version: 66.13
glider: 401
mission: 22
dive: 185
start: 7 29 117 23 15 48
data:
$ID,401
$MISSION,22
$DIVE,185
$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,35
$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
$GPS1,290717,225212,5938.4370,-17059.4590,5,0.8,15,8.4,0.5,75.4,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.3
$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,-0.335711,0.050766
$KALMAN_X,25470.943359,-1118.903320,-429.557068,-56086.828125,166.891266
$KALMAN_Y,6326.748535,2400.185303,968.683044,33129.335938,93.546448
$MHEAD_RNG_PITCHd_Wd,270.2,29814,-11.3,-9.091,-14.99,6424
$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,-390.0,2409,1891,2391,4092,0.0,0.0,0,18,5.82,0.00,-2.10,0.000,20482,0.028,0.000,1841,1892,2621,2621,4094,0,0,0,0,0,0,26.03,28.83,26.07,10.31,50.15
$GC,20,-1.61,-390.0,1841,1891,2621,4094,0.1,0.0,1,26,0.00,0.00,-3.10,0.000,16390,0.000,0.000,1841,1892,2961,2961,4094,0,0,0,0,0,0,26.21,25.17,26.22,10.36,50.19
$GC,57,-1.61,-390.0,1840,1891,2961,4094,2.2,-8.2,7,62,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2961,2961,4095,0,0,0,0,0,0,26.23,26.25,26.24,10.42,49.72
$GC,93,-1.61,-390.0,1840,1892,2961,4095,6.3,-12.1,13,99,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2963,2963,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.43,50.27
$GC,129,-1.61,-390.0,1840,1891,2963,4094,11.1,-14.0,19,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2964,2964,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.43,49.92
$GC,165,-1.61,-390.0,1840,1891,2965,4094,16.1,-14.1,25,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2964,2964,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.43,49.60
$GC,201,-1.61,-390.0,1840,1891,2965,4095,20.2,-10.4,31,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1891,2965,2965,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.40,49.09
$GC,237,-1.61,-390.0,1840,1891,2965,4094,23.9,-10.8,37,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2965,2965,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.38,48.50
$GC,273,-1.61,-390.0,1840,1891,2966,4095,27.8,-11.1,43,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1891,2966,2966,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.36,48.30
$GC,309,-1.61,-390.0,1840,1891,2966,4095,31.6,-10.7,49,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1892,2967,2967,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.35,47.12
$GC,346,-1.61,-390.0,1840,1891,2968,4094,35.3,-10.5,55,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1892,2968,2968,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.34,46.81
$GC,382,-1.61,-390.0,1840,1891,2968,4094,39.5,-11.4,61,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1891,2968,2968,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.33,46.25
$GC,418,-1.61,-390.0,1840,1891,2969,4094,43.1,-10.0,67,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2969,2969,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.32,46.37
$GC,454,-1.61,-390.0,1840,1891,2970,4095,47.1,-11.1,73,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2969,2969,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.32,45.90
$GC,490,-1.61,-390.0,1840,1891,2970,4094,50.9,-10.6,79,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1892,2970,2970,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.31,46.06
$GC,526,-1.61,-390.0,1840,1892,2971,4095,55.3,-12.0,85,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1891,2971,2971,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.32,45.62
$GC,562,-1.61,-390.0,1840,1891,2972,4094,59.9,-12.9,91,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2972,2972,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.31,45.47
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,577,-0.45,0.0,1840,2037,2972,4094,61.3,-13.2,93,610,3.97,0.00,23.00,1.286,10246,0.060,0.000,2206,2037,2500,2500,4094,0,0,0,0,0,0,26.22,25.27,24.60,10.31,45.31
$STATE,611,end apogee,CONTROL_FINISHED_OK
$STATE,611,begin climb
$GC,613,1.61,390.0,2205,2036,2500,4094,63.2,0.0,99,646,6.90,0.00,22.08,1.271,10246,0.037,0.000,2860,2037,2045,2045,4094,0,0,0,0,0,0,25.69,24.98,24.13,10.21,45.11
$GC,677,1.61,390.0,2859,2036,2045,4094,59.0,10.0,110,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2037,2044,2044,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.11,44.29
$GC,713,1.61,390.0,2859,2036,2043,4094,54.5,12.6,116,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2037,2044,2044,4095,0,0,0,0,0,0,25.70,25.72,25.71,10.10,44.72
$GC,749,1.61,390.0,2859,2036,2042,4095,50.4,11.6,122,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2037,2042,2042,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.10,44.32
$GC,785,1.61,390.0,2859,2036,2042,4094,46.4,11.2,128,791,0.00,2.40,0.00,0.000,516,0.000,0.067,2860,1168,2041,2041,4094,0,0,0,0,0,0,25.88,25.56,25.89,10.09,44.92
$GC,828,1.61,390.0,2859,1168,2042,4094,41.3,12.5,135,834,0.00,2.10,0.00,0.000,1030,0.000,0.029,2860,2008,2040,2040,4094,0,0,0,0,0,0,25.78,25.72,25.80,10.09,45.58
$GC,865,1.61,390.0,2860,2007,2039,4094,37.0,11.5,141,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2008,2039,2039,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.09,45.43
$GC,901,1.61,390.0,2859,2007,2039,4094,32.9,11.6,147,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2008,2039,2039,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.08,46.10
$GC,937,1.61,390.0,2859,2007,2038,4094,28.6,11.8,153,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2008,2038,2038,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.08,45.78
$GC,973,1.61,390.0,2859,2008,2037,4094,24.3,12.3,159,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2008,2036,2036,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.08,46.18
$GC,1009,1.61,390.0,2859,2007,2036,4094,20.0,12.0,165,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2008,2035,2035,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.08,46.10
$GC,1045,1.61,390.0,2859,2007,2035,4094,16.2,10.3,171,1051,0.00,2.30,0.00,0.000,516,0.000,0.067,2860,1167,2035,2035,4094,0,0,0,0,0,0,26.22,25.88,26.22,10.10,46.10
$GC,1095,1.61,390.0,2860,1167,2034,4094,11.4,9.6,179,1101,0.00,2.10,0.00,0.000,1030,0.000,0.030,2860,2013,2034,2034,4094,0,0,0,0,0,0,26.07,26.01,26.09,10.14,47.71
$GC,1132,1.61,390.0,2860,2012,2033,4094,8.0,9.3,185,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2013,2033,2033,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.15,48.42
$GC,1167,1.61,390.0,2860,2012,2032,4094,4.7,9.4,191,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2013,2031,2031,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.17,49.25
$STATE,1196,end climb,FINISH_DEPTH_REACHED
$STATE,1196,begin subsurface finish
$FINISH1,1.7,1.025600,0
$GC,1201,0.00,0.0,2860,2013,2031,4094,1.7,10.6,196,1217,5.53,0.00,-4.03,0.000,20486,0.078,0.000,2370,2013,2508,2508,4095,0,0,0,0,0,0,26.01,25.25,26.07,10.18,50.47
$FINISH2,0.1
$STATE,1218,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1218,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,213115
$TT8_MAMPS,0.025466,0.073402
$HUMID,50.70
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.13,4.629
$10V_AH,10.52,6.204
$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,22.225,11.025,45.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.366,343.469,152.707,299.016,42.839,33.426,378.152,0.000,296.593,0.000,0.542,0.000
$DEVICE_MAMPS,78.030,67.320,1285.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,331000
$DATA_FILE_SIZE,14295,199
$CAP_FILE_SIZE,36417,0
$CFSIZE,1024409600,1010401280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,225212,5938.437,-17059.459,5,0.8,15,8.4,0.5,75.4,11,4.6