version: 66.13
glider: 401
mission: 22
dive: 105
start: 7 28 117 12 50 42
data:
$ID,401
$MISSION,22
$DIVE,105
$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,57
$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,0.08
$_SM_ANGLEo,-2.1
$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,-0.311004,0.081997
$KALMAN_X,17368.185547,-873.676270,-135.522034,-34711.585938,189.810837
$KALMAN_Y,6489.689453,1504.498169,405.464111,11521.117188,-104.195190
$MHEAD_RNG_PITCHd_Wd,276.3,8937,-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,8,-1.62,-341.3,2405,1885,2397,4092,0.0,0.0,0,21,5.82,0.00,-4.65,0.000,20486,0.029,0.000,1843,1882,2902,2902,4095,0,0,0,0,0,0,26.08,25.19,26.10,10.30,50.15
$GC,23,-1.62,-341.3,1842,1883,2902,4095,0.0,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1882,2902,2902,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.40,51.14
$GC,67,-1.62,-341.3,1842,1882,2903,4094,3.6,-11.1,7,77,0.00,2.65,0.00,0.000,516,0.000,0.074,1843,928,2903,2903,4095,0,0,0,0,0,0,26.32,25.96,26.33,10.41,50.43
$GC,125,-1.62,-341.3,1842,928,2904,4095,8.9,-9.2,15,134,0.00,2.33,0.00,0.000,1030,0.000,0.034,1843,1860,2904,2904,4095,0,0,0,0,0,0,26.15,26.12,26.17,10.41,50.23
$GC,171,-1.62,-341.3,1842,1862,2905,4095,12.7,-8.3,21,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1862,2904,2904,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.42,50.27
$GC,217,-1.62,-341.3,1842,1862,2905,4094,16.9,-9.1,27,226,0.00,2.70,0.00,0.000,260,0.000,0.058,1842,2860,2905,2905,4095,0,0,0,0,0,0,26.41,26.08,26.42,10.42,49.84
$GC,275,-1.62,-341.3,1842,2860,2906,4095,21.5,-8.6,35,285,0.00,2.47,0.00,0.000,1030,0.000,0.032,1842,1895,2906,2906,4095,0,0,0,0,0,0,26.20,26.16,26.23,10.38,49.68
$GC,323,-1.62,-341.3,1842,1894,2907,4095,25.2,-8.3,41,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1895,2907,2907,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.36,48.97
$GC,369,-1.62,-341.3,1842,1894,2908,4095,28.9,-7.7,47,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1895,2907,2907,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.35,47.40
$GC,415,-1.62,-341.3,1842,1895,2908,4095,32.7,-7.8,53,424,0.00,2.62,0.00,0.000,260,0.000,0.057,1843,2863,2908,2908,4094,0,0,0,0,0,0,26.50,26.17,26.51,10.34,46.41
$GC,480,-1.62,-341.3,1842,2864,2910,4094,38.0,-8.8,62,489,0.00,2.47,0.00,0.000,1030,0.000,0.032,1843,1896,2909,2909,4094,0,0,0,0,0,0,26.29,26.25,26.32,10.33,46.37
$GC,526,-1.62,-341.3,1842,1896,2910,4094,42.1,-8.4,68,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1896,2910,2910,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.33,46.53
$GC,570,-1.62,-341.3,1842,1896,2911,4094,45.9,-8.7,74,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1896,2911,2911,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.32,45.43
$GC,614,-1.62,-341.3,1842,1895,2911,4095,49.5,-8.6,80,624,0.00,2.62,0.00,0.000,260,0.000,0.060,1842,2867,2912,2912,4094,0,0,0,0,0,0,26.57,26.24,26.58,10.31,45.55
$GC,686,-1.62,-341.3,1842,2866,2913,4094,56.2,-9.3,90,695,0.00,2.47,0.00,0.000,1030,0.000,0.034,1843,1897,2913,2913,4094,0,0,0,0,0,0,26.36,26.32,26.39,10.31,45.62
$STATE,722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,722,begin apogee
$GC,727,-0.45,0.0,1842,2043,2913,4095,60.1,-9.8,95,756,4.00,0.08,20.33,1.250,10244,0.068,0.103,2203,2005,2500,2500,4094,0,0,0,0,0,0,26.30,25.66,24.79,10.30,45.66
$STATE,757,end apogee,CONTROL_FINISHED_OK
$STATE,757,begin climb
$GC,759,1.62,341.3,2203,2004,2500,4094,61.5,0.0,98,794,7.03,0.00,19.83,1.226,11270,0.037,0.000,2866,2004,2104,2104,4095,0,0,0,0,0,0,25.84,26.01,24.35,10.22,45.70
$GC,832,1.72,408.4,2864,2004,2104,4095,57.2,7.9,107,842,0.25,0.00,5.50,0.851,10246,0.049,0.000,2893,2005,2023,2023,4094,0,0,0,0,0,0,25.53,25.28,24.45,10.13,44.68
$GC,879,1.80,459.2,2892,2004,2022,4094,53.4,8.2,113,890,0.17,0.00,4.55,0.730,10246,0.063,0.000,2916,2005,1964,1964,4094,0,0,0,0,0,0,25.56,25.34,24.53,10.11,45.23
$GC,927,1.80,459.2,2915,2004,1964,4094,48.9,9.6,119,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2004,1963,1963,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.09,45.86
$GC,972,1.80,459.2,2915,2004,1962,4094,44.1,10.6,125,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2004,1962,1962,4094,0,0,0,0,0,0,25.94,25.96,25.95,10.09,44.95
$GC,1018,1.80,459.2,2915,2004,1961,4094,39.0,10.6,131,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2004,1962,1962,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.09,45.62
$GC,1064,1.80,459.2,2915,2004,1960,4094,34.2,10.4,137,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2003,1960,1960,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.09,45.78
$GC,1108,1.80,459.2,2915,2004,1959,4094,29.5,9.9,143,1117,0.00,2.65,0.00,0.000,516,0.000,0.074,2916,1055,1959,1959,4094,0,0,0,0,0,0,26.13,25.79,26.15,10.09,46.25
$GC,1159,1.80,459.2,2916,1055,1958,4094,24.1,11.1,150,1169,0.00,2.38,0.00,0.000,1030,0.000,0.031,2916,1998,1958,1958,4094,0,0,0,0,0,0,25.97,25.96,25.99,10.08,46.53
$GC,1205,1.80,459.2,2916,1998,1958,4094,19.7,9.6,156,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1998,1957,1957,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.08,46.57
$GC,1248,1.80,459.2,2916,1998,1956,4094,15.4,9.7,162,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1998,1956,1956,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.11,46.77
$GC,1294,1.86,500.6,2915,1999,1956,4094,11.8,8.3,168,1304,0.15,0.00,3.58,0.385,10246,0.063,0.000,2936,2000,1916,1916,4094,0,0,0,0,0,0,26.08,25.75,25.32,10.14,48.22
$GC,1341,1.86,500.6,2935,2000,1915,4094,7.7,9.2,174,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2000,1915,1915,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.15,48.85
$GC,1385,1.97,574.7,2935,2000,1914,4094,3.9,7.7,180,1403,0.32,2.60,5.45,0.485,10756,0.044,0.071,2974,1057,1828,1828,4094,0,0,0,0,0,0,26.11,25.92,25.39,10.16,49.25
$STATE,1411,end climb,SURFACE_DEPTH_REACHED
$STATE,1411,begin surface coast
$FINISH,0.2,1.024304
$STATE,1419,end surface coast,CONTROL_FINISHED_OK
$STATE,1420,begin surface
$SM_CCo,1519,0.00,0.000,0,0,1827,578.70
$SM_GC,0.79,28.80,2.15,0.00,0.025,0.031,0.000,242,1906,1827,-6.61,-1.55,578.70,0,0,0,0,0,0,26.06,26.06,26.10
$IRIDIUM_FIX,5957.10,-16911.74,280717,104231
$TT8_MAMPS,0.025466,0.238182
$HUMID,49.48
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.35,2.608
$10V_AH,10.27,3.997
$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,46.550,30.900,59.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,524.741,60.222,174.827,766.515,51.237,33.417,470.745,0.000,441.375,0.000,0.541,0.000
$DEVICE_MAMPS,68.085,102.510,1250.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,125.306,499.755,395.836,586.545,763.681,0.000,0.000,0.000,0.000,0.000
$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,17860,184
$CAP_FILE_SIZE,40444,0
$CFSIZE,1024409600,1014317056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,131651,5925.697,-17045.410,3,0.9,16,8.5,0.0,235.6,10,4.8