version: 66.13
glider: 401
mission: 22
dive: 93
start: 7 28 117 7 48 4
data:
$ID,401
$MISSION,22
$DIVE,93
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,280717,070151,5925.7036,-17045.4375,7,0.8,13,8.5,0.7,256.5,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-5.5
$GPS2,280717,070151,5925.7036,-17045.4375,7,0.8,13,8.5,0.7,256.5,11,4.9
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.293601,-0.131362
$KALMAN_X,13347.459961,-1325.700317,-753.938904,-30157.966797,149.281616
$KALMAN_Y,5276.016113,1587.563843,655.760010,11721.177734,197.240173
$MHEAD_RNG_PITCHd_Wd,237.4,8444,-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,-341.3,2406,1904,2402,4092,0.0,0.0,0,21,5.82,0.00,-4.62,0.000,20486,0.029,0.000,1843,1897,2904,2904,4095,0,0,0,0,0,0,26.18,25.29,26.22,10.30,50.23
$GC,23,-1.62,-341.3,1843,1897,2904,4095,0.2,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1899,2904,2904,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.41,50.15
$GC,67,-1.62,-341.3,1843,1902,2904,4095,0.8,-2.9,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1902,2904,2904,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.41,50.07
$GC,111,-1.62,-341.3,1843,1902,2904,4095,6.2,-13.1,13,121,0.00,2.62,0.00,0.000,260,0.000,0.060,1844,2867,2905,2905,4094,0,0,0,0,0,0,26.44,26.10,26.45,10.41,49.52
$GC,163,-1.62,-341.3,1842,2866,2907,4094,13.0,-13.4,20,172,0.00,2.45,0.00,0.000,1030,0.000,0.034,1843,1911,2907,2907,4094,0,0,0,0,0,0,26.23,26.18,26.25,10.42,49.40
$GC,208,-1.62,-341.3,1843,1911,2908,4094,18.7,-12.2,26,218,0.00,2.70,0.00,0.000,516,0.000,0.075,1843,925,2908,2908,4094,0,0,0,0,0,0,26.48,26.13,26.49,10.40,49.37
$GC,299,-1.62,-341.3,1843,925,2910,4094,29.2,-11.9,39,308,0.00,2.38,0.00,0.000,1030,0.000,0.032,1843,1873,2910,2910,4094,0,0,0,0,0,0,26.32,26.27,26.33,10.35,48.14
$GC,343,-1.62,-341.3,1843,1873,2911,4094,34.3,-11.3,45,353,0.00,2.67,0.00,0.000,260,0.000,0.062,1843,2864,2911,2911,4095,0,0,0,0,0,0,26.53,26.21,26.55,10.34,47.12
$GC,395,-1.62,-341.3,1842,2864,2912,4095,40.1,-11.1,52,404,0.00,2.50,0.00,0.000,1030,0.000,0.033,1843,1885,2912,2912,4095,0,0,0,0,0,0,26.32,26.27,26.34,10.33,46.22
$GC,440,-1.62,-341.3,1843,1885,2913,4095,44.8,-10.1,58,450,0.00,2.62,0.00,0.000,516,0.000,0.073,1843,920,2913,2913,4094,0,0,0,0,0,0,26.56,26.22,26.58,10.33,46.02
$GC,492,-1.62,-341.3,1843,920,2914,4094,50.9,-12.1,65,501,0.00,2.40,0.00,0.000,1030,0.000,0.033,1843,1882,2914,2914,4095,0,0,0,0,0,0,26.36,26.32,26.38,10.32,45.62
$GC,539,-1.62,-341.3,1843,1882,2914,4095,55.6,-10.4,71,548,0.00,2.67,0.00,0.000,260,0.000,0.065,1843,2869,2915,2915,4094,0,0,0,0,0,0,26.59,26.25,26.60,10.32,45.90
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,583,-0.45,0.0,1843,2011,2916,4094,60.2,-11.0,76,610,3.97,0.00,20.40,1.265,10244,0.066,0.000,2205,2011,2500,2500,4094,0,0,0,0,0,0,26.34,25.65,24.78,10.31,45.51
$STATE,611,end apogee,CONTROL_FINISHED_OK
$STATE,611,begin climb
$GC,613,1.62,341.3,2204,2011,2500,4094,62.7,0.0,79,648,7.03,0.00,19.90,1.242,11270,0.041,0.000,2864,2011,2103,2103,4094,0,0,0,0,0,0,25.83,26.00,24.32,10.22,45.43
$GC,685,1.62,341.3,2863,2011,2102,4094,57.5,11.6,88,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2011,2101,2101,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.14,44.48
$GC,731,1.62,341.3,2863,2011,2100,4094,52.4,11.1,94,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2011,2100,2100,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.12,44.80
$GC,775,1.62,341.3,2863,2011,2099,4094,47.5,10.4,100,785,0.00,2.72,0.00,0.000,260,0.000,0.060,2864,2986,2099,2099,4094,0,0,0,0,0,0,25.95,25.63,25.96,10.12,44.36
$GC,814,1.62,341.3,2863,2986,2099,4094,42.4,13.4,105,824,0.00,2.53,0.00,0.000,1030,0.000,0.032,2863,2018,2098,2098,4095,0,0,0,0,0,0,25.79,25.76,25.81,10.12,44.64
$GC,861,1.62,341.3,2863,2018,2098,4095,37.1,11.9,111,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2019,2097,2097,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.11,45.07
$GC,907,1.62,341.3,2862,2018,2096,4094,31.7,11.7,117,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2018,2096,2096,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.11,45.35
$GC,951,1.62,341.3,2863,2018,2095,4094,26.5,11.7,123,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2018,2095,2095,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.11,45.27
$GC,995,1.62,341.3,2863,2018,2094,4094,21.0,12.2,129,1005,0.00,2.70,0.00,0.000,516,0.000,0.075,2863,1044,2093,2093,4094,0,0,0,0,0,0,26.22,25.87,26.24,10.10,45.19
$GC,1047,1.65,359.6,2863,1043,2093,4094,15.5,8.8,136,1058,0.00,2.42,2.45,0.185,9222,0.000,0.031,2864,2004,2080,2080,4095,0,0,0,0,0,0,26.05,26.02,25.27,10.14,45.31
$GC,1095,1.66,365.3,2863,2004,2079,4095,11.3,9.0,142,1103,0.00,0.00,0.55,0.004,8198,0.000,0.000,2863,2004,2078,2078,4094,0,0,0,0,0,0,26.29,26.29,26.30,10.17,47.28
$GC,1139,1.74,422.2,2863,2003,2077,4094,7.5,8.1,148,1149,0.32,0.00,4.85,0.474,10246,0.046,0.000,2898,2004,2006,2006,4094,0,0,0,0,0,0,26.09,25.91,25.37,10.18,48.22
$GC,1187,1.74,422.2,2897,2003,2004,4094,2.6,11.2,154,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2008,2004,2004,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.18,48.89
$STATE,1203,end climb,SURFACE_DEPTH_REACHED
$STATE,1203,begin surface coast
$FINISH,0.0,1.024309
$STATE,1218,end surface coast,CONTROL_FINISHED_OK
$STATE,1218,begin surface
$SM_CCo,1315,0.00,0.000,0,0,2003,426.72
$SM_GC,0.94,28.00,0.30,0.00,0.025,0.060,0.000,231,1890,2003,-6.65,0.77,426.72,0,0,0,0,0,0,25.98,26.08,26.10
$IRIDIUM_FIX,5957.10,-16911.74,280717,054151
$TT8_MAMPS,0.025466,0.247919
$HUMID,49.72
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.32,2.353
$10V_AH,10.26,3.544
$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,45.150,36.125,48.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,452.908,60.543,155.045,660.752,44.836,33.411,415.180,0.000,381.389,0.000,0.541,0.000
$DEVICE_MAMPS,65.790,74.970,1264.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.574,429.248,339.805,504.002,658.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331016
$DATA_FILE_SIZE,14431,158
$CAP_FILE_SIZE,34716,0
$CFSIZE,1024409600,1014923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,081108,5926.089,-17045.518,8,0.9,35,8.5,0.8,117.6,9,4.7