version: 66.13
glider: 401
mission: 22
dive: 204
start: 7 30 117 7 16 56
data:
$ID,401
$MISSION,22
$DIVE,204
$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,20
$R_STBD_OVSHOOT,38
$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
$GPS1,300717,063056,5939.9204,-17105.4180,5,0.8,32,8.3,0.0,358.7,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,1.4
$GPS2,300717,063056,5939.9204,-17105.4180,5,0.8,32,8.3,0.0,358.7,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.296103,0.166430
$KALMAN_X,26681.291016,-1435.083496,-682.981201,-62372.828125,48.058044
$KALMAN_Y,5353.479004,2038.455688,494.298981,37688.437500,-11.525787
$MHEAD_RNG_PITCHd_Wd,291.0,23638,-11.3,-9.091,-14.98,6430
$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,-390.0,2369,1897,2508,4092,0.0,0.0,0,19,5.32,0.00,-2.62,0.000,20486,0.031,0.000,1858,1897,2964,2964,4095,0,0,0,0,0,0,26.08,25.19,26.10,10.30,51.22
$GC,22,-1.61,-390.0,1858,1897,2964,4095,2.4,0.0,1,31,0.00,2.38,0.00,0.000,516,0.000,0.072,1858,1036,2964,2964,4095,0,0,0,0,0,0,26.22,25.91,26.24,10.40,51.96
$GC,119,-1.61,-390.0,1856,1036,2966,4095,14.7,-13.1,15,128,0.00,2.15,0.00,0.000,1030,0.000,0.031,1858,1890,2965,2965,4095,0,0,0,0,0,0,26.11,26.07,26.16,10.41,51.65
$GC,164,-1.61,-390.0,1857,1891,2966,4095,19.7,-9.7,21,176,0.00,2.33,0.00,0.000,260,0.000,0.058,1858,2759,2966,2966,4095,0,0,0,0,0,0,26.35,26.03,26.36,10.38,50.78
$GC,192,-1.61,-390.0,1857,2759,2967,4095,22.4,-9.7,24,201,0.00,2.20,0.00,0.000,1030,0.000,0.033,1858,1904,2967,2967,4095,0,0,0,0,0,0,26.13,26.10,26.16,10.36,49.96
$GC,238,-1.61,-390.0,1857,1904,2968,4095,26.9,-10.2,30,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1904,2968,2968,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.34,48.85
$GC,284,-1.61,-390.0,1857,1904,2969,4094,31.7,-10.2,36,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1904,2969,2969,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.33,47.44
$GC,327,-1.61,-390.0,1857,1904,2969,4094,36.3,-10.7,42,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1904,2970,2970,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.32,46.65
$GC,370,-1.61,-390.0,1857,1904,2970,4095,41.0,-10.9,48,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1904,2971,2971,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.31,46.61
$GC,415,-1.61,-390.0,1857,1904,2971,4095,45.7,-10.7,54,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1904,2972,2972,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.30,46.53
$GC,459,-1.61,-390.0,1857,1904,2972,4095,50.6,-11.1,60,468,0.00,2.33,0.00,0.000,260,0.000,0.057,1858,2759,2973,2973,4094,0,0,0,0,0,0,26.49,26.17,26.51,10.30,46.10
$GC,490,-1.61,-390.0,1857,2758,2973,4094,54.1,-11.1,64,499,0.00,2.17,0.00,0.000,1030,0.000,0.032,1857,1908,2973,2973,4094,0,0,0,0,0,0,26.27,26.23,26.29,10.30,45.90
$GC,535,-1.61,-390.0,1857,1908,2974,4094,59.1,-11.1,70,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1908,2974,2974,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.29,45.74
$STATE,551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,551,begin apogee
$GC,556,-0.45,0.0,1857,2041,2974,4095,61.1,-11.3,72,592,3.80,0.00,23.15,1.293,10244,0.061,0.000,2204,2041,2500,2500,4095,0,0,0,0,0,0,26.24,25.27,24.60,10.29,45.58
$STATE,593,end apogee,CONTROL_FINISHED_OK
$STATE,593,begin climb
$GC,594,1.61,390.0,2203,2041,2500,4095,63.5,0.0,76,631,6.93,2.25,22.70,1.273,10500,0.038,0.060,2858,2856,2044,2044,4094,0,0,0,0,0,0,25.65,25.60,24.13,10.19,44.92
$GC,687,1.61,390.0,2857,2856,2043,4094,56.5,11.1,88,696,0.00,2.20,0.00,0.000,1030,0.000,0.031,2858,2023,2043,2043,4094,0,0,0,0,0,0,25.46,25.41,25.48,10.08,44.29
$GC,732,1.61,390.0,2858,2023,2042,4094,51.6,10.7,94,741,0.00,2.42,0.00,0.000,516,0.000,0.069,2858,1152,2042,2042,4094,0,0,0,0,0,0,25.80,25.46,25.81,10.08,44.60
$GC,790,1.61,390.0,2857,1151,2041,4094,45.0,11.5,102,799,0.00,2.10,0.00,0.000,1030,0.000,0.030,2858,1980,2041,2041,4094,0,0,0,0,0,0,25.71,25.68,25.74,10.08,44.95
$GC,837,1.61,390.0,2858,1979,2040,4094,40.0,11.1,108,846,0.00,2.50,0.00,0.000,260,0.000,0.060,2858,2883,2040,2040,4094,0,0,0,0,0,0,26.00,25.67,26.01,10.07,45.62
$GC,888,1.61,390.0,2857,2883,2039,4094,33.7,11.8,115,898,0.00,2.30,0.00,0.000,1030,0.000,0.032,2858,1999,2038,2038,4094,0,0,0,0,0,0,25.87,25.80,25.86,10.07,46.02
$GC,934,1.61,390.0,2858,1999,2037,4094,28.5,10.9,121,943,0.00,2.33,0.00,0.000,516,0.000,0.070,2858,1155,2037,2037,4094,0,0,0,0,0,0,26.12,25.82,26.13,10.06,45.58
$GC,979,1.61,390.0,2857,1155,2036,4094,23.3,11.6,127,988,0.00,2.15,0.00,0.000,1030,0.000,0.031,2858,2004,2036,2036,4094,0,0,0,0,0,0,25.92,25.91,25.96,10.06,45.23
$GC,1024,1.61,390.0,2857,2004,2035,4094,18.2,11.4,133,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2004,2035,2035,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.06,45.98
$GC,1069,1.62,397.3,2857,2004,2034,4094,14.0,9.0,139,1078,0.00,2.40,0.00,0.000,260,0.000,0.062,2858,2881,2034,2034,4094,0,0,0,0,0,0,26.24,25.91,26.25,10.12,46.57
$GC,1127,1.62,397.3,2857,2881,2033,4094,8.8,9.4,147,1136,0.00,2.28,0.00,0.000,1030,0.000,0.034,2858,2002,2033,2033,4094,0,0,0,0,0,0,26.06,26.01,26.08,10.14,47.99
$GC,1172,1.62,397.3,2857,2001,2032,4094,4.6,9.3,153,1181,0.00,2.33,0.00,0.000,516,0.000,0.072,2858,1154,2031,2031,4094,0,0,0,0,0,0,26.32,25.96,26.32,10.16,49.29
$STATE,1202,end climb,SURFACE_DEPTH_REACHED
$STATE,1202,begin surface coast
$FINISH,0.2,1.010760
$STATE,1223,end surface coast,CONTROL_FINISHED_OK
$STATE,1223,begin surface
$SM_CCo,1320,0.00,0.000,0,0,2030,404.40
$SM_GC,0.99,27.45,1.90,0.00,0.024,0.031,0.000,239,1900,2030,-6.61,-1.37,404.40,0,0,0,0,0,0,26.13,26.13,26.17
$IRIDIUM_FIX,5955.74,-17228.01,300717,062310
$TT8_MAMPS,0.025466,0.246421
$HUMID,50.55
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,24.13,5.067
$10V_AH,10.23,6.693
$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,43.500,43.525,45.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.879,60.031,160.150,665.757,46.287,33.415,424.225,0.000,386.552,0.000,0.539,0.000
$DEVICE_MAMPS,61.200,71.910,1292.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.869,434.726,344.006,509.851,663.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330956
$DATA_FILE_SIZE,14258,160
$CAP_FILE_SIZE,34928,0
$CFSIZE,1024409600,1009467392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,164.21,0x236164,0,24
$GPS,300717,074006,5940.693,-17106.709,8,0.9,36,8.3,0.4,265.4,10,4.8