version: 66.13
glider: 401
mission: 22
dive: 205
start: 7 30 117 7 53 36
data:
$ID,401
$MISSION,22
$DIVE,205
$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,19
$R_STBD_OVSHOOT,25
$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
$GPS1,300717,074006,5940.6934,-17106.7090,8,0.9,36,8.3,0.4,265.4,10,4.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-46.5
$GPS2,300717,075229,5940.7764,-17106.8281,5,0.9,17,8.3,0.7,37.0,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.321712,0.108384
$KALMAN_X,26120.238281,-1581.660889,-824.308655,-62835.023438,-34.735718
$KALMAN_Y,6315.880859,2172.663818,637.650269,38007.652344,117.558289
$MHEAD_RNG_PITCHd_Wd,280.3,21697,-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,-389.9,239,1923,2030,4092,0.0,0.0,0,17,7.57,0.00,0.00,0.000,2049,0.119,0.000,851,1923,2029,2029,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.28,47.67
$GC,19,-1.61,-389.9,851,1924,2029,4094,1.0,0.0,1,47,11.07,2.53,-8.48,0.000,18948,0.073,1.301,1836,1032,2962,2962,4095,0,0,0,0,0,0,25.86,24.80,25.91,10.28,47.75
$GC,168,-1.61,-389.9,1836,1032,2965,4095,16.4,-14.5,26,174,0.00,2.17,0.00,0.000,1030,0.000,0.028,1836,1907,2965,2965,4094,0,0,0,0,0,0,25.98,25.92,26.01,10.48,47.36
$GC,205,-1.61,-389.9,1835,1909,2966,4094,20.7,-10.2,32,211,0.00,2.28,0.00,0.000,260,0.000,0.055,1836,2759,2966,2966,4094,0,0,0,0,0,0,26.20,25.88,26.21,10.44,46.22
$GC,243,-1.61,-389.9,1835,2760,2966,4094,24.6,-10.4,38,249,0.00,2.15,0.00,0.000,1030,0.000,0.029,1836,1909,2966,2966,4095,0,0,0,0,0,0,26.04,25.96,26.06,10.41,45.98
$GC,281,-1.61,-389.9,1836,1909,2967,4095,28.6,-11.0,44,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1910,2967,2967,4095,0,0,0,0,0,0,26.27,26.28,26.27,10.39,44.84
$GC,317,-1.61,-389.9,1836,1909,2968,4095,32.7,-11.0,50,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1910,2968,2968,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.38,44.21
$GC,354,-1.61,-389.9,1835,1909,2969,4094,36.9,-11.9,56,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1910,2969,2969,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.37,44.44
$GC,390,-1.61,-389.9,1836,1909,2969,4095,41.1,-11.9,62,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1910,2969,2969,4094,0,0,0,0,0,0,26.34,26.35,26.36,10.37,43.42
$GC,426,-1.61,-389.9,1836,1909,2970,4094,45.3,-12.0,68,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1909,2970,2970,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.36,43.81
$GC,462,-1.61,-389.9,1836,1909,2971,4095,49.6,-12.1,74,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1910,2971,2971,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.35,44.05
$GC,498,-1.61,-389.9,1835,1909,2971,4094,53.9,-12.0,80,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1909,2972,2972,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.34,43.34
$GC,534,-1.61,-389.9,1835,1909,2972,4095,58.1,-12.1,86,540,0.00,2.35,0.00,0.000,516,0.000,0.068,1836,1032,2973,2973,4094,0,0,0,0,0,0,26.42,26.08,26.44,10.33,43.58
$STATE,551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,551,begin apogee
$GC,558,-0.45,0.0,1836,2013,2973,4095,60.5,-12.3,89,590,3.97,0.00,23.02,1.279,10244,0.061,0.000,2206,2013,2500,2500,4095,0,0,0,0,0,0,26.14,25.41,24.52,10.34,43.62
$STATE,591,end apogee,CONTROL_FINISHED_OK
$STATE,591,begin climb
$GC,593,1.61,389.9,2206,2013,2500,4095,63.1,0.0,95,625,6.97,0.00,22.67,1.256,11270,0.037,0.000,2863,2014,2045,2045,4094,0,0,0,0,0,0,25.62,25.77,24.07,10.23,43.30
$GC,656,1.61,389.9,2862,2014,2044,4094,58.5,9.9,106,662,0.00,2.40,0.00,0.000,260,0.000,0.056,2863,2885,2044,2044,4094,0,0,0,0,0,0,25.51,25.22,25.52,10.13,42.28
$GC,699,1.61,389.9,2862,2884,2043,4094,53.4,12.2,113,705,0.00,2.25,0.00,0.000,1030,0.000,0.030,2863,2015,2043,2043,4094,0,0,0,0,0,0,25.51,25.44,25.53,10.12,42.91
$GC,736,1.61,389.9,2862,2015,2042,4094,49.2,11.2,119,742,0.00,2.38,0.00,0.000,516,0.000,0.067,2863,1152,2042,2042,4095,0,0,0,0,0,0,25.79,25.46,25.80,10.12,43.10
$GC,785,1.61,389.9,2862,1151,2041,4095,43.4,11.8,127,791,0.00,2.12,0.00,0.000,1030,0.000,0.028,2863,2001,2041,2041,4094,0,0,0,0,0,0,25.72,25.66,25.74,10.11,43.38
$GC,822,1.61,389.9,2863,2000,2040,4094,39.2,11.3,133,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2001,2039,2039,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.11,43.34
$GC,858,1.61,389.9,2863,2000,2039,4094,35.0,11.5,139,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2001,2039,2039,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.11,44.05
$GC,894,1.61,389.9,2862,2000,2038,4094,30.8,11.5,145,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2001,2038,2038,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.10,44.68
$GC,930,1.61,389.9,2862,2000,2037,4094,26.6,11.4,151,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2001,2037,2037,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.10,44.29
$GC,967,1.61,389.9,2863,2000,2036,4094,22.5,11.3,157,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2001,2036,2036,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.10,44.32
$GC,1002,1.61,389.9,2862,2000,2036,4094,18.3,11.9,163,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2000,2035,2035,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.09,44.60
$GC,1039,1.61,389.9,2863,2002,2034,4094,14.6,9.8,169,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2002,2034,2034,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,45.43
$GC,1075,1.61,389.9,2862,2002,2034,4094,11.2,9.8,175,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2002,2033,2033,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.17,47.36
$GC,1111,1.61,389.9,2863,2002,2033,4094,7.8,9.6,181,1117,0.00,2.38,0.00,0.000,260,0.000,0.059,2863,2885,2033,2033,4094,0,0,0,0,0,0,26.27,25.96,26.29,10.18,47.87
$GC,1154,1.61,389.9,2863,2884,2031,4094,3.4,10.4,188,1160,0.00,2.25,0.00,0.000,1030,0.000,0.032,2863,1992,2031,2031,4094,0,0,0,0,0,0,26.11,26.03,26.13,10.20,48.54
$STATE,1171,end climb,FINISH_DEPTH_REACHED
$STATE,1171,begin subsurface finish
$FINISH1,1.6,1.025600,0
$GC,1176,0.00,0.0,2863,1991,2031,4094,1.6,9.3,191,1188,5.50,0.00,-3.75,0.000,20486,0.070,0.000,2369,1992,2506,2506,4094,0,0,0,0,0,0,26.03,25.24,26.07,10.20,49.25
$FINISH2,0.6
$STATE,1189,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1189,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,074641
$TT8_MAMPS,0.025466,0.085386
$HUMID,50.11
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,24.07,5.109
$10V_AH,10.58,6.711
$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,35.100,27.750,45.700,0.000,0.000,100.310,104.734,266.194,0.000,0.000,18.889,436.912,473.559,151.609,801.518,92.135,33.457,373.498,0.000,290.084,0.000,0.541,0.000
$DEVICE_MAMPS,118.575,1301.265,1279.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329472
$DATA_FILE_SIZE,14305,193
$CAP_FILE_SIZE,43600,0
$CFSIZE,1024409600,1009418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300717,075229,5940.776,-17106.828,5,0.9,17,8.3,0.7,37.0,10,4.8