version: 66.13
glider: 401
mission: 22
dive: 104
start: 7 28 117 12 25 49
data:
$ID,401
$MISSION,22
$DIVE,104
$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,22
$R_STBD_OVSHOOT,50
$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
$GPS1,280717,120238,5926.0713,-17044.8711,10,0.8,16,8.5,0.0,169.5,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-3.3
$GPS2,280717,120238,5926.0713,-17044.8711,10,0.8,16,8.5,0.0,169.5,10,4.5
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.308135,0.092183
$KALMAN_X,17036.888672,-893.552490,-152.234039,-34343.625000,123.571320
$KALMAN_Y,6533.000488,1540.647217,447.083466,11400.162109,-116.502960
$MHEAD_RNG_PITCHd_Wd,278.2,8937,-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,-341.3,2409,1894,2400,4091,0.0,0.0,0,21,5.75,0.00,-4.62,0.000,20486,0.033,0.000,1858,1892,2904,2904,4094,0,0,0,0,0,0,26.17,25.28,26.19,10.30,49.05
$GC,23,-1.62,-341.3,1858,1891,2904,4094,0.1,0.0,1,31,0.00,2.65,0.00,0.000,516,0.000,0.073,1859,928,2905,2905,4095,0,0,0,0,0,0,26.35,26.03,26.36,10.41,49.84
$GC,67,-1.62,-341.3,1858,928,2904,4095,3.2,-8.2,7,76,0.00,2.38,0.00,0.000,1030,0.000,0.032,1859,1871,2905,2905,4094,0,0,0,0,0,0,26.19,26.15,26.21,10.42,49.92
$GC,112,-1.62,-341.3,1858,1874,2906,4094,7.7,-9.1,13,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1874,2906,2906,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.42,49.25
$GC,157,-1.62,-341.3,1858,1874,2906,4094,10.9,-7.6,19,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1874,2906,2906,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.43,49.56
$GC,200,-1.62,-341.3,1858,1874,2907,4094,14.8,-9.2,25,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1874,2907,2907,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.44,48.93
$GC,244,-1.62,-341.3,1858,1874,2908,4095,18.6,-8.4,31,252,0.00,2.67,0.00,0.000,260,0.000,0.057,1859,2872,2908,2908,4094,0,0,0,0,0,0,26.48,26.16,26.50,10.42,48.58
$GC,289,-1.62,-341.3,1857,2871,2908,4094,22.1,-8.1,37,298,0.00,2.53,0.00,0.000,1030,0.000,0.032,1858,1880,2908,2908,4095,0,0,0,0,0,0,26.27,26.22,26.29,10.39,48.03
$GC,334,-1.62,-341.3,1858,1880,2909,4095,26.0,-8.7,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1880,2909,2909,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.37,47.28
$GC,378,-1.62,-341.3,1858,1880,2910,4094,30.1,-9.2,49,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1880,2910,2910,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.35,46.69
$GC,423,-1.62,-341.3,1858,1880,2910,4095,33.9,-8.4,55,432,0.00,2.67,0.00,0.000,260,0.000,0.054,1858,2876,2911,2911,4095,0,0,0,0,0,0,26.55,26.23,26.56,10.34,45.74
$GC,493,-1.62,-341.3,1858,2876,2912,4095,39.7,-9.7,65,503,0.00,2.53,0.00,0.000,1030,0.000,0.031,1858,1882,2912,2912,4095,0,0,0,0,0,0,26.34,26.30,26.36,10.33,45.70
$GC,540,-1.62,-341.3,1858,1881,2913,4095,44.0,-9.3,71,549,0.00,2.62,0.00,0.000,516,0.000,0.076,1858,923,2913,2913,4095,0,0,0,0,0,0,26.59,26.23,26.60,10.33,45.39
$GC,565,-1.62,-341.3,1858,922,2913,4095,46.4,-9.4,74,574,0.00,2.42,0.00,0.000,1030,0.000,0.032,1858,1905,2912,2912,4095,0,0,0,0,0,0,26.39,26.36,26.44,10.33,44.99
$GC,612,-1.62,-341.3,1858,1906,2914,4095,49.8,-7.2,80,621,0.00,2.55,0.00,0.000,260,0.000,0.058,1858,2858,2914,2914,4095,0,0,0,0,0,0,26.60,26.27,26.62,10.33,45.07
$GC,670,-1.62,-341.3,1858,2858,2914,4095,54.6,-7.9,88,680,0.00,2.40,0.00,0.000,1030,0.000,0.032,1858,1913,2914,2914,4095,0,0,0,0,0,0,26.39,26.36,26.42,10.32,44.88
$GC,717,-1.62,-341.3,1858,1913,2915,4095,58.3,-7.6,94,726,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1913,2916,2916,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.31,45.35
$STATE,740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,740,begin apogee
$GC,745,-0.45,0.0,1858,2047,2916,4094,60.3,-7.5,97,773,3.78,0.08,20.38,1.252,10244,0.062,0.103,2206,2009,2500,2500,4094,0,0,0,0,0,0,26.34,25.69,24.82,10.31,45.78
$STATE,774,end apogee,CONTROL_FINISHED_OK
$STATE,774,begin climb
$GC,776,1.62,341.3,2206,2008,2500,4094,61.9,0.0,100,813,6.95,2.62,20.00,1.240,10756,0.043,0.070,2867,1054,2101,2101,4094,0,0,0,0,0,0,25.81,25.72,24.37,10.22,44.76
$GC,829,1.89,519.9,2867,1053,2100,4094,60.5,5.8,106,849,0.77,2.40,11.30,1.105,11270,0.036,0.030,2943,1993,1894,1894,4094,0,0,0,0,0,0,25.48,25.48,24.27,10.14,44.52
$GC,886,1.89,519.9,2943,1992,1893,4094,55.0,11.1,113,898,0.00,2.65,0.00,0.000,516,0.000,0.072,2943,1058,1893,1893,4094,0,0,0,0,0,0,25.66,25.35,25.67,10.09,44.05
$GC,935,1.89,519.9,2943,1058,1892,4094,50.2,9.8,119,945,0.00,2.28,0.05,0.004,9222,0.000,0.031,2944,1950,1892,1892,4094,0,0,0,0,0,0,25.60,25.63,25.63,10.09,44.64
$GC,982,1.89,519.9,2943,1953,1892,4094,45.6,9.6,125,991,0.00,2.88,0.00,0.000,260,0.000,0.063,2943,2981,1891,1891,4094,0,0,0,0,0,0,25.91,25.58,25.93,10.08,44.68
$GC,1105,1.89,519.9,2943,2981,1887,4094,28.8,14.4,143,1115,0.00,2.62,0.00,0.000,1030,0.000,0.033,2943,1978,1887,1887,4094,0,0,0,0,0,0,25.87,25.83,25.90,10.07,45.47
$GC,1152,1.89,519.9,2943,1977,1886,4094,22.8,13.1,149,1162,0.00,2.60,0.00,0.000,516,0.000,0.076,2944,1039,1886,1886,4094,0,0,0,0,0,0,26.15,25.80,26.17,10.07,45.78
$GC,1330,1.89,519.9,2943,1038,1881,4094,4.0,11.3,175,1339,0.00,2.17,0.00,0.000,1030,0.000,0.031,2944,1924,1881,1881,4094,0,0,0,0,0,0,26.11,26.10,26.13,10.15,49.40
$STATE,1347,end climb,FINISH_DEPTH_REACHED
$STATE,1347,begin subsurface finish
$FINISH1,1.6,1.024298,91
$GC,1354,0.14,90.7,2943,2045,1881,4094,1.6,11.2,177,1372,5.78,0.00,-4.45,0.000,20486,0.053,0.000,2405,2047,2397,2397,4094,0,0,0,0,0,0,26.10,25.60,26.15,10.17,49.52
$FINISH2,0.4
$STATE,1373,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1373,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,104231
$TT8_MAMPS,0.026215,0.23968
$HUMID,49.76
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.27,2.590
$10V_AH,10.28,3.956
$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,23.025,46.600,51.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,499.677,0.000,138.463,743.679,46.626,33.421,418.366,0.000,430.514,0.000,0.543,0.000
$DEVICE_MAMPS,61.965,103.275,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.983,486.233,385.095,570.400,741.652,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331008
$DATA_FILE_SIZE,17751,179
$CAP_FILE_SIZE,36844,0
$CFSIZE,1024409600,1014366208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,886.99,0x236164,1,24
$GPS,280717,120238,5926.071,-17044.871,10,0.8,16,8.5,0.0,169.5,10,4.5