version: 66.13
glider: 401
mission: 22
dive: 171
start: 7 29 117 17 12 4
data:
$ID,401
$MISSION,22
$DIVE,171
$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,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
$GPS1,290717,162708,5934.7705,-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,0.14
$_SM_ANGLEo,-2.0
$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,-0.207958,0.268244
$KALMAN_X,23754.119141,-803.379578,-248.001053,-51006.500000,-16.211716
$KALMAN_Y,3135.684326,1834.885986,446.211487,30620.429688,-140.976318
$MHEAD_RNG_PITCHd_Wd,313.8,36750,-11.3,-9.091,-14.99,6419
$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,6,begin dive
$GC,8,-1.61,-389.7,2409,1882,2397,4092,0.0,0.0,0,18,5.85,0.00,-1.40,0.000,20482,0.027,0.000,1842,1882,2549,2549,4094,0,0,0,0,0,0,26.04,28.83,26.08,10.28,50.47
$GC,20,-1.61,-389.7,1842,1882,2549,4094,0.1,0.0,1,31,0.00,2.38,-3.80,0.000,16900,0.000,1.304,1842,1044,2958,2958,4095,0,0,0,0,0,0,26.22,24.93,26.23,10.31,50.86
$GC,45,-1.61,-390.0,1842,1043,2958,4095,0.1,-0.1,5,51,0.00,2.15,0.00,0.000,1030,0.000,0.035,1842,1901,2958,2958,4095,0,0,0,0,0,0,25.95,25.89,25.96,10.40,50.59
$GC,82,-1.61,-390.0,1841,1901,2958,4095,0.9,-3.3,11,87,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2958,2958,4095,0,0,0,0,0,0,26.17,26.18,26.17,10.40,50.39
$GC,118,-1.61,-390.0,1841,1901,2959,4095,4.9,-11.6,17,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2959,2959,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.41,50.39
$GC,154,-1.61,-390.0,1842,1901,2960,4094,9.6,-13.4,23,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1901,2960,2960,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.41,50.55
$GC,190,-1.61,-390.0,1842,1900,2961,4095,14.6,-14.4,29,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2961,2961,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.42,49.76
$GC,226,-1.61,-390.0,1842,1901,2962,4094,19.2,-11.8,35,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2962,2962,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.40,50.63
$GC,262,-1.61,-390.0,1841,1901,2962,4094,22.8,-10.3,41,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2962,2962,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.37,49.96
$GC,298,-1.61,-390.0,1841,1901,2963,4095,26.7,-11.0,47,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2963,2963,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.35,48.93
$GC,334,-1.61,-390.0,1842,1901,2964,4094,30.5,-10.7,53,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2964,2964,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.34,48.54
$GC,370,-1.61,-390.0,1842,1901,2964,4095,34.8,-11.7,59,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2965,2965,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.33,47.16
$GC,406,-1.61,-390.0,1842,1901,2965,4094,39.0,-11.2,65,412,0.00,2.30,0.00,0.000,260,0.000,0.059,1842,2763,2965,2965,4095,0,0,0,0,0,0,26.41,26.08,26.41,10.33,46.88
$GC,431,-1.61,-390.0,1841,2762,2966,4095,41.7,-10.9,69,437,0.00,2.17,0.00,0.000,1030,0.000,0.031,1842,1901,2966,2966,4095,0,0,0,0,0,0,26.22,26.15,26.25,10.32,46.65
$GC,468,-1.61,-390.0,1842,1901,2966,4095,45.8,-11.2,75,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2967,2967,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.32,46.88
$GC,505,-1.61,-390.0,1841,1901,2967,4095,50.4,-13.2,81,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2968,2968,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.31,46.18
$GC,540,-1.61,-390.0,1841,1901,2968,4094,54.5,-11.4,87,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2969,2969,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.30,46.10
$GC,577,-1.61,-390.0,1841,1901,2969,4095,58.8,-11.8,93,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2969,2969,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.30,46.25
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,587,begin apogee
$GC,592,-0.45,0.0,1842,2037,2969,4094,60.1,-12.1,95,625,3.97,0.00,22.88,1.273,10244,0.060,0.000,2205,2037,2499,2499,4095,0,0,0,0,0,0,26.19,25.26,24.60,10.30,45.98
$STATE,626,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,628,1.61,390.0,2206,2037,2499,4095,62.1,0.0,101,661,7.00,0.00,22.62,1.255,11270,0.039,0.000,2863,2037,2044,2044,4095,0,0,0,0,0,0,25.67,25.84,24.13,10.20,45.35
$GC,692,1.61,390.0,2862,2037,2044,4095,58.1,9.4,112,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2043,2043,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.10,44.92
$GC,728,1.61,390.0,2862,2037,2043,4094,54.1,11.4,118,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2043,2043,4095,0,0,0,0,0,0,25.69,25.70,25.70,10.09,44.92
$GC,764,1.61,390.0,2862,2037,2042,4095,49.9,11.6,124,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2037,2042,2042,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.09,44.92
$GC,800,1.61,390.0,2862,2037,2041,4094,45.6,11.6,130,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2041,2041,4095,0,0,0,0,0,0,25.87,25.89,25.89,10.09,44.95
$GC,836,1.61,390.0,2862,2037,2041,4095,41.5,11.3,136,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2041,2041,4095,0,0,0,0,0,0,25.94,25.96,25.95,10.08,45.31
$GC,872,1.61,390.0,2862,2037,2040,4095,37.5,10.9,142,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2039,2039,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.08,45.74
$GC,909,1.61,390.0,2862,2037,2038,4095,33.4,11.2,148,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2038,2038,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.08,45.86
$GC,945,1.61,390.0,2862,2037,2037,4094,29.3,11.4,154,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2037,2037,4095,0,0,0,0,0,0,26.10,26.11,26.10,10.08,45.58
$GC,981,1.61,390.0,2862,2037,2037,4095,25.1,11.4,160,987,0.00,2.40,0.00,0.000,516,0.000,0.064,2862,1155,2037,2037,4094,0,0,0,0,0,0,26.13,25.79,26.15,10.07,45.70
$GC,1023,1.61,390.0,2862,1155,2035,4094,19.8,12.7,167,1030,0.00,2.05,0.00,0.000,1030,0.000,0.031,2862,1987,2035,2035,4094,0,0,0,0,0,0,25.99,25.92,26.01,10.07,46.14
$GC,1061,1.61,390.0,2862,1987,2034,4094,15.4,11.5,173,1067,0.00,2.40,0.00,0.000,260,0.000,0.061,2862,2881,2034,2034,4094,0,0,0,0,0,0,26.20,25.88,26.22,10.10,46.06
$GC,1129,1.61,390.0,2862,2880,2033,4094,8.4,10.1,184,1135,0.00,2.22,0.00,0.000,1030,0.000,0.032,2862,2010,2033,2033,4094,0,0,0,0,0,0,26.07,25.99,26.09,10.15,48.38
$GC,1167,1.61,390.0,2862,2010,2032,4094,4.6,10.3,190,1173,0.00,2.28,0.00,0.000,516,0.000,0.068,2863,1156,2031,2031,4095,0,0,0,0,0,0,26.29,25.94,26.30,10.16,49.60
$STATE,1191,end climb,SURFACE_DEPTH_REACHED
$STATE,1191,begin surface coast
$FINISH,0.0,0.959928
$STATE,1209,end surface coast,CONTROL_FINISHED_OK
$STATE,1210,begin surface
$SM_CCo,1307,0.00,0.000,0,0,2030,404.40
$SM_GC,1.24,27.60,1.90,0.00,0.024,0.029,0.000,238,1908,2030,-6.61,-1.14,404.40,0,0,0,0,0,0,26.10,26.11,26.14
$IRIDIUM_FIX,5955.74,-17228.01,290717,150712
$TT8_MAMPS,0.025466,0.072653
$HUMID,50.90
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,1.90
$XPDR_PINGS,0
$24V_AH,24.13,4.287
$10V_AH,10.52,5.848
$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,44.425,22.925,45.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,449.561,403.874,174.081,295.534,44.781,33.413,397.320,0.000,293.722,0.000,0.540,0.000
$DEVICE_MAMPS,60.435,1303.560,1272.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330936
$DATA_FILE_SIZE,14296,197
$CAP_FILE_SIZE,39036,0
$CFSIZE,1024409600,1011089408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,173503,5935.305,-17056.855,36,0.8,38,8.4,0.9,285.1,10,5.0