version: 66.13
glider: 401
mission: 22
dive: 170
start: 7 29 117 16 50 23
data:
$ID,401
$MISSION,22
$DIVE,170
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,290717,162708,5934.7705,-17055.3789,5,0.7,19,8.4,0.4,290.8,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,2.1
$GPS2,290717,162708,5934.7705,-17055.3789,5,0.7,19,8.4,0.4,290.8,11,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.201265,0.273384
$KALMAN_X,23465.478516,-768.165527,-206.879272,-50795.273438,-131.403778
$KALMAN_Y,3430.252930,1849.491455,458.935791,30299.498047,-69.795563
$MHEAD_RNG_PITCHd_Wd,315.2,36750,-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,8,-1.61,-389.9,2357,1891,2507,4092,0.0,0.0,0,20,5.30,0.00,-2.75,0.000,20486,0.028,0.000,1843,1891,2964,2964,4094,0,0,0,0,0,0,26.17,25.27,26.19,10.31,50.94
$GC,23,-1.61,-389.9,1843,1891,2964,4094,2.0,0.0,1,31,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1891,2964,2964,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.41,51.14
$GC,67,-1.61,-389.9,1842,1891,2965,4094,7.5,-12.8,7,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1891,2966,2966,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.41,50.59
$GC,111,-1.61,-389.9,1842,1890,2966,4095,13.7,-14.2,13,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1891,2967,2967,4095,0,0,0,0,0,0,26.36,26.39,26.38,10.42,50.23
$GC,155,-1.61,-389.9,1842,1891,2968,4095,18.9,-10.8,19,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1891,2967,2967,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.39,50.00
$GC,199,-1.61,-389.9,1842,1891,2968,4095,23.4,-9.9,25,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1891,2969,2969,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.37,49.33
$GC,244,-1.61,-389.9,1842,1891,2969,4095,28.2,-11.2,31,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1891,2969,2969,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.35,48.30
$GC,288,-1.61,-389.9,1842,1891,2970,4095,33.1,-11.2,37,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1891,2970,2970,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.33,47.24
$GC,332,-1.61,-389.9,1842,1891,2971,4094,38.2,-11.6,43,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1891,2971,2971,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.33,46.49
$GC,377,-1.61,-389.9,1842,1890,2972,4095,43.0,-11.0,49,386,0.00,2.35,0.00,0.000,260,0.000,0.058,1842,2758,2972,2972,4094,0,0,0,0,0,0,26.50,26.17,26.51,10.32,46.18
$GC,422,-1.61,-389.9,1842,2757,2973,4094,47.9,-10.7,55,431,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1912,2973,2973,4095,0,0,0,0,0,0,26.29,26.25,26.31,10.31,45.86
$GC,467,-1.61,-389.9,1842,1912,2973,4095,53.0,-12.1,61,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1912,2974,2974,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.31,45.66
$GC,510,-1.61,-389.9,1842,1912,2975,4095,57.9,-11.5,67,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1912,2975,2975,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.31,45.70
$STATE,535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,535,begin apogee
$GC,540,-0.45,0.0,1843,2042,2975,4094,60.7,-11.1,70,576,3.97,0.00,22.85,1.287,10244,0.062,0.000,2205,2042,2504,2504,4094,0,0,0,0,0,0,26.26,25.33,24.68,10.30,45.82
$STATE,577,end apogee,CONTROL_FINISHED_OK
$STATE,577,begin climb
$GC,579,1.61,389.9,2205,2042,2504,4094,63.2,0.0,74,614,6.97,0.00,22.85,1.268,11270,0.037,0.000,2861,2042,2045,2045,4095,0,0,0,0,0,0,25.75,25.91,24.16,10.20,45.03
$GC,651,1.61,389.9,2860,2042,2044,4095,58.2,11.4,83,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2043,2043,2043,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.10,45.03
$GC,697,1.61,389.9,2861,2042,2042,4094,53.0,10.9,89,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,2043,2043,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.10,44.80
$GC,743,1.61,389.9,2860,2042,2041,4094,47.4,12.0,95,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2043,2041,2041,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.09,45.11
$GC,789,1.61,389.9,2860,2042,2041,4094,42.0,12.0,101,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,2040,2040,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.09,44.72
$GC,835,1.61,389.9,2860,2042,2039,4094,36.9,11.5,107,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2043,2039,2039,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.08,45.07
$GC,879,1.61,389.9,2860,2042,2038,4094,31.6,11.9,113,888,0.00,2.45,0.00,0.000,516,0.000,0.067,2861,1159,2038,2038,4094,0,0,0,0,0,0,26.09,25.75,26.10,10.08,45.19
$GC,917,1.61,389.9,2860,1159,2037,4094,27.0,11.9,118,927,0.00,2.10,0.00,0.000,1030,0.000,0.029,2861,1993,2037,2037,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.08,45.66
$GC,964,1.61,389.9,2860,1993,2036,4094,21.8,11.4,124,972,0.00,2.45,0.00,0.000,260,0.000,0.062,2861,2885,2035,2035,4094,0,0,0,0,0,0,26.17,25.86,26.19,10.07,45.31
$GC,1015,1.61,389.9,2860,2885,2033,4094,15.4,12.4,131,1024,0.00,2.22,0.00,0.000,1030,0.000,0.032,2861,2024,2034,2034,4094,0,0,0,0,0,0,25.99,25.95,26.04,10.10,46.14
$GC,1061,1.67,429.1,2860,2024,2034,4094,11.5,8.5,137,1072,0.12,2.33,3.38,0.362,10756,0.066,0.069,2880,1153,1999,1999,4094,0,0,0,0,0,0,26.06,25.72,25.28,10.13,47.20
$STATE,1151,end climb,FINISH_DEPTH_REACHED
$STATE,1151,begin subsurface finish
$FINISH1,2.0,1.024245,94
$GC,1160,0.14,94.4,2880,2034,1996,4094,2.0,10.6,150,1179,5.03,0.00,-3.55,0.000,20486,0.048,0.000,2409,2035,2397,2397,4094,0,0,0,0,0,0,26.08,25.58,26.13,10.16,49.05
$FINISH2,0.2
$STATE,1180,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1180,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,150712
$TT8_MAMPS,0.026215,0.241178
$HUMID,50.35
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,24.16,4.269
$10V_AH,10.26,5.837
$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,21.400,18.875,49.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,425.297,0.000,134.192,635.044,42.715,33.423,396.113,0.000,367.723,0.000,0.541,0.000
$DEVICE_MAMPS,65.790,68.850,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.088,412.957,326.910,483.966,632.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330936
$DATA_FILE_SIZE,14279,152
$CAP_FILE_SIZE,30395,0
$CFSIZE,1024409600,1011154944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,162708,5934.771,-17055.379,5,0.7,19,8.4,0.4,290.8,11,4.9