version: 66.13
glider: 401
mission: 22
dive: 206
start: 7 30 117 8 15 26
data:
$ID,401
$MISSION,22
$DIVE,206
$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,32
$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
$GPS1,300717,075229,5940.7764,-17106.8281,5,0.9,17,8.3,0.7,37.0,10,4.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,1.0
$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,-0.324018,0.101332
$KALMAN_X,26319.625000,-1537.383789,-752.575073,-63175.554688,-34.368774
$KALMAN_Y,6291.625488,2145.810059,617.430908,38105.332031,128.091675
$MHEAD_RNG_PITCHd_Wd,279.1,21697,-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,6,begin dive
$GC,8,-1.61,-389.9,2368,1888,2506,4092,0.0,0.0,0,20,5.25,0.00,-2.80,0.000,20486,0.029,0.000,1859,1888,2962,2962,4094,0,0,0,0,0,0,26.17,25.27,26.20,10.33,50.94
$GC,22,-1.61,-389.9,1859,1888,2962,4094,2.0,0.0,1,31,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2962,2962,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.42,50.63
$GC,66,-1.61,-389.9,1859,1888,2962,4095,7.0,-12.3,7,75,0.00,2.38,0.00,0.000,260,0.000,0.057,1859,2760,2963,2963,4095,0,0,0,0,0,0,26.38,26.05,26.39,10.42,50.03
$GC,104,-1.61,-389.9,1859,2760,2964,4095,12.0,-12.7,12,114,0.00,2.20,0.00,0.000,1030,0.000,0.033,1859,1902,2964,2964,4095,0,0,0,0,0,0,26.16,26.10,26.19,10.43,50.63
$GC,151,-1.61,-389.9,1858,1902,2964,4095,17.7,-12.8,18,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1902,2965,2965,4094,0,0,0,0,0,0,26.41,26.44,26.44,10.42,49.84
$GC,194,-1.61,-389.9,1858,1902,2965,4094,22.1,-9.3,24,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1902,2966,2966,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.38,49.21
$GC,238,-1.61,-389.9,1858,1903,2966,4095,26.4,-10.2,30,247,0.00,2.33,0.00,0.000,260,0.000,0.057,1859,2759,2966,2966,4095,0,0,0,0,0,0,26.46,26.15,26.47,10.36,48.62
$GC,276,-1.61,-389.9,1859,2759,2967,4095,30.5,-10.2,35,285,0.00,2.22,0.00,0.000,1030,0.000,0.032,1859,1888,2967,2967,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.34,47.24
$GC,322,-1.61,-389.9,1858,1888,2968,4094,35.1,-10.7,41,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1888,2968,2968,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.33,46.41
$GC,368,-1.61,-389.9,1859,1888,2969,4094,40.0,-10.5,47,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2969,2969,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.32,45.86
$GC,414,-1.61,-389.9,1859,1888,2970,4094,45.0,-10.7,53,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1888,2970,2970,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.32,45.58
$GC,459,-1.61,-389.9,1859,1888,2972,4095,49.9,-10.9,59,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1888,2971,2971,4095,0,0,0,0,0,0,26.54,26.55,26.56,10.31,45.39
$GC,505,-1.61,-389.9,1858,1888,2972,4095,54.9,-11.1,65,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1888,2972,2972,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.30,45.55
$GC,551,-1.61,-389.9,1859,1887,2973,4095,59.9,-10.7,71,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1888,2973,2973,4094,0,0,0,0,0,0,26.57,26.59,26.58,10.30,44.84
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,573,-0.45,0.0,1859,2041,2973,4095,62.2,-11.2,73,608,3.75,0.00,22.65,1.299,10244,0.059,0.000,2203,2042,2510,2510,4094,0,0,0,0,0,0,26.29,25.32,24.66,10.29,45.07
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,609,begin climb
$GC,611,1.61,389.9,2203,2042,2510,4094,64.5,0.0,77,646,7.00,0.00,23.12,1.282,11270,0.036,0.000,2864,2041,2045,2045,4095,0,0,0,0,0,0,25.77,25.94,24.17,10.20,44.36
$GC,684,1.61,389.9,2863,2041,2044,4095,59.8,10.4,86,693,0.00,2.28,0.00,0.000,260,0.000,0.058,2864,2855,2044,2044,4094,0,0,0,0,0,0,25.63,25.33,25.64,10.10,43.77
$GC,735,1.61,389.9,2863,2855,2043,4094,53.4,12.5,93,744,0.00,2.20,0.00,0.000,1030,0.000,0.031,2864,2017,2043,2043,4094,0,0,0,0,0,0,25.58,25.54,25.60,10.09,44.13
$GC,779,1.61,389.9,2864,2016,2042,4094,48.3,11.5,99,789,0.00,2.42,0.00,0.000,516,0.000,0.070,2864,1145,2041,2041,4094,0,0,0,0,0,0,25.89,25.57,25.91,10.08,44.36
$GC,837,1.61,389.9,2864,1145,2041,4094,41.5,11.5,107,847,0.00,2.10,0.00,0.000,1030,0.000,0.030,2864,1976,2040,2040,4094,0,0,0,0,0,0,25.79,25.76,25.81,10.08,44.92
$GC,884,1.61,389.9,2864,1975,2039,4094,36.4,11.3,113,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1976,2039,2039,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.08,44.99
$GC,930,1.61,389.9,2863,1975,2038,4094,31.2,11.3,119,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1976,2038,2038,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.07,45.55
$GC,973,1.61,389.9,2863,1975,2037,4094,26.0,11.5,125,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1975,2037,2037,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.07,44.88
$GC,1016,1.61,389.9,2864,1975,2036,4094,21.0,11.8,131,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1976,2036,2036,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.07,45.31
$GC,1061,1.61,389.9,2864,1977,2035,4094,16.2,10.2,137,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1977,2034,2034,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.11,45.70
$GC,1105,1.61,389.9,2863,1978,2034,4094,12.0,9.4,143,1114,0.00,2.47,0.00,0.000,260,0.000,0.060,2864,2882,2033,2033,4094,0,0,0,0,0,0,26.28,25.96,26.29,10.14,47.91
$GC,1163,1.61,389.9,2863,2882,2032,4094,6.2,10.4,151,1172,0.00,2.28,0.00,0.000,1030,0.000,0.032,2864,1999,2032,2032,4094,0,0,0,0,0,0,26.08,26.07,26.11,10.17,48.85
$GC,1210,1.67,430.6,2863,1998,2031,4094,2.1,8.4,157,1220,0.00,2.28,3.35,0.314,8708,0.000,0.070,2864,1152,1996,1996,4094,0,0,0,0,0,0,26.35,25.84,25.45,10.18,49.37
$STATE,1228,end climb,FINISH_DEPTH_REACHED
$STATE,1228,begin subsurface finish
$FINISH1,0.2,1.019026,0
$GC,1237,0.00,0.0,2864,2027,1996,4094,0.2,8.4,159,1255,5.15,0.00,-4.55,0.000,20998,0.028,0.000,2360,2033,2503,2503,4095,0,0,0,0,0,0,26.12,25.60,26.16,10.17,50.00
$FINISH2,0.2
$STATE,1256,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1256,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,074641
$TT8_MAMPS,0.026215,0.244923
$HUMID,49.92
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.17,5.126
$10V_AH,10.21,6.747
$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,21.150,27.950,49.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.030,0.992,144.533,667.484,45.889,33.418,422.087,0.000,388.556,0.000,0.542,0.000
$DEVICE_MAMPS,58.905,69.615,1298.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.106,437.393,346.198,512.983,664.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331008
$DATA_FILE_SIZE,14277,161
$CAP_FILE_SIZE,34054,0
$CFSIZE,1024409600,1009369088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,075229,5940.776,-17106.828,5,0.9,17,8.3,0.7,37.0,10,4.8