version: 66.13
glider: 401
mission: 22
dive: 86
start: 7 28 117 4 51 11
data:
$ID,401
$MISSION,22
$DIVE,86
$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,20
$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
$GPS1,280717,042729,5924.2949,-17043.2168,9,0.8,17,8.5,0.0,269.2,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-4.1
$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,-0.314330,0.068158
$KALMAN_X,12344.514648,-1019.523621,-612.285645,-27506.500000,-122.995056
$KALMAN_Y,3161.431885,1238.008179,317.128174,11918.302734,86.166351
$MHEAD_RNG_PITCHd_Wd,273.7,11048,-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,-341.3,2406,1895,2400,4092,0.0,0.0,0,21,5.82,0.00,-4.55,0.000,20486,0.030,0.000,1843,1895,2904,2904,4095,0,0,0,0,0,0,26.19,25.29,26.22,10.31,49.72
$GC,23,-1.62,-341.3,1844,1895,2904,4095,0.1,0.0,1,32,0.00,2.67,0.00,0.000,516,0.000,0.079,1844,927,2904,2904,4095,0,0,0,0,0,0,26.38,26.03,26.39,10.42,50.00
$GC,87,-1.62,-341.3,1843,926,2905,4095,6.7,-12.6,10,96,0.00,2.45,0.00,0.000,1030,0.000,0.034,1844,1903,2905,2905,4095,0,0,0,0,0,0,26.22,26.17,26.23,10.43,49.80
$GC,131,-1.62,-341.3,1843,1902,2906,4095,12.3,-13.3,16,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1902,2907,2907,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.43,49.09
$GC,176,-1.62,-341.3,1843,1902,2908,4095,17.9,-12.1,22,185,0.00,2.60,0.00,0.000,260,0.000,0.063,1844,2868,2907,2907,4095,0,0,0,0,0,0,26.48,26.15,26.48,10.41,49.76
$GC,255,-1.62,-341.3,1843,2868,2909,4095,25.9,-10.8,33,264,0.00,2.47,0.00,0.000,1030,0.000,0.033,1844,1900,2909,2909,4095,0,0,0,0,0,0,26.27,26.22,26.29,10.37,48.11
$GC,302,-1.62,-341.3,1843,1900,2910,4095,30.8,-10.4,39,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1900,2910,2910,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.35,47.08
$GC,347,-1.62,-341.3,1843,1900,2911,4094,35.8,-10.7,45,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1900,2911,2911,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.35,46.41
$GC,392,-1.62,-341.3,1843,1900,2912,4095,41.0,-11.6,51,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1900,2912,2912,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.34,45.98
$GC,436,-1.62,-341.3,1842,1900,2913,4094,46.0,-11.1,57,445,0.00,2.65,0.00,0.000,516,0.000,0.074,1844,922,2913,2913,4094,0,0,0,0,0,0,26.58,26.21,26.58,10.33,45.47
$GC,474,-1.62,-341.3,1843,921,2913,4094,50.7,-12.0,62,484,0.00,2.42,0.00,0.000,1030,0.000,0.034,1843,1895,2914,2914,4095,0,0,0,0,0,0,26.35,26.36,26.38,10.33,45.39
$GC,521,-1.62,-341.3,1843,1895,2915,4095,56.1,-11.9,68,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1895,2915,2915,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.32,45.82
$STATE,557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,557,begin apogee
$GC,562,-0.45,0.0,1843,2048,2916,4094,60.6,-11.6,73,591,3.97,0.10,20.35,1.262,10244,0.067,0.085,2204,1996,2500,2500,4094,0,0,0,0,0,0,26.31,25.65,24.79,10.32,45.07
$STATE,592,end apogee,CONTROL_FINISHED_OK
$STATE,592,begin climb
$GC,594,1.62,341.3,2204,1996,2500,4094,62.9,0.0,76,629,7.03,0.00,19.75,1.240,11270,0.042,0.000,2864,1997,2104,2104,4094,0,0,0,0,0,0,25.84,26.02,24.34,10.23,44.95
$GC,666,1.62,341.3,2864,1996,2104,4094,58.1,10.3,85,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1996,2104,2104,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.14,44.13
$GC,712,1.62,341.3,2864,1996,2103,4094,53.5,9.5,91,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1996,2103,2103,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.13,44.05
$GC,756,1.62,341.3,2864,1996,2102,4094,48.4,11.4,97,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1996,2102,2102,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.13,44.84
$GC,801,1.62,341.3,2864,1996,2101,4094,43.4,11.5,103,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1996,2101,2101,4094,0,0,0,0,0,0,26.03,26.06,26.05,10.13,44.32
$GC,845,1.62,341.3,2864,1996,2100,4094,38.3,11.4,109,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1996,2100,2100,4095,0,0,0,0,0,0,26.10,26.11,26.11,10.12,44.48
$GC,889,1.62,341.3,2864,1996,2099,4095,33.3,10.6,115,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1996,2099,2099,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.12,44.76
$GC,933,1.62,341.3,2864,1996,2098,4094,28.4,11.1,121,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1996,2098,2098,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.12,44.72
$GC,978,1.62,341.3,2864,1996,2096,4094,23.2,11.9,127,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1996,2096,2096,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.12,45.47
$GC,1022,1.62,341.3,2864,1996,2095,4094,18.2,11.3,133,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1996,2095,2095,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.11,45.27
$GC,1067,1.64,356.1,2864,1996,2094,4094,13.7,8.8,139,1077,0.00,2.62,2.35,0.150,8452,0.000,0.061,2865,2967,2084,2084,4094,0,0,0,0,0,0,26.31,25.79,25.34,10.16,45.94
$GC,1146,1.64,356.1,2864,2966,2082,4094,5.5,10.7,150,1155,0.00,2.40,0.00,0.000,1030,0.000,0.032,2865,2034,2082,2082,4094,0,0,0,0,0,0,26.12,26.09,26.15,10.19,48.62
$STATE,1182,end climb,FINISH_DEPTH_REACHED
$STATE,1182,begin subsurface finish
$FINISH1,1.6,1.024307,90
$GC,1188,0.14,90.1,2864,2033,2081,4094,1.6,11.0,155,1199,4.97,0.00,-2.90,0.000,20486,0.062,0.000,2408,2034,2402,2402,4094,0,0,0,0,0,0,26.12,25.27,26.18,10.21,48.97
$FINISH2,0.2
$STATE,1200,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1200,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,042002
$TT8_MAMPS,0.025466,0.256158
$HUMID,49.72
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,24.34,2.206
$10V_AH,10.29,3.283
$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,21.800,20.975,42.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,436.158,0.000,125.193,651.763,41.466,33.415,382.114,0.000,376.992,0.000,0.543,0.000
$DEVICE_MAMPS,66.555,84.915,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.231,423.825,335.443,497.458,649.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330952
$DATA_FILE_SIZE,14292,156
$CAP_FILE_SIZE,30666,0
$CFSIZE,1024409600,1015283712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,042729,5924.295,-17043.217,9,0.8,17,8.5,0.0,269.2,11,4.8