version: 66.13
glider: 401
mission: 22
dive: 94
start: 7 28 117 8 19 28
data:
$ID,401
$MISSION,22
$DIVE,94
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,280717,081108,5926.0889,-17045.5176,8,0.9,35,8.5,0.8,117.6,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-43.8
$GPS2,280717,081822,5926.1362,-17045.3750,7,1.0,37,8.5,0.5,76.4,9,3.1
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.308256,-0.091815
$KALMAN_X,13809.104492,-1351.869385,-763.327942,-30523.527344,217.189819
$KALMAN_Y,6010.778320,1674.390015,740.000793,11604.076172,122.441162
$MHEAD_RNG_PITCHd_Wd,244.9,8461,-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,-341.3,230,1890,2003,4092,0.0,0.0,0,21,11.60,0.00,0.00,0.000,2049,0.106,0.000,1191,1888,2004,2004,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.26,48.89
$GC,23,-1.62,-341.3,1191,1888,2004,4094,0.8,0.0,1,41,7.03,0.00,-8.30,0.000,18694,0.057,0.000,1834,1888,2903,2903,4094,0,0,0,0,0,0,25.89,25.07,25.96,10.27,48.74
$GC,77,-1.62,-341.3,1834,1888,2903,4094,2.0,-7.5,8,85,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1889,2904,2904,4095,0,0,0,0,0,0,26.20,26.21,26.20,10.46,48.62
$GC,120,-1.62,-341.3,1834,1888,2904,4095,6.8,-11.2,14,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1888,2905,2905,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.46,48.14
$GC,164,-1.62,-341.3,1834,1888,2905,4095,13.0,-13.9,20,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1888,2905,2905,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.47,48.42
$GC,208,-1.62,-341.3,1834,1888,2906,4094,18.8,-13.4,26,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1888,2907,2907,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.44,48.14
$GC,253,-1.62,-341.3,1834,1888,2907,4094,23.7,-10.6,32,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1889,2908,2908,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.40,46.77
$GC,296,-1.62,-341.3,1833,1888,2908,4095,28.6,-11.1,38,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1888,2908,2908,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,45.94
$GC,341,-1.62,-341.3,1833,1888,2909,4095,33.2,-10.6,44,349,0.00,2.62,0.00,0.000,516,0.000,0.073,1834,933,2909,2909,4095,0,0,0,0,0,0,26.39,26.06,26.41,10.38,45.47
$GC,418,-1.62,-341.3,1834,933,2911,4095,42.8,-12.5,55,427,0.00,2.42,0.00,0.000,1030,0.000,0.031,1834,1905,2911,2911,4095,0,0,0,0,0,0,26.22,26.19,26.23,10.36,44.40
$GC,463,-1.62,-341.3,1834,1906,2912,4095,47.2,-8.9,61,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1906,2912,2912,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.36,44.25
$GC,507,-1.62,-341.3,1834,1906,2912,4095,52.2,-11.5,67,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1906,2913,2913,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.35,44.40
$GC,553,-1.62,-341.3,1833,1909,2914,4095,58.1,-13.5,73,562,0.00,2.70,0.00,0.000,516,0.000,0.076,1834,933,2914,2914,4094,0,0,0,0,0,0,26.49,26.13,26.51,10.34,44.29
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,577,-0.45,0.0,1834,2020,2914,4095,60.6,-13.4,75,605,4.10,0.00,20.40,1.260,10244,0.064,0.000,2207,2021,2500,2500,4094,0,0,0,0,0,0,26.20,25.56,24.68,10.34,44.29
$STATE,606,end apogee,CONTROL_FINISHED_OK
$STATE,606,begin climb
$GC,608,1.62,341.3,2207,2020,2499,4094,63.5,0.0,78,643,6.93,2.67,20.00,1.245,10500,0.041,0.064,2859,2991,2101,2101,4095,0,0,0,0,0,0,25.70,25.60,24.24,10.25,43.58
$GC,785,1.62,341.3,2858,2991,2098,4095,44.8,11.0,103,794,0.00,2.53,0.00,0.000,1030,0.000,0.031,2859,2025,2097,2097,4095,0,0,0,0,0,0,25.70,25.67,25.74,10.14,43.89
$GC,830,1.62,341.3,2858,2024,2096,4095,39.7,11.1,109,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2024,2095,2095,4095,0,0,0,0,0,0,26.01,26.03,26.03,10.14,44.32
$GC,874,1.62,341.3,2858,2024,2095,4095,34.6,12.1,115,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2024,2095,2095,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.14,44.01
$GC,920,1.62,341.3,2858,2024,2095,4094,29.8,10.4,121,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2025,2094,2094,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.13,45.19
$GC,966,1.62,341.3,2858,2024,2093,4094,24.8,10.5,127,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2024,2093,2093,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.13,44.52
$GC,1010,1.62,341.3,2858,2024,2092,4094,19.6,11.7,133,1019,0.00,2.70,0.00,0.000,516,0.000,0.073,2859,1042,2092,2092,4094,0,0,0,0,0,0,26.22,25.87,26.24,10.12,44.52
$GC,1048,1.62,341.3,2858,1042,2091,4094,16.0,9.2,138,1058,0.00,2.50,0.00,0.000,1030,0.000,0.031,2859,2031,2091,2091,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.15,45.11
$GC,1095,1.64,350.9,2858,2031,2090,4095,12.1,8.9,144,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2032,2090,2090,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.19,46.92
$GC,1141,1.64,350.9,2858,2031,2089,4095,7.4,11.0,150,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2032,2089,2089,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.20,47.67
$GC,1185,1.64,350.9,2858,2032,2087,4094,2.1,11.8,156,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2039,2087,2087,4094,0,0,0,0,0,0,26.35,26.37,26.36,10.21,48.46
$STATE,1201,end climb,FINISH_DEPTH_REACHED
$STATE,1201,begin subsurface finish
$FINISH1,0.0,1.006886,0
$GC,1207,0.00,0.0,2858,2039,2087,4094,0.0,11.5,158,1226,5.35,0.00,-3.70,0.000,20998,0.075,0.000,2374,2039,2505,2505,4094,0,0,0,0,0,0,26.13,25.63,26.17,10.22,48.34
$FINISH2,0.1
$STATE,1226,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1227,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,065645
$TT8_MAMPS,0.026215,0.244174
$HUMID,49.13
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.24,2.386
$10V_AH,10.28,3.586
$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,35.000,20.925,40.400,0.000,0.000,24.818,20.599,259.784,0.000,0.000,38.733,446.959,0.121,136.877,1012.615,86.817,33.452,406.418,0.000,388.460,0.000,1.734,0.000
$DEVICE_MAMPS,105.570,76.500,1259.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.761,434.668,344.066,509.808,662.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329440
$DATA_FILE_SIZE,14378,160
$CAP_FILE_SIZE,36471,0
$CFSIZE,1024409600,1014874112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280717,081822,5926.136,-17045.375,7,1.0,37,8.5,0.5,76.4,9,3.1