version: 66.13
glider: 401
mission: 22
dive: 79
start: 7 28 117 1 56 54
data:
$ID,401
$MISSION,22
$DIVE,79
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,280717,014910,5923.5601,-17039.6211,8,1.0,21,8.5,0.3,175.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-44.3
$GPS2,280717,015548,5923.5039,-17039.6562,7,0.8,21,8.5,1.0,129.4,10,4.6
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.234841,0.219765
$KALMAN_X,12717.885742,-631.309326,-268.957397,-25211.583984,-123.558350
$KALMAN_Y,3071.511719,1302.519531,371.688721,10421.058594,-137.089661
$MHEAD_RNG_PITCHd_Wd,304.6,14695,-12.2,-9.091,-15.78,5644
$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,-341.3,240,1889,2088,4092,0.0,0.0,0,21,11.52,0.00,0.00,0.000,2049,0.114,0.000,1180,1886,2088,2088,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.28,48.97
$GC,23,-1.62,-341.3,1180,1886,2088,4094,1.0,0.0,1,50,7.25,2.75,-7.53,0.000,18948,0.066,1.306,1832,934,2903,2903,4094,0,0,0,0,0,0,25.86,24.84,25.94,10.28,49.01
$GC,111,-1.62,-341.3,1832,934,2904,4094,5.7,-13.6,13,121,0.00,2.45,0.00,0.000,1030,0.000,0.030,1833,1900,2904,2904,4095,0,0,0,0,0,0,25.81,25.78,25.84,10.46,49.33
$GC,158,-1.62,-341.3,1832,1905,2905,4095,11.9,-13.4,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1905,2905,2905,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.46,48.93
$GC,204,-1.62,-341.3,1832,1905,2906,4094,17.5,-12.1,25,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1905,2906,2906,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.46,47.79
$GC,248,-1.62,-341.3,1832,1905,2907,4095,22.0,-10.0,31,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1905,2907,2907,4093,0,0,0,0,0,0,26.20,26.21,26.21,10.41,47.28
$GC,292,-1.62,-341.3,1832,1905,2908,4093,26.7,-10.4,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1905,2909,2909,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.39,46.53
$GC,337,-1.62,-341.3,1832,1905,2908,4094,31.6,-11.2,43,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1905,2909,2909,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.38,46.14
$GC,381,-1.62,-341.3,1832,1905,2910,4095,36.2,-10.1,49,390,0.00,2.60,0.00,0.000,260,0.000,0.058,1833,2863,2910,2910,4095,0,0,0,0,0,0,26.31,26.06,26.32,10.37,45.23
$GC,419,-1.62,-341.3,1832,2862,2911,4095,40.6,-11.6,54,429,0.00,2.45,0.00,0.000,1030,0.000,0.031,1833,1906,2910,2910,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.37,44.40
$GC,466,-1.62,-341.3,1832,1906,2911,4094,45.7,-11.5,60,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1906,2912,2912,4094,0,0,0,0,0,0,26.36,26.38,26.36,10.36,44.21
$GC,512,-1.62,-341.3,1832,1906,2912,4094,51.3,-12.3,66,521,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1906,2912,2912,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.35,44.09
$GC,558,-1.62,-341.3,1832,1906,2913,4094,56.8,-11.9,72,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1906,2914,2914,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.34,43.81
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,587,begin apogee
$GC,592,-0.45,0.0,1832,2044,2914,4095,60.7,-12.0,76,627,4.10,0.00,20.45,1.260,10244,0.065,0.000,2206,2044,2500,2500,4094,0,0,0,0,0,0,26.13,25.27,24.61,10.34,44.29
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,630,1.62,341.3,2206,2044,2500,4094,63.3,0.0,80,666,7.03,0.00,19.77,1.245,11270,0.039,0.000,2865,2044,2107,2107,4094,0,0,0,0,0,0,25.70,25.86,24.20,10.25,43.62
$GC,703,1.62,341.3,2864,2044,2106,4094,58.5,10.2,89,713,0.00,2.55,0.57,0.004,8452,0.000,0.060,2864,2958,2106,2106,4094,0,0,0,0,0,0,25.65,25.34,25.65,10.16,43.30
$GC,755,1.62,341.3,2864,2957,2105,4094,52.2,12.4,96,763,0.00,2.47,0.00,0.000,1030,0.000,0.031,2864,2017,2105,2105,4094,0,0,0,0,0,0,25.58,25.53,25.60,10.15,43.54
$GC,799,1.62,341.3,2864,2017,2104,4094,47.0,11.4,102,809,0.00,2.70,0.00,0.000,516,0.000,0.073,2865,1046,2104,2104,4094,0,0,0,0,0,0,25.90,25.56,25.91,10.15,44.05
$GC,857,1.62,341.3,2864,1046,2102,4094,40.2,11.9,110,866,0.00,2.38,0.00,0.000,1030,0.000,0.030,2865,1982,2102,2102,4094,0,0,0,0,0,0,25.79,25.77,25.81,10.14,43.85
$GC,902,1.62,341.3,2864,1982,2101,4094,34.9,11.8,116,911,0.00,2.78,0.00,0.000,260,0.000,0.062,2864,2989,2101,2101,4094,0,0,0,0,0,0,26.06,25.74,26.08,10.13,43.93
$GC,966,1.62,341.3,2864,2989,2099,4094,26.6,12.9,125,975,0.00,2.53,0.03,0.003,9222,0.000,0.032,2864,2016,2099,2099,4095,0,0,0,0,0,0,25.91,25.89,25.94,10.13,44.68
$GC,1011,1.62,341.3,2864,2016,2098,4095,21.0,12.1,131,1021,0.00,2.67,0.00,0.000,516,0.000,0.073,2864,1046,2098,2098,4094,0,0,0,0,0,0,26.19,25.84,26.20,10.13,44.80
$GC,1102,1.62,341.3,2864,1046,2096,4094,10.7,10.8,144,1111,0.00,2.42,0.00,0.000,1030,0.000,0.031,2865,2010,2096,2096,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.19,46.49
$GC,1149,1.62,341.3,2864,2010,2094,4094,6.0,9.8,150,1158,0.00,2.70,0.00,0.000,260,0.000,0.070,2865,2985,2094,2094,4094,0,0,0,0,0,0,26.30,25.96,26.32,10.21,47.51
$STATE,1179,end climb,FINISH_DEPTH_REACHED
$STATE,1179,begin subsurface finish
$FINISH1,1.9,1.024316,89
$GC,1188,0.13,89.5,2864,2018,2093,4094,1.9,12.5,154,1207,4.78,2.78,-2.55,0.000,20996,0.034,1.307,2404,1044,2401,2401,4094,0,0,0,0,0,0,26.10,24.99,26.15,10.22,48.46
$FINISH2,0.6
$STATE,1208,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1208,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,003626
$TT8_MAMPS,0.025466,0.243425
$HUMID,49.09
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.20,2.058
$10V_AH,10.29,3.026
$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,34.675,39.025,40.825,0.000,0.000,25.561,22.699,241.175,0.000,0.000,22.305,441.387,0.000,140.521,962.950,84.388,33.445,411.160,0.000,378.611,0.000,1.730,0.000
$DEVICE_MAMPS,113.985,1307.385,1259.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.856,423.810,335.464,497.108,648.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329476
$DATA_FILE_SIZE,14324,156
$CAP_FILE_SIZE,37133,0
$CFSIZE,1024409600,1015611392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280717,015548,5923.504,-17039.656,7,0.8,21,8.5,1.0,129.4,10,4.6