version: 66.13
glider: 401
mission: 22
dive: 172
start: 7 29 117 17 45 27
data:
$ID,401
$MISSION,22
$DIVE,172
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,290717,173503,5935.3047,-17056.8555,36,0.8,38,8.4,0.9,285.1,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-46.9
$GPS2,290717,174419,5935.3027,-17056.9805,8,0.8,13,8.4,0.0,247.8,10,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.213546,0.264027
$KALMAN_X,22946.988281,-960.473999,-411.992004,-51368.464844,-174.844788
$KALMAN_Y,3545.538818,1907.778198,522.813293,31029.593750,-11.730103
$MHEAD_RNG_PITCHd_Wd,312.6,34964,-11.3,-9.091,-14.99,6426
$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,-390.0,237,1889,2029,4092,0.0,0.0,0,21,11.32,0.00,0.00,0.000,2049,0.108,0.000,1169,1889,2029,2029,4094,0,0,0,0,0,0,26.13,28.83,28.83,10.26,49.40
$GC,23,-1.61,-390.0,1168,1889,2030,4094,0.9,0.0,1,51,7.25,2.42,-8.68,0.000,18948,0.050,1.304,1838,1046,2959,2959,4095,0,0,0,0,0,0,25.85,24.80,25.91,10.26,49.05
$GC,61,-1.61,-390.0,1837,1046,2959,4095,0.7,0.7,5,70,0.00,2.15,0.00,0.000,1030,0.000,0.030,1837,1895,2959,2959,4095,0,0,0,0,0,0,25.72,25.68,25.74,10.46,48.97
$GC,106,-1.61,-390.0,1837,1897,2960,4095,5.9,-12.0,11,114,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1898,2961,2961,4095,0,0,0,0,0,0,25.99,26.01,26.00,10.47,48.85
$GC,149,-1.61,-390.0,1837,1896,2961,4095,11.7,-13.4,17,158,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1897,2962,2962,4095,0,0,0,0,0,0,26.06,26.08,26.07,10.47,48.54
$GC,195,-1.61,-390.0,1837,1897,2962,4095,17.6,-13.2,23,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1897,2962,2962,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.46,47.51
$GC,241,-1.61,-390.0,1837,1898,2964,4095,22.1,-10.3,29,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1899,2964,2964,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.41,47.48
$GC,287,-1.61,-390.0,1837,1899,2964,4095,27.2,-10.9,35,296,0.00,2.33,0.00,0.000,260,0.000,0.054,1838,2761,2964,2964,4094,0,0,0,0,0,0,26.21,25.89,26.22,10.38,46.37
$GC,319,-1.61,-390.0,1837,2761,2965,4094,31.0,-11.6,39,328,0.00,2.17,0.00,0.000,1030,0.000,0.031,1838,1913,2965,2965,4094,0,0,0,0,0,0,26.01,25.97,26.06,10.38,45.70
$GC,364,-1.61,-390.0,1837,1913,2966,4094,36.3,-11.1,45,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1913,2966,2966,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.37,45.27
$GC,408,-1.61,-390.0,1837,1913,2967,4095,41.6,-12.3,51,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1913,2967,2967,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.36,44.09
$GC,453,-1.61,-390.0,1837,1913,2968,4095,46.9,-11.8,57,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1913,2968,2968,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.35,44.01
$GC,497,-1.61,-390.0,1838,1913,2969,4094,51.8,-11.0,63,506,0.00,2.33,0.00,0.000,260,0.000,0.058,1838,2762,2969,2969,4095,0,0,0,0,0,0,26.36,26.04,26.37,10.35,44.25
$GC,524,-1.61,-390.0,1837,2762,2969,4095,54.8,-11.8,66,533,0.00,2.17,0.00,0.000,1030,0.000,0.031,1838,1912,2969,2969,4094,0,0,0,0,0,0,26.15,26.10,26.17,10.34,43.81
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,574,-0.45,0.0,1838,2043,2970,4095,60.5,-11.7,72,609,4.05,0.00,22.95,1.287,10244,0.060,0.000,2206,2043,2502,2502,4094,0,0,0,0,0,0,26.11,25.16,24.51,10.33,43.58
$STATE,610,end apogee,CONTROL_FINISHED_OK
$STATE,610,begin climb
$GC,612,1.61,390.0,2206,2043,2502,4094,63.5,0.0,76,647,7.00,0.00,22.83,1.261,11270,0.037,0.000,2861,2042,2045,2045,4094,0,0,0,0,0,0,25.60,25.77,24.06,10.23,43.26
$GC,684,1.61,390.0,2861,2043,2044,4094,58.3,10.1,85,694,0.00,2.28,0.00,0.000,260,0.000,0.058,2861,2855,2044,2044,4094,0,0,0,0,0,0,25.53,25.26,25.55,10.13,43.03
$GC,742,1.61,390.0,2861,2855,2042,4094,51.4,12.0,93,752,0.00,2.15,0.00,0.000,1030,0.000,0.030,2861,2035,2043,2043,4094,0,0,0,0,0,0,25.53,25.49,25.56,10.12,43.18
$GC,789,1.61,390.0,2861,2034,2041,4094,46.1,11.4,99,799,0.00,2.42,0.00,0.000,516,0.000,0.066,2861,1156,2041,2041,4094,0,0,0,0,0,0,25.86,25.53,25.86,10.11,43.30
$GC,847,1.61,390.0,2861,1155,2040,4094,38.7,13.4,107,857,0.00,2.20,0.00,0.000,1030,0.000,0.029,2861,2021,2039,2039,4094,0,0,0,0,0,0,25.77,25.71,25.77,10.11,43.93
$GC,894,1.61,390.0,2861,2021,2038,4094,33.2,11.7,113,903,0.00,2.35,0.00,0.000,260,0.000,0.060,2861,2877,2039,2039,4094,0,0,0,0,0,0,26.03,25.71,26.04,10.11,44.05
$GC,959,1.61,390.0,2860,2877,2036,4094,25.0,12.9,122,968,0.00,2.15,0.00,0.000,1030,0.000,0.031,2861,2044,2036,2036,4094,0,0,0,0,0,0,25.87,25.87,25.92,10.10,44.72
$GC,1004,1.61,390.0,2861,2043,2035,4094,19.4,12.0,128,1013,0.00,2.42,0.00,0.000,516,0.000,0.068,2861,1157,2035,2035,4094,0,0,0,0,0,0,26.16,25.83,26.17,10.10,44.52
$GC,1108,1.61,390.0,2861,1156,2033,4094,8.4,9.5,143,1117,0.00,2.20,0.00,0.000,1030,0.000,0.030,2861,2030,2032,2032,4094,0,0,0,0,0,0,26.04,26.00,26.06,10.18,47.24
$GC,1154,1.61,390.0,2861,2030,2031,4094,4.1,9.8,149,1162,0.00,2.30,0.00,0.000,260,0.000,0.061,2861,2880,2030,2030,4094,0,0,0,0,0,0,26.28,25.95,26.29,10.19,48.70
$STATE,1177,end climb,FINISH_DEPTH_REACHED
$STATE,1177,begin subsurface finish
$FINISH1,1.3,1.024240,95
$GC,1185,0.14,94.8,2861,2015,2030,4094,1.3,10.3,152,1196,4.65,0.00,-3.30,0.000,20742,0.030,0.000,2410,2016,2396,2396,4094,0,0,0,0,0,0,26.08,25.21,26.12,10.20,48.26
$FINISH2,0.2
$STATE,1197,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1197,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,173628
$TT8_MAMPS,0.025466,0.25466
$HUMID,48.85
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.06,4.327
$10V_AH,10.23,5.889
$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,34.275,36.700,45.775,0.000,0.000,45.784,49.867,297.136,0.000,0.000,14.957,443.628,45.158,140.246,1058.627,91.112,33.450,411.474,0.000,372.013,0.000,0.542,0.000
$DEVICE_MAMPS,107.865,1304.325,1286.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.607,415.680,329.092,487.361,636.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,14312,153
$CAP_FILE_SIZE,39555,0
$CFSIZE,1024409600,1011040256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290717,174419,5935.303,-17056.980,8,0.8,13,8.4,0.0,247.8,10,4.9