version: 66.13
glider: 401
mission: 22
dive: 175
start: 7 29 117 18 59 48
data:
$ID,401
$MISSION,22
$DIVE,175
$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,27
$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
$GPS1,290717,185212,5936.1123,-17058.2441,4,0.8,16,8.4,0.3,334.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-44.9
$GPS2,290717,185841,5936.1348,-17058.2891,8,0.8,19,8.4,0.0,1.2,10,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.292346,0.172825
$KALMAN_X,22892.111328,-1129.795410,-584.323425,-52215.265625,-95.257874
$KALMAN_Y,3965.111816,1973.399414,606.433167,31993.541016,115.772400
$MHEAD_RNG_PITCHd_Wd,292.2,33068,-11.3,-9.091,-14.99,6428
$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,-390.0,229,1886,2029,4092,0.0,0.0,0,17,7.65,0.00,0.00,0.000,2049,0.112,0.000,856,1886,2029,2029,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.24,49.25
$GC,19,-1.61,-390.0,856,1886,2029,4094,0.9,0.0,1,47,11.10,2.40,-8.60,0.000,18948,0.076,1.310,1836,1044,2961,2961,4094,0,0,0,0,0,0,25.89,24.84,25.92,10.25,49.29
$GC,104,-1.61,-390.0,1835,1044,2962,4094,4.5,-12.9,15,110,0.00,2.15,0.00,0.000,1030,0.000,0.030,1836,1908,2962,2962,4094,0,0,0,0,0,0,25.92,25.86,25.94,10.45,49.37
$GC,142,-1.61,-390.0,1835,1907,2963,4094,9.5,-13.1,21,147,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1907,2963,2963,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.46,48.89
$GC,178,-1.61,-390.0,1835,1907,2964,4095,14.5,-13.5,27,184,0.00,2.28,0.00,0.000,260,0.000,0.057,1836,2756,2964,2964,4094,0,0,0,0,0,0,26.19,25.86,26.20,10.46,48.14
$GC,209,-1.61,-390.0,1836,2756,2964,4094,17.9,-10.0,32,215,0.00,2.12,0.00,0.000,1030,0.000,0.029,1836,1916,2964,2964,4095,0,0,0,0,0,0,26.03,25.95,26.05,10.43,48.54
$GC,247,-1.61,-390.0,1835,1916,2964,4095,20.6,-7.1,38,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1915,2964,2964,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.40,47.48
$GC,283,-1.61,-390.0,1835,1916,2965,4094,23.4,-7.9,44,289,0.00,2.40,0.00,0.000,516,0.000,0.070,1836,1032,2965,2965,4094,0,0,0,0,0,0,26.27,25.93,26.29,10.38,47.12
$GC,314,-1.61,-390.0,1835,1032,2965,4094,26.1,-8.4,49,320,0.00,2.15,0.00,0.000,1030,0.000,0.030,1836,1914,2966,2966,4095,0,0,0,0,0,0,26.12,26.07,26.14,10.37,46.37
$GC,352,-1.61,-390.0,1835,1917,2966,4095,29.0,-7.5,55,358,0.00,2.20,0.00,0.000,260,0.000,0.053,1836,2750,2966,2966,4094,0,0,0,0,0,0,26.32,26.00,26.33,10.37,46.18
$GC,395,-1.61,-390.0,1835,2750,2967,4094,32.6,-8.3,62,401,0.00,2.08,0.00,0.000,1030,0.000,0.029,1836,1926,2967,2967,4094,0,0,0,0,0,0,26.15,26.08,26.17,10.35,45.51
$GC,432,-1.61,-390.0,1835,1926,2967,4094,35.7,-7.7,68,438,0.00,2.40,0.00,0.000,516,0.000,0.070,1836,1038,2967,2967,4094,0,0,0,0,0,0,26.36,26.02,26.38,10.35,45.23
$GC,482,-1.61,-390.0,1836,1038,2968,4094,39.9,-8.4,76,488,0.00,2.10,0.00,0.000,1030,0.000,0.031,1836,1911,2968,2968,4094,0,0,0,0,0,0,26.22,26.17,26.24,10.34,45.58
$GC,519,-1.61,-390.0,1835,1912,2969,4094,42.8,-7.9,82,525,0.00,2.20,0.00,0.000,260,0.000,0.054,1836,2744,2969,2969,4094,0,0,0,0,0,0,26.41,26.09,26.42,10.34,44.76
$GC,544,-1.61,-390.0,1836,2744,2969,4094,45.0,-8.5,86,551,0.00,2.10,0.00,0.000,1030,0.000,0.031,1836,1912,2969,2969,4095,0,0,0,0,0,0,26.23,26.15,26.25,10.33,44.99
$GC,582,-1.61,-390.0,1835,1912,2970,4095,48.4,-9.0,92,588,0.00,2.35,0.00,0.000,516,0.000,0.070,1836,1035,2970,2970,4095,0,0,0,0,0,0,26.44,26.09,26.45,10.33,44.40
$GC,615,-1.61,-390.0,1835,1035,2970,4095,51.5,-9.5,97,621,0.00,2.08,0.00,0.000,1030,0.000,0.031,1836,1893,2970,2970,4095,0,0,0,0,0,0,26.27,26.23,26.29,10.32,45.31
$GC,653,-1.61,-390.0,1836,1896,2971,4095,55.1,-9.8,103,659,0.00,2.28,0.00,0.000,260,0.000,0.057,1836,2748,2971,2971,4095,0,0,0,0,0,0,26.46,26.14,26.48,10.32,45.43
$GC,696,-1.61,-390.0,1835,2747,2972,4095,59.0,-8.5,110,703,0.00,2.12,0.00,0.000,1030,0.000,0.030,1836,1898,2972,2972,4094,0,0,0,0,0,0,26.29,26.22,26.32,10.32,45.51
$STATE,707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,707,begin apogee
$GC,712,-0.45,0.0,1836,2025,2973,4095,60.1,-9.1,112,745,4.00,0.00,23.05,1.278,10244,0.057,0.000,2207,2026,2499,2499,4094,0,0,0,0,0,0,26.21,25.25,24.59,10.32,44.64
$STATE,746,end apogee,CONTROL_FINISHED_OK
$STATE,747,begin climb
$GC,748,1.61,390.0,2206,2026,2499,4094,62.2,0.0,118,788,6.90,2.28,22.58,1.262,10500,0.034,0.059,2861,2853,2045,2045,4094,0,0,0,0,0,0,25.62,25.55,24.12,10.22,44.60
$GC,825,1.61,390.0,2861,2852,2044,4094,57.7,9.9,131,831,0.00,2.17,0.00,0.000,1030,0.000,0.031,2862,2021,2044,2044,4094,0,0,0,0,0,0,25.41,25.34,25.44,10.12,44.36
$GC,862,1.69,443.1,2861,2021,2043,4094,54.6,8.2,137,874,0.15,2.38,4.68,0.764,10756,0.059,0.067,2884,1154,1982,1982,4094,0,0,0,0,0,0,25.53,25.31,24.44,10.11,45.03
$GC,1002,1.71,457.8,2883,1153,1980,4094,41.9,8.9,160,1009,0.00,2.00,2.55,0.273,9222,0.000,0.028,2883,1967,1966,1966,4094,0,0,0,0,0,0,25.80,25.75,24.80,10.09,45.70
$GC,1040,1.74,473.0,2883,1967,1965,4094,38.6,8.8,166,1047,0.10,0.00,2.67,0.306,10246,0.081,0.000,2896,1967,1948,1948,4094,0,0,0,0,0,0,25.79,25.60,24.85,10.08,45.62
$GC,1077,1.74,473.0,2895,1967,1947,4094,34.7,11.0,172,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1967,1947,1947,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.07,46.18
$GC,1113,1.74,473.0,2895,1967,1947,4094,30.2,12.8,178,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1967,1946,1946,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.07,46.81
$GC,1149,1.74,473.0,2895,1967,1946,4094,25.6,13.2,184,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1967,1946,1946,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.07,46.33
$GC,1185,1.74,473.0,2895,1967,1945,4094,21.0,12.9,190,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1967,1944,1944,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.07,47.16
$GC,1222,1.74,473.0,2896,1967,1943,4094,16.5,12.7,196,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1967,1943,1943,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.08,46.85
$GC,1258,1.74,473.0,2895,1968,1942,4094,12.6,10.9,202,1264,0.00,2.40,0.00,0.000,260,0.000,0.060,2896,2858,1942,1942,4094,0,0,0,0,0,0,26.23,25.91,26.25,10.12,47.44
$GC,1319,1.74,473.0,2896,2857,1940,4094,5.7,11.3,212,1325,0.00,2.28,0.00,0.000,1030,0.000,0.033,2896,1968,1941,1941,4094,0,0,0,0,0,0,26.08,26.00,26.10,10.15,49.37
$STATE,1354,end climb,FINISH_DEPTH_REACHED
$STATE,1355,begin subsurface finish
$FINISH1,1.5,1.025600,0
$GC,1360,0.00,0.0,2896,1967,1939,4094,1.5,11.2,218,1377,5.90,2.28,-5.03,0.000,20996,0.071,1.318,2366,1155,2506,2506,4095,0,0,0,0,0,0,26.06,24.96,26.08,10.17,49.96
$FINISH2,0.2
$STATE,1378,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1378,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,174049
$TT8_MAMPS,0.025466,0.083888
$HUMID,50.82
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.12,4.398
$10V_AH,10.56,5.952
$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,35.800,51.425,55.525,0.000,0.000,24.030,17.386,235.262,0.000,0.000,20.447,507.210,389.581,173.911,631.416,88.928,33.452,422.701,0.000,329.542,0.000,0.541,0.000
$DEVICE_MAMPS,111.690,1318.095,1277.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,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,329484
$DATA_FILE_SIZE,17773,221
$CAP_FILE_SIZE,48610,0
$CFSIZE,1024409600,1010876416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290717,185841,5936.135,-17058.289,8,0.8,19,8.4,0.0,1.2,10,4.7