0.000,367.989,0.000,0.542,0.000
$DEVICE_MAMPS,65.025,74.970,1259.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.417,412.970,326.872,484.575,632.191,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331044
$DATA_FILE_SIZE,14347,152
$CAP_FILE_SIZE,32436,0
$CFSIZE,1024409600,1015676928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,014910,5923.560,-17039.621,8,1.0,21,8.5,0.3,175.4,9,5.0