version: 66.13
glider: 401
mission: 22
dive: 95
start: 7 28 117 8 41 55
data:
$ID,401
$MISSION,22
$DIVE,95
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,280717,081822,5926.1362,-17045.3750,7,1.0,37,8.5,0.5,76.4,9,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.6
$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,-0.307037,-0.095777
$KALMAN_X,14009.047852,-1288.370483,-655.371826,-30894.763672,170.842896
$KALMAN_Y,6135.425781,1689.580566,730.986084,11484.819336,127.650269
$MHEAD_RNG_PITCHd_Wd,244.2,8461,-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,-341.3,2374,1885,2504,4091,0.0,0.0,0,19,5.50,0.00,-3.25,0.000,20486,0.029,0.000,1840,1885,2903,2903,4095,0,0,0,0,0,0,26.08,25.18,26.12,10.33,49.09
$GC,21,-1.62,-341.3,1840,1884,2903,4095,0.5,0.0,1,30,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2903,2903,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.42,49.25
$GC,65,-1.62,-341.3,1840,1885,2904,4094,4.9,-10.5,7,74,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2904,2904,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.42,49.13
$GC,109,-1.62,-341.3,1840,1885,2905,4094,10.4,-12.2,13,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1884,2905,2905,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.42,49.01
$GC,153,-1.62,-341.3,1839,1885,2906,4094,16.0,-13.1,19,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2907,2907,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.43,48.66
$GC,197,-1.62,-341.3,1840,1885,2907,4094,21.2,-11.3,25,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2908,2908,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.38,48.66
$GC,241,-1.62,-341.3,1839,1885,2908,4095,25.8,-10.5,31,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2909,2909,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.37,47.71
$GC,286,-1.62,-341.3,1839,1885,2910,4094,30.4,-11.3,37,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2909,2909,4095,0,0,0,0,0,0,26.45,26.47,26.46,10.36,46.88
$GC,330,-1.62,-341.3,1840,1885,2910,4095,35.6,-12.0,43,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2910,2910,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.35,47.16
$GC,374,-1.62,-341.3,1840,1885,2911,4095,40.7,-11.2,49,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2911,2911,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.34,46.06
$GC,418,-1.62,-341.3,1840,1885,2912,4095,45.9,-11.7,55,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1884,2912,2912,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.33,45.98
$GC,463,-1.62,-341.3,1839,1885,2913,4094,51.6,-12.9,61,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2913,2913,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.33,45.51
$GC,507,-1.62,-341.3,1839,1884,2914,4094,56.6,-11.4,67,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1885,2914,2914,4095,0,0,0,0,0,0,26.54,26.56,26.55,10.32,45.23
$STATE,543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,543,begin apogee
$GC,548,-0.45,0.0,1839,2040,2914,4094,60.3,-9.6,72,576,4.00,0.00,20.40,1.258,10246,0.065,0.000,2203,2041,2500,2500,4094,0,0,0,0,0,0,26.26,25.61,24.74,10.32,44.80
$STATE,577,end apogee,CONTROL_FINISHED_OK
$STATE,577,begin climb
$GC,579,1.62,341.3,2203,2040,2500,4094,62.2,0.0,75,614,7.03,0.00,20.02,1.237,10246,0.040,0.000,2866,2041,2100,2100,4094,0,0,0,0,0,0,25.79,24.93,24.31,10.23,44.76
$GC,651,1.62,341.3,2865,2040,2100,4094,56.7,11.5,84,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2040,2099,2099,4095,0,0,0,0,0,0,25.71,25.72,25.72,10.14,44.05
$GC,697,1.62,341.3,2865,2040,2098,4095,51.6,10.0,90,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2040,2098,2098,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.13,44.17
$GC,741,1.62,341.3,2865,2040,2097,4094,47.0,10.7,96,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2040,2097,2097,4095,0,0,0,0,0,0,25.94,25.95,25.95,10.13,44.13
$GC,785,1.62,341.3,2865,2040,2096,4095,41.8,12.2,102,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2041,2096,2096,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.12,44.80
$GC,829,1.62,341.3,2865,2040,2095,4094,36.4,12.1,108,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2040,2095,2095,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.12,45.35
$GC,873,1.62,341.3,2865,2040,2094,4094,31.4,11.2,114,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2040,2093,2093,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.11,45.11
$GC,918,1.62,341.3,2865,2040,2093,4094,26.1,11.9,120,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2040,2093,2093,4095,0,0,0,0,0,0,26.18,26.20,26.19,10.11,45.74
$GC,962,1.62,341.3,2865,2040,2091,4095,20.9,11.5,126,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2041,2091,2091,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.10,45.43
$GC,1006,1.62,341.3,2865,2041,2090,4094,15.9,10.8,132,1015,0.00,2.72,0.00,0.000,516,0.000,0.072,2866,1060,2090,2090,4094,0,0,0,0,0,0,26.26,25.91,26.27,10.13,45.15
$GC,1045,1.67,370.5,2865,1060,2090,4094,12.5,8.6,137,1055,0.00,2.38,2.88,0.275,9222,0.000,0.031,2866,2002,2066,2066,4094,0,0,0,0,0,0,26.07,26.03,25.32,10.16,46.53
$GC,1093,1.67,370.5,2865,2002,2065,4094,8.0,10.1,143,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2002,2065,2065,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.17,47.71
$GC,1137,1.67,370.5,2865,2002,2064,4094,3.3,10.5,149,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2002,2064,2064,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.20,48.62
$STATE,1153,end climb,FINISH_DEPTH_REACHED
$STATE,1153,begin subsurface finish
$FINISH1,1.3,1.024315,90
$GC,1159,0.13,89.5,2865,2008,2063,4094,1.3,11.0,151,1178,4.82,2.65,-3.05,0.000,20996,0.040,1.304,2409,1061,2403,2403,4094,0,0,0,0,0,0,26.08,25.03,26.15,10.20,49.21
$FINISH2,0.1
$STATE,1179,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1179,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,065645
$TT8_MAMPS,0.026215,0.25466
$HUMID,48.93
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.31,2.401
$10V_AH,10.27,3.620
$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,21.350,8.425,43.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,417.382,0.967,135.675,637.707,43.029,33.421,403.142,0.000,369.997,0.000,0.543,0.000
$DEVICE_MAMPS,65.025,1304.325,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.767,415.628,329.029,487.805,635.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331000
$DATA_FILE_SIZE,14308,153
$CAP_FILE_SIZE,30293,0
$CFSIZE,1024409600,1014841344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,081822,5926.136,-17045.375,7,1.0,37,8.5,0.5,76.4,9,3.1