version: 66.13
glider: 401
mission: 22
dive: 184
start: 7 29 117 22 53 20
data:
$ID,401
$MISSION,22
$DIVE,184
$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,27
$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
$GPS1,290717,224616,5938.4160,-17059.5547,7,0.8,13,8.4,0.0,45.2,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-42.5
$GPS2,290717,225212,5938.4370,-17059.4590,5,0.8,15,8.4,0.5,75.4,11,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.336094,0.047917
$KALMAN_X,25245.380859,-1194.490845,-527.177124,-55686.222656,208.475739
$KALMAN_Y,6288.919922,2416.341064,1015.117310,33088.324219,73.570618
$MHEAD_RNG_PITCHd_Wd,269.7,29814,-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,8,-1.61,-389.9,230,1896,1984,4092,0.0,0.0,0,21,11.05,0.00,0.00,0.000,2049,0.109,0.000,1142,1897,1984,1984,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.24,50.31
$GC,23,-1.61,-389.9,1141,1896,1985,4094,1.0,0.0,1,49,7.55,0.00,-8.95,0.000,18438,0.054,0.000,1838,1897,2957,2957,4095,0,0,0,0,0,0,25.91,25.44,25.96,10.24,49.88
$GC,86,-1.61,-389.9,1837,1896,2957,4095,2.7,-9.7,9,94,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1897,2957,2957,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.46,49.52
$GC,129,-1.61,-389.9,1837,1897,2958,4094,7.7,-12.3,15,139,0.00,2.38,0.00,0.000,260,0.000,0.057,1838,2763,2958,2958,4094,0,0,0,0,0,0,26.10,25.77,26.10,10.46,49.05
$GC,174,-1.61,-389.9,1837,2762,2959,4094,13.8,-13.2,21,184,0.00,2.20,0.00,0.000,1030,0.000,0.031,1837,1911,2959,2959,4094,0,0,0,0,0,0,25.92,25.88,25.94,10.46,48.74
$GC,219,-1.61,-389.9,1837,1911,2960,4094,19.5,-11.4,27,229,0.00,2.45,0.00,0.000,516,0.000,0.071,1838,1022,2960,2960,4095,0,0,0,0,0,0,26.19,25.86,26.20,10.44,48.34
$GC,271,-1.61,-389.9,1837,1022,2961,4095,25.4,-11.3,34,281,0.00,2.15,0.00,0.000,1030,0.000,0.030,1838,1877,2961,2961,4095,0,0,0,0,0,0,26.03,26.00,26.05,10.38,47.16
$GC,317,-1.61,-389.9,1837,1881,2962,4095,30.6,-11.5,40,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1880,2962,2962,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.38,47.20
$GC,361,-1.61,-389.9,1837,1881,2963,4095,35.7,-11.4,46,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1881,2963,2963,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.36,45.70
$GC,407,-1.61,-389.9,1837,1881,2964,4094,40.7,-11.5,52,416,0.00,2.38,0.00,0.000,260,0.000,0.056,1837,2761,2964,2964,4095,0,0,0,0,0,0,26.34,26.01,26.34,10.36,45.31
$GC,445,-1.61,-389.9,1837,2761,2964,4095,45.4,-11.8,57,454,0.00,2.28,0.00,0.000,1030,0.000,0.032,1838,1877,2965,2965,4094,0,0,0,0,0,0,26.12,26.11,26.15,10.35,44.60
$GC,491,-1.61,-389.9,1837,1876,2966,4094,50.7,-12.6,63,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1876,2966,2966,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.34,44.80
$GC,537,-1.61,-389.9,1837,1877,2967,4095,56.4,-12.9,69,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1877,2967,2967,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.33,44.72
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,572,-0.45,0.0,1838,2049,2968,4094,60.2,-11.6,73,608,4.03,0.08,22.73,1.273,10244,0.060,0.050,2206,1998,2505,2505,4095,0,0,0,0,0,0,26.14,25.20,24.53,10.33,44.01
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,609,begin climb
$GC,611,1.61,389.9,2205,1997,2504,4095,62.5,0.0,77,646,6.97,0.00,22.67,1.258,11270,0.037,0.000,2863,1998,2045,2045,4095,0,0,0,0,0,0,25.64,25.81,24.08,10.23,43.97
$GC,684,1.61,389.9,2861,1997,2044,4095,57.1,10.5,86,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2044,2044,4095,0,0,0,0,0,0,25.56,25.58,25.57,10.12,43.06
$GC,729,1.61,389.9,2862,1997,2043,4095,51.9,11.2,92,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1997,2042,2042,4095,0,0,0,0,0,0,25.72,25.74,25.73,10.12,43.34
$GC,775,1.61,389.9,2862,1997,2041,4095,46.7,11.4,98,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2041,2041,4095,0,0,0,0,0,0,25.84,25.86,25.85,10.11,43.54
$GC,821,1.61,389.9,2862,1997,2041,4095,41.4,11.4,104,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1997,2040,2040,4095,0,0,0,0,0,0,25.93,25.95,25.94,10.11,43.85
$GC,865,1.61,389.9,2862,1997,2039,4095,36.2,11.2,110,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2039,2039,4095,0,0,0,0,0,0,26.00,26.02,26.01,10.11,44.21
$GC,909,1.61,389.9,2862,1996,2038,4095,31.0,11.8,116,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2038,2038,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.10,44.36
$GC,953,1.61,389.9,2862,1998,2037,4094,26.3,10.5,122,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2037,2037,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.10,44.56
$GC,997,1.61,389.9,2861,1997,2036,4094,21.1,11.6,128,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1998,2036,2036,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.10,44.80
$GC,1042,1.61,389.9,2862,1997,2035,4094,16.2,10.9,134,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1997,2035,2035,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,44.99
$GC,1086,1.66,419.5,2862,1997,2034,4094,12.1,8.6,140,1096,0.00,0.00,2.90,0.282,8198,0.000,0.000,2862,1997,2009,2009,4094,0,0,0,0,0,0,26.24,25.70,25.25,10.15,46.73
$GC,1133,1.67,429.9,2862,1997,2010,4094,8.1,8.9,146,1143,0.10,0.00,1.23,0.004,10246,0.075,0.000,2880,1997,2009,2009,4094,0,0,0,0,0,0,26.06,26.20,26.08,10.17,47.36
$GC,1180,1.67,429.9,2880,1997,2007,4094,3.3,10.6,152,1190,0.00,0.00,2.33,0.126,8198,0.000,0.000,2880,1998,1997,1997,4094,0,0,0,0,0,0,26.29,25.78,25.41,10.18,48.58
$STATE,1197,end climb,FINISH_DEPTH_REACHED
$STATE,1197,begin subsurface finish
$FINISH1,1.0,1.024188,98
$GC,1203,0.15,98.4,2880,1997,1997,4095,1.0,11.0,154,1222,4.82,2.35,-3.40,0.000,20996,0.028,1.309,2409,1168,2391,2391,4095,0,0,0,0,0,0,26.08,24.98,26.13,10.19,48.58
$FINISH2,0.5
$STATE,1223,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1224,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,213115
$TT8_MAMPS,0.025466,0.253911
$HUMID,49.56
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.08,4.613
$10V_AH,10.22,6.193
$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,34.525,16.625,51.850,0.000,0.000,22.835,17.836,213.935,0.000,0.000,16.946,446.112,0.000,149.184,921.226,89.404,33.450,434.346,0.000,378.886,0.000,0.542,0.000
$DEVICE_MAMPS,108.630,1308.915,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.301,423.800,335.523,496.974,647.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,14279,156
$CAP_FILE_SIZE,37445,0
$CFSIZE,1024409600,1010450432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290717,225212,5938.437,-17059.459,5,0.8,15,8.4,0.5,75.4,11,4.6