version: 66.13
glider: 401
mission: 22
dive: 183
start: 7 29 117 22 23 56
data:
$ID,401
$MISSION,22
$DIVE,183
$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,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
$GPS1,290717,213738,5937.8765,-17059.4492,5,0.9,50,8.4,0.3,98.7,8,4.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-1.8
$GPS2,290717,213738,5937.8765,-17059.4492,5,0.9,50,8.4,0.3,98.7,8,4.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338774,0.023787
$KALMAN_X,24802.511719,-1179.142090,-522.266541,-55256.515625,205.011963
$KALMAN_Y,5580.759277,2305.756104,909.069397,32992.199219,118.940002
$MHEAD_RNG_PITCHd_Wd,265.6,30362,-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,-390.0,2410,1887,2389,4092,0.0,0.0,0,18,5.90,0.00,-1.58,0.000,20482,0.031,0.000,1842,1887,2561,2561,4094,0,0,0,0,0,0,26.06,28.83,26.09,10.29,50.31
$GC,20,-1.61,-390.0,1841,1887,2561,4094,0.1,0.0,1,31,0.00,2.42,-3.67,0.000,16900,0.000,1.304,1841,1044,2959,2959,4095,0,0,0,0,0,0,26.24,24.94,26.25,10.33,50.59
$GC,68,-1.61,-390.0,1841,1043,2959,4095,3.8,-11.2,9,74,0.00,2.08,0.00,0.000,1030,0.000,0.031,1841,1876,2960,2960,4095,0,0,0,0,0,0,25.98,25.93,26.01,10.41,50.51
$GC,105,-1.61,-390.0,1841,1877,2961,4095,8.3,-12.4,15,111,0.00,2.38,0.00,0.000,260,0.000,0.060,1841,2759,2961,2961,4094,0,0,0,0,0,0,26.20,25.87,26.21,10.41,49.96
$GC,148,-1.61,-390.0,1840,2759,2961,4094,14.1,-13.5,22,154,0.00,2.12,0.00,0.000,1030,0.000,0.032,1841,1925,2962,2962,4094,0,0,0,0,0,0,26.05,25.96,26.06,10.42,50.27
$GC,185,-1.61,-390.0,1840,1925,2962,4094,18.9,-12.3,28,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1925,2963,2963,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.41,50.07
$GC,221,-1.61,-390.0,1840,1925,2963,4094,22.5,-9.9,34,227,0.00,2.42,0.00,0.000,516,0.000,0.070,1841,1031,2963,2963,4094,0,0,0,0,0,0,26.29,25.94,26.31,10.38,49.84
$GC,264,-1.61,-390.0,1840,1031,2964,4094,27.4,-11.8,41,270,0.00,2.17,0.00,0.000,1030,0.000,0.031,1841,1906,2964,2964,4095,0,0,0,0,0,0,26.13,26.06,26.15,10.35,48.62
$GC,301,-1.61,-390.0,1841,1906,2965,4095,31.6,-11.1,47,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2965,2965,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.34,48.14
$GC,337,-1.61,-390.0,1840,1906,2965,4095,35.5,-11.2,53,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2966,2966,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.33,47.99
$GC,373,-1.61,-390.0,1840,1906,2966,4094,39.5,-11.5,59,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2966,2966,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.33,46.77
$GC,409,-1.61,-390.0,1841,1906,2967,4095,43.6,-11.0,65,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2967,2967,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.32,47.28
$GC,445,-1.61,-390.0,1840,1907,2968,4095,47.9,-11.8,71,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1908,2968,2968,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.31,46.22
$GC,481,-1.61,-390.0,1841,1907,2968,4095,51.8,-10.7,77,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1908,2969,2969,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.30,46.73
$GC,517,-1.61,-390.0,1840,1907,2969,4094,56.3,-12.9,83,523,0.00,2.30,0.00,0.000,260,0.000,0.063,1841,2760,2969,2969,4095,0,0,0,0,0,0,26.46,26.13,26.47,10.30,46.29
$STATE,546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,547,begin apogee
$GC,553,-0.45,0.0,1841,2015,2970,4094,60.2,-12.2,88,585,3.92,0.00,22.90,1.284,10244,0.060,0.000,2206,2014,2500,2500,4094,0,0,0,0,0,0,26.18,25.45,24.57,10.30,46.18
$STATE,586,end apogee,CONTROL_FINISHED_OK
$STATE,586,begin climb
$GC,588,1.61,390.0,2206,2014,2500,4094,62.6,0.0,94,621,7.00,0.00,22.65,1.262,11270,0.037,0.000,2861,2014,2045,2045,4094,0,0,0,0,0,0,25.64,25.82,24.10,10.20,45.66
$GC,652,1.61,390.0,2861,2014,2044,4094,58.0,10.8,105,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2014,2044,2044,4094,0,0,0,0,0,0,25.53,25.54,25.53,10.10,44.88
$GC,688,1.61,390.0,2861,2014,2044,4094,54.3,10.2,111,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2014,2043,2043,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.10,44.60
$GC,724,1.61,390.0,2861,2014,2043,4094,50.4,11.4,117,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2014,2043,2043,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.10,44.72
$GC,760,1.61,390.0,2861,2014,2042,4094,46.1,12.3,123,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2014,2041,2041,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.09,45.62
$GC,796,1.61,390.0,2861,2013,2041,4094,41.7,12.4,129,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2014,2041,2041,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.09,45.78
$GC,832,1.61,390.0,2861,2014,2040,4094,37.6,11.8,135,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2014,2040,2040,4094,0,0,0,0,0,0,25.98,26.01,26.00,10.09,45.70
$GC,868,1.61,390.0,2861,2014,2038,4094,33.3,12.1,141,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2014,2039,2039,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.08,45.62
$GC,904,1.61,390.0,2861,2014,2038,4094,29.3,11.2,147,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2014,2039,2039,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.08,45.82
$GC,940,1.61,390.0,2861,2014,2037,4094,25.3,11.0,153,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2014,2037,2037,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.07,46.41
$GC,976,1.61,390.0,2861,2014,2037,4094,21.4,11.1,159,982,0.00,2.33,0.00,0.000,516,0.000,0.069,2861,1158,2036,2036,4094,0,0,0,0,0,0,26.16,25.82,26.17,10.07,46.14
$GC,1031,1.61,390.0,2861,1158,2035,4094,15.6,9.7,168,1037,0.00,2.10,0.00,0.000,1030,0.000,0.030,2862,2003,2035,2035,4094,0,0,0,0,0,0,26.03,25.96,26.06,10.10,46.73
$GC,1068,1.64,411.6,2861,2003,2033,4094,12.3,8.7,174,1074,0.00,0.00,2.55,0.206,8198,0.000,0.000,2861,2003,2019,2019,4095,0,0,0,0,0,0,26.24,25.86,25.27,10.13,47.95
$GC,1105,1.68,438.1,2861,2003,2018,4095,9.0,8.7,180,1112,0.10,0.00,3.17,0.323,10246,0.075,0.000,2879,2003,1987,1987,4094,0,0,0,0,0,0,26.06,25.87,25.29,10.15,48.66
$GC,1143,1.68,438.1,2879,2003,1987,4094,5.4,9.7,186,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2003,1987,1987,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,49.25
$STATE,1177,end climb,SURFACE_DEPTH_REACHED
$STATE,1178,begin surface coast
$FINISH,0.1,0.959929
$STATE,1196,end surface coast,CONTROL_FINISHED_OK
$STATE,1197,begin surface
$SM_CCo,1293,0.00,0.000,0,0,1985,443.04
$SM_GC,1.09,27.70,0.28,0.00,0.024,0.063,0.000,231,1897,1985,-6.65,1.23,443.04,0,0,0,0,0,0,25.98,26.06,26.08
$IRIDIUM_FIX,5955.74,-17228.01,290717,201256
$TT8_MAMPS,0.026215,0.073402
$HUMID,51.06
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,24.10,4.580
$10V_AH,10.52,6.154
$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,44.625,22.950,51.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,444.571,407.064,167.383,292.266,42.760,33.412,384.538,0.000,290.943,0.000,0.541,0.000
$DEVICE_MAMPS,74.970,1303.560,1283.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330932
$DATA_FILE_SIZE,14321,195
$CAP_FILE_SIZE,38482,0
$CFSIZE,1024409600,1010499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,224616,5938.416,-17059.555,7,0.8,13,8.4,0.0,45.2,11,4.7