version: 66.13
glider: 401
mission: 22
dive: 85
start: 7 28 117 4 28 34
data:
$ID,401
$MISSION,22
$DIVE,85
$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,44
$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
$GPS1,280717,041835,5924.2939,-17043.1309,8,0.8,13,8.5,0.5,191.1,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-44.6
$GPS2,280717,042729,5924.2949,-17043.2168,9,0.8,17,8.5,0.0,269.2,11,4.8
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.310297,0.084702
$KALMAN_X,12129.087891,-1037.383423,-653.060974,-27198.921875,-165.362122
$KALMAN_Y,3191.710449,1256.615845,330.103394,11838.693359,76.826538
$MHEAD_RNG_PITCHd_Wd,276.8,11048,-12.2,-9.091,-15.78,5645
$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,-341.3,231,1888,2089,4092,0.0,0.0,0,20,10.57,0.00,0.00,0.000,2049,0.111,0.000,1096,1885,2089,2089,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.29,48.74
$GC,22,-1.62,-341.3,1096,1887,2089,4094,1.0,0.0,1,50,8.02,2.75,-7.53,0.000,18948,0.053,1.305,1834,937,2903,2903,4094,0,0,0,0,0,0,25.86,24.82,25.94,10.29,48.66
$GC,124,-1.62,-341.3,1833,936,2905,4094,8.5,-13.0,15,134,0.00,2.40,0.00,0.000,1030,0.000,0.031,1834,1884,2905,2905,4094,0,0,0,0,0,0,25.83,25.78,25.84,10.47,48.22
$GC,170,-1.62,-341.3,1833,1885,2905,4094,14.4,-13.0,21,179,0.00,2.70,0.00,0.000,260,0.000,0.060,1834,2872,2906,2906,4094,0,0,0,0,0,0,26.10,25.77,26.11,10.47,47.63
$GC,234,-1.62,-341.3,1833,2872,2907,4094,21.0,-9.6,30,244,0.00,2.42,0.00,0.000,1030,0.000,0.031,1834,1932,2907,2907,4095,0,0,0,0,0,0,25.94,25.90,25.97,10.42,46.73
$GC,281,-1.62,-341.3,1833,1932,2907,4095,25.5,-9.9,36,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1931,2908,2908,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.39,45.90
$GC,327,-1.62,-341.3,1833,1932,2908,4094,30.5,-10.6,42,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1932,2909,2909,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.38,45.51
$GC,371,-1.62,-341.3,1833,1932,2910,4095,35.4,-10.8,48,381,0.00,2.78,0.00,0.000,516,0.000,0.072,1834,920,2910,2910,4095,0,0,0,0,0,0,26.29,25.93,26.31,10.38,44.48
$GC,410,-1.62,-341.3,1833,920,2910,4095,40.0,-12.1,53,418,0.00,2.53,0.00,0.000,1030,0.000,0.031,1834,1922,2910,2910,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.37,44.29
$GC,456,-1.62,-341.3,1834,1923,2910,4094,44.9,-11.1,59,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1924,2911,2911,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.36,44.56
$GC,501,-1.62,-341.3,1833,1923,2912,4095,50.2,-11.7,65,511,0.00,2.55,0.00,0.000,260,0.000,0.061,1834,2864,2912,2912,4095,0,0,0,0,0,0,26.38,26.03,26.39,10.36,43.81
$GC,533,-1.62,-341.3,1833,2864,2913,4095,54.2,-11.9,69,543,0.00,2.42,0.00,0.000,1030,0.000,0.032,1834,1918,2913,2913,4095,0,0,0,0,0,0,26.16,26.11,26.17,10.35,43.69
$GC,579,-1.62,-341.3,1833,1918,2914,4095,59.5,-12.0,75,587,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1918,2914,2914,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.35,43.81
$STATE,595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,595,begin apogee
$GC,600,-0.45,0.0,1834,2046,2914,4095,61.5,-11.9,77,628,4.10,0.00,20.42,1.266,10244,0.067,0.000,2204,2046,2500,2500,4094,0,0,0,0,0,0,26.13,25.48,24.60,10.34,43.73
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,631,1.62,341.3,2204,2046,2500,4094,63.9,0.0,80,667,7.05,2.53,20.00,1.251,10500,0.040,0.063,2869,2960,2102,2102,4094,0,0,0,0,0,0,25.61,25.54,24.18,10.25,43.46
$GC,729,1.62,341.3,2868,2960,2100,4094,55.9,11.7,93,739,0.00,2.47,0.00,0.000,1030,0.000,0.031,2869,2019,2100,2100,4094,0,0,0,0,0,0,25.49,25.46,25.52,10.16,43.38
$GC,776,1.62,341.3,2868,2019,2099,4094,50.7,11.2,99,785,0.00,2.72,0.00,0.000,516,0.000,0.073,2869,1046,2099,2099,4094,0,0,0,0,0,0,25.84,25.50,25.84,10.15,43.26
$GC,823,1.62,341.3,2868,1046,2098,4094,45.2,12.5,105,831,0.00,2.38,0.00,0.000,1030,0.000,0.031,2869,1976,2098,2098,4094,0,0,0,0,0,0,25.72,25.68,25.74,10.16,43.97
$GC,868,1.62,341.3,2868,1976,2097,4094,39.8,11.1,111,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1976,2097,2097,4094,0,0,0,0,0,0,26.01,26.02,26.03,10.14,43.81
$GC,914,1.62,341.3,2868,1976,2095,4094,34.6,11.6,117,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1976,2096,2096,4095,0,0,0,0,0,0,26.08,26.09,26.08,10.14,44.60
$GC,958,1.62,341.3,2868,1976,2095,4095,29.3,11.4,123,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1976,2095,2095,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.14,44.29
$GC,1003,1.62,341.3,2868,1976,2093,4094,24.2,11.4,129,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1975,2093,2093,4094,0,0,0,0,0,0,26.18,26.19,26.19,10.13,45.15
$GC,1047,1.62,341.3,2868,1976,2093,4094,19.1,11.1,135,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1976,2092,2092,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.13,44.64
$GC,1091,1.62,341.3,2868,1978,2092,4094,14.4,9.9,141,1101,0.00,2.78,0.00,0.000,260,0.000,0.061,2869,2994,2091,2091,4094,0,0,0,0,0,0,26.26,25.93,26.27,10.17,45.23
$GC,1175,1.62,341.3,2868,2993,2089,4094,5.8,10.8,153,1185,0.00,2.55,0.00,0.000,1030,0.000,0.033,2869,2006,2089,2089,4094,0,0,0,0,0,0,26.08,26.04,26.11,10.21,47.32
$STATE,1219,end climb,FINISH_DEPTH_REACHED
$STATE,1219,begin subsurface finish
$FINISH1,1.4,1.024302,90
$GC,1225,0.14,90.4,2868,2005,2088,4094,1.4,10.7,159,1236,5.07,0.00,-2.78,0.000,20998,0.068,0.000,2406,2004,2401,2401,4094,0,0,0,0,0,0,26.13,25.25,26.17,10.22,48.46
$FINISH2,0.4
$STATE,1237,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1237,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,042002
$TT8_MAMPS,0.025466,0.241927
$HUMID,49.33
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,24.18,2.191
$10V_AH,10.30,3.248
$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,34.825,36.225,40.425,0.000,0.000,47.938,45.516,282.147,0.000,0.000,18.603,455.469,45.121,134.743,1071.208,86.128,33.445,407.327,0.000,388.968,0.000,1.733,0.000
$DEVICE_MAMPS,110.925,1305.090,1266.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.770,434.733,344.038,509.787,666.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329464
$DATA_FILE_SIZE,14334,160
$CAP_FILE_SIZE,38472,0
$CFSIZE,1024409600,1015316480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280717,042729,5924.295,-17043.217,9,0.8,17,8.5,0.0,269.2,11,4.8