version: 66.13
glider: 401
mission: 22
dive: 168
start: 7 29 117 15 58 18
data:
$ID,401
$MISSION,22
$DIVE,168
$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,400
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,41
$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
$GPS1,290717,151221,5934.5034,-17053.9102,3,0.8,15,8.4,0.0,206.7,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,0.8
$GPS2,290717,151221,5934.5034,-17053.9102,3,0.8,15,8.4,0.0,206.7,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.206392,0.269534
$KALMAN_X,24096.960938,-650.987915,-60.638512,-50296.687500,20.854836
$KALMAN_Y,3543.890137,1905.481201,516.317627,29575.855469,-175.582275
$MHEAD_RNG_PITCHd_Wd,314.2,38146,-11.3,-9.091,-14.99,6422
$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,-1.61,-389.9,2368,1887,2507,4092,0.0,0.0,0,18,5.30,0.00,-2.65,0.000,20486,0.030,0.000,1857,1888,2966,2966,4094,0,0,0,0,0,0,26.09,25.20,26.11,10.30,51.26
$GC,21,-1.61,-389.9,1857,1888,2966,4094,2.3,0.0,1,30,0.00,2.33,0.00,0.000,260,0.000,0.056,1857,2744,2966,2966,4095,0,0,0,0,0,0,26.24,25.95,26.25,10.40,51.65
$GC,124,-1.61,-389.9,1855,2743,2968,4095,14.7,-13.1,16,134,0.00,2.17,0.00,0.000,1030,0.000,0.033,1857,1900,2968,2968,4095,0,0,0,0,0,0,26.11,26.06,26.12,10.40,51.26
$GC,171,-1.61,-389.9,1856,1900,2969,4095,19.5,-9.5,22,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1900,2969,2969,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.37,50.59
$GC,214,-1.61,-389.9,1856,1899,2970,4094,24.1,-10.5,28,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1899,2969,2969,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.35,49.21
$GC,258,-1.61,-389.9,1856,1900,2971,4095,28.6,-10.3,34,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1900,2971,2971,4094,0,0,0,0,0,0,26.41,26.44,26.43,10.34,48.46
$GC,302,-1.61,-389.9,1856,1900,2971,4094,33.5,-11.1,40,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1899,2971,2971,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.33,47.48
$GC,347,-1.61,-389.9,1856,1900,2973,4094,38.1,-9.7,46,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1900,2973,2973,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.32,47.12
$GC,391,-1.61,-389.9,1856,1900,2974,4095,42.8,-10.8,52,400,0.00,2.30,0.00,0.000,260,0.000,0.057,1857,2750,2973,2973,4095,0,0,0,0,0,0,26.48,26.15,26.49,10.31,46.77
$GC,429,-1.61,-389.9,1856,2750,2974,4095,47.0,-11.0,57,438,0.00,2.20,0.00,0.000,1030,0.000,0.033,1857,1891,2974,2974,4094,0,0,0,0,0,0,26.26,26.22,26.28,10.31,46.45
$GC,475,-1.61,-389.9,1856,1891,2975,4094,52.1,-11.7,63,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1891,2975,2975,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.30,46.02
$GC,519,-1.61,-389.9,1855,1891,2976,4094,57.2,-11.4,69,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1891,2976,2976,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.30,46.29
$STATE,547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,547,begin apogee
$GC,553,-0.45,0.0,1856,2036,2976,4094,60.4,-10.7,73,588,3.80,0.00,23.20,1.296,10244,0.060,0.000,2204,2037,2499,2499,4095,0,0,0,0,0,0,26.25,25.29,24.63,10.30,45.98
$STATE,589,end apogee,CONTROL_FINISHED_OK
$STATE,589,begin climb
$GC,591,1.61,389.9,2203,2036,2500,4095,63.4,0.0,77,626,7.00,0.00,22.55,1.265,11270,0.038,0.000,2861,2037,2045,2045,4094,0,0,0,0,0,0,25.72,25.89,24.15,10.19,45.27
$GC,664,1.61,389.9,2861,2036,2044,4094,58.4,9.8,86,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2044,2044,4094,0,0,0,0,0,0,25.61,25.63,25.62,10.09,44.60
$GC,709,1.61,389.9,2861,2036,2043,4094,53.5,10.8,92,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2043,2043,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.09,44.68
$GC,753,1.61,389.9,2861,2036,2042,4094,48.5,11.0,98,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2042,2042,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.08,44.95
$GC,797,1.61,389.9,2861,2036,2041,4094,43.6,10.9,104,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2041,2041,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.08,44.99
$GC,841,1.61,389.9,2861,2036,2040,4094,38.5,11.7,110,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2040,2040,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.08,45.07
$GC,886,1.61,389.9,2861,2036,2039,4094,33.5,11.3,116,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2039,2039,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.07,45.35
$GC,930,1.61,389.9,2861,2036,2038,4094,28.2,11.8,122,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2038,2038,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.08,45.51
$GC,973,1.61,389.9,2861,2036,2037,4094,23.2,11.3,128,983,0.00,2.45,0.00,0.000,516,0.000,0.068,2861,1153,2037,2037,4095,0,0,0,0,0,0,26.17,25.84,26.19,10.06,46.22
$GC,1025,1.61,389.9,2860,1153,2035,4095,17.1,11.6,135,1035,0.00,2.10,0.00,0.000,1030,0.000,0.031,2862,1987,2035,2035,4094,0,0,0,0,0,0,26.01,25.94,26.02,10.07,45.78
$GC,1071,1.61,389.9,2861,1986,2034,4094,12.7,9.5,141,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1987,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.12,46.85
$GC,1115,1.61,389.9,2861,1988,2034,4094,8.5,9.5,147,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2033,2033,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.15,48.14
$GC,1160,1.61,389.9,2861,1989,2032,4095,4.2,10.2,153,1168,0.00,2.45,0.00,0.000,260,0.000,0.061,2861,2885,2031,2031,4094,0,0,0,0,0,0,26.32,26.01,26.33,10.16,49.40
$STATE,1182,end climb,SURFACE_DEPTH_REACHED
$STATE,1182,begin surface coast
$FINISH,0.6,1.024247
$STATE,1191,end surface coast,CONTROL_FINISHED_OK
$STATE,1191,begin surface
$SM_CCo,1289,0.00,0.000,0,0,2031,404.40
$SM_GC,0.93,27.50,2.58,0.00,0.024,0.033,0.000,240,1905,2031,-6.61,1.05,404.40,0,0,0,0,0,0,26.12,26.06,26.15
$IRIDIUM_FIX,5955.74,-17228.01,290717,135346
$TT8_MAMPS,0.025466,0.244923
$HUMID,50.15
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.15,4.218
$10V_AH,10.24,5.787
$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,43.600,20.675,45.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.697,60.036,158.966,648.655,44.550,33.414,414.151,0.000,379.433,0.000,0.539,0.000
$DEVICE_MAMPS,60.435,68.085,1295.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.785,426.546,337.663,500.297,646.395,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,14322,157
$CAP_FILE_SIZE,32453,0
$CFSIZE,1024409600,1011253248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,162039,5934.800,-17055.303,4,0.7,18,8.4,0.3,253.1,11,4.8