version: 66.13
glider: 401
mission: 22
dive: 174
start: 7 29 117 18 29 32
data:
$ID,401
$MISSION,22
$DIVE,174
$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,38
$R_STBD_OVSHOOT,55
$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
$GPS1,290717,174419,5935.3027,-17056.9805,8,0.8,13,8.4,0.0,247.8,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-0.9
$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,-0.245725,0.234251
$KALMAN_X,23426.906250,-984.363037,-438.439850,-51824.816406,4.995026
$KALMAN_Y,3116.208496,1845.528931,471.656769,31590.078125,-73.690521
$MHEAD_RNG_PITCHd_Wd,305.2,34964,-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,-389.9,2356,1881,2506,4092,0.0,0.0,0,20,5.28,0.00,-4.20,0.000,20486,0.028,0.000,1843,1881,2961,2961,4095,0,0,0,0,0,0,26.20,25.29,26.22,10.30,51.33
$GC,23,-1.61,-389.9,1843,1881,2961,4095,0.1,0.0,1,32,0.00,2.28,0.00,0.000,516,0.000,0.073,1843,1054,2961,2961,4094,0,0,0,0,0,0,26.34,26.01,26.35,10.40,51.22
$GC,55,-1.61,-390.0,1842,1054,2962,4094,1.3,-3.0,5,63,0.00,2.05,0.00,0.000,1030,0.000,0.032,1842,1877,2962,2962,4094,0,0,0,0,0,0,26.17,26.14,26.19,10.41,52.16
$GC,99,-1.61,-390.0,1842,1878,2962,4094,6.6,-12.5,11,108,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1878,2963,2963,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.41,50.90
$GC,143,-1.61,-390.0,1842,1878,2964,4095,12.7,-13.9,17,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1878,2964,2964,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.42,50.94
$GC,187,-1.61,-390.0,1842,1880,2965,4095,18.1,-11.2,23,197,0.00,2.38,0.00,0.000,260,0.000,0.058,1842,2760,2965,2965,4094,0,0,0,0,0,0,26.45,26.12,26.46,10.39,50.86
$GC,226,-1.61,-390.0,1842,2760,2966,4094,22.1,-10.3,28,235,0.00,2.15,0.00,0.000,1030,0.000,0.033,1842,1918,2966,2966,4095,0,0,0,0,0,0,26.23,26.19,26.29,10.37,49.72
$GC,273,-1.61,-390.0,1842,1918,2966,4095,27.1,-11.1,34,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1918,2967,2967,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.34,49.01
$GC,319,-1.61,-390.0,1842,1918,2968,4094,32.1,-11.1,40,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1918,2968,2968,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.33,47.71
$GC,364,-1.61,-390.0,1842,1918,2969,4095,37.3,-11.3,46,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1918,2969,2969,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.32,46.96
$GC,410,-1.61,-390.0,1842,1918,2969,4094,42.7,-12.1,52,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1918,2969,2969,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.32,47.20
$GC,454,-1.61,-390.0,1842,1918,2970,4094,48.1,-11.9,58,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1919,2971,2971,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.31,46.77
$GC,498,-1.61,-390.0,1842,1918,2971,4095,53.3,-11.8,64,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1918,2972,2972,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.30,46.69
$GC,541,-1.61,-390.0,1842,1918,2973,4095,58.5,-12.2,70,551,0.00,2.28,0.00,0.000,260,0.000,0.057,1842,2758,2972,2972,4093,0,0,0,0,0,0,26.58,26.29,26.59,10.30,46.57
$STATE,559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,566,-0.45,0.0,1842,2008,2973,4093,61.0,-12.8,72,601,3.95,0.00,23.08,1.297,10244,0.061,0.000,2204,2007,2500,2500,4095,0,0,0,0,0,0,26.29,25.32,24.66,10.30,45.78
$STATE,602,end apogee,CONTROL_FINISHED_OK
$STATE,602,begin climb
$GC,604,1.61,390.0,2204,2007,2499,4095,63.7,0.0,76,639,7.00,0.00,22.65,1.278,11270,0.039,0.000,2861,2007,2045,2045,4094,0,0,0,0,0,0,25.75,25.92,24.17,10.19,46.33
$GC,677,1.61,390.0,2861,2007,2044,4094,59.0,11.1,85,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2008,2043,2043,4094,0,0,0,0,0,0,25.63,25.65,25.64,10.10,44.99
$GC,722,1.61,390.0,2861,2007,2042,4094,53.7,10.9,91,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2007,2042,2042,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.09,44.72
$GC,768,1.61,390.0,2860,2007,2041,4094,48.7,10.9,97,778,0.00,2.45,0.00,0.000,260,0.000,0.060,2861,2879,2040,2040,4094,0,0,0,0,0,0,25.89,25.57,25.89,10.09,44.92
$GC,815,1.61,390.0,2861,2879,2040,4094,42.8,12.8,103,824,0.00,2.25,0.00,0.000,1030,0.000,0.031,2862,2018,2040,2040,4095,0,0,0,0,0,0,25.75,25.69,25.76,10.08,45.31
$GC,861,1.61,390.0,2861,2018,2039,4095,37.4,11.0,109,871,0.00,2.40,0.00,0.000,516,0.000,0.069,2862,1149,2039,2039,4094,0,0,0,0,0,0,26.04,25.73,26.05,10.08,45.31
$GC,920,1.61,390.0,2861,1148,2038,4094,30.6,11.9,117,929,0.00,2.15,0.00,0.000,1030,0.000,0.031,2861,1998,2037,2037,4094,0,0,0,0,0,0,25.91,25.86,25.91,10.08,45.19
$GC,966,1.61,390.0,2861,1998,2036,4094,25.6,11.4,123,975,0.00,2.45,0.00,0.000,260,0.000,0.063,2862,2886,2036,2036,4094,0,0,0,0,0,0,26.15,25.84,26.17,10.08,45.62
$GC,1036,1.61,390.0,2861,2886,2034,4094,16.9,12.0,133,1046,0.00,2.28,0.00,0.000,1030,0.000,0.032,2862,2009,2034,2034,4094,0,0,0,0,0,0,25.98,25.95,26.02,10.06,45.78
$GC,1083,1.61,390.0,2861,2009,2033,4094,12.3,9.4,139,1093,0.00,2.35,0.00,0.000,516,0.000,0.070,2862,1153,2033,2033,4094,0,0,0,0,0,0,26.26,25.90,26.27,10.12,46.92
$GC,1162,1.61,390.0,2861,1152,2031,4094,4.7,9.8,150,1171,0.00,2.12,0.00,0.000,1030,0.000,0.030,2862,1999,2031,2031,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.16,49.21
$STATE,1192,end climb,SURFACE_DEPTH_REACHED
$STATE,1192,begin surface coast
$FINISH,0.3,1.024237
$STATE,1214,end surface coast,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$SM_CCo,1310,0.00,0.000,0,0,2029,405.26
$SM_GC,1.08,27.73,0.28,0.00,0.026,0.053,0.000,230,1886,2029,-6.65,0.96,405.26,0,0,0,0,0,0,26.01,26.13,26.12
$IRIDIUM_FIX,5955.74,-17228.01,290717,173628
$TT8_MAMPS,0.025466,0.243425
$HUMID,50.43
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,24.17,4.362
$10V_AH,10.25,5.935
$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,43.950,31.950,45.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,453.641,59.898,157.812,654.441,45.394,33.413,418.797,0.000,379.307,0.000,0.540,0.000
$DEVICE_MAMPS,61.200,78.030,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.731,426.542,337.698,500.454,651.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330864
$DATA_FILE_SIZE,14394,157
$CAP_FILE_SIZE,33700,0
$CFSIZE,1024409600,1010941952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,185212,5936.112,-17058.244,4,0.8,16,8.4,0.3,334.0,10,4.9