version: 66.13
glider: 401
mission: 22
dive: 207
start: 7 30 117 8 38 24
data:
$ID,401
$MISSION,22
$DIVE,207
$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,28
$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,0.39
$_SM_ANGLEo,-0.1
$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,-0.326684,0.092318
$KALMAN_X,26712.646484,-1560.440796,-759.293213,-63537.089844,96.446411
$KALMAN_Y,6154.086914,2164.934082,638.849670,38201.632812,67.847107
$MHEAD_RNG_PITCHd_Wd,277.5,21697,-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,-389.9,2359,1889,2503,4092,0.0,0.0,0,18,5.30,0.00,-2.12,0.000,20482,0.030,0.000,1844,1889,2866,2866,4095,0,0,0,0,0,0,26.08,28.83,26.12,10.31,50.59
$GC,20,-1.61,-389.9,1843,1889,2866,4095,2.4,0.0,1,26,0.00,0.00,-0.50,0.000,16390,0.000,0.000,1844,1889,2962,2962,4095,0,0,0,0,0,0,26.27,25.57,26.18,10.39,51.02
$GC,57,-1.61,-389.9,1843,1888,2962,4095,6.7,-11.9,7,62,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2963,2963,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.41,51.22
$GC,93,-1.61,-389.9,1843,1888,2964,4095,11.5,-13.7,13,98,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2964,2964,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.41,50.19
$GC,129,-1.61,-389.9,1843,1889,2965,4095,16.2,-13.2,19,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2964,2964,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.41,49.92
$GC,165,-1.61,-389.9,1843,1889,2965,4094,20.8,-12.2,25,170,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2965,2965,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.40,50.27
$GC,201,-1.61,-389.9,1843,1889,2966,4094,24.5,-10.0,31,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2966,2966,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.37,49.48
$GC,237,-1.61,-389.9,1843,1889,2966,4095,28.2,-10.4,37,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2966,2966,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.35,49.29
$GC,273,-1.61,-389.9,1843,1889,2968,4095,32.2,-10.8,43,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2968,2968,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.33,47.87
$GC,309,-1.61,-389.9,1844,1889,2968,4094,36.1,-10.8,49,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2968,2968,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.32,47.91
$GC,345,-1.61,-389.9,1843,1889,2969,4094,40.1,-10.9,55,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2969,2969,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.32,46.41
$GC,381,-1.61,-389.9,1843,1889,2970,4095,44.1,-11.0,61,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1889,2970,2970,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.31,46.37
$GC,417,-1.61,-389.9,1843,1889,2970,4095,48.3,-11.4,67,423,0.00,2.35,0.00,0.000,260,0.000,0.057,1844,2764,2970,2970,4094,0,0,0,0,0,0,26.46,26.13,26.47,10.30,46.49
$GC,448,-1.61,-389.9,1843,2764,2971,4094,51.8,-10.8,72,454,0.00,2.17,0.00,0.000,1030,0.000,0.031,1844,1903,2971,2971,4095,0,0,0,0,0,0,26.27,26.20,26.29,10.30,45.82
$GC,485,-1.61,-389.9,1843,1902,2972,4095,56.1,-11.8,78,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1902,2972,2972,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.30,45.94
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,525,-0.45,0.0,1844,2043,2973,4095,60.1,-10.9,84,557,3.92,0.00,23.05,1.273,10244,0.060,0.000,2206,2043,2499,2499,4095,0,0,0,0,0,0,26.20,25.25,24.60,10.29,46.14
$STATE,559,end apogee,CONTROL_FINISHED_OK
$STATE,559,begin climb
$GC,560,1.61,389.9,2206,2043,2499,4095,62.3,0.0,90,594,6.97,0.00,22.58,1.254,11270,0.037,0.000,2862,2043,2044,2044,4094,0,0,0,0,0,0,25.69,25.84,24.13,10.19,44.99
$GC,625,1.61,389.9,2861,2043,2044,4094,57.7,10.6,101,631,0.00,2.28,0.00,0.000,260,0.000,0.058,2862,2863,2044,2044,4094,0,0,0,0,0,0,25.56,25.26,25.57,10.09,44.68
$GC,680,1.61,389.9,2862,2863,2043,4094,51.2,12.5,110,686,0.00,2.20,0.00,0.000,1030,0.000,0.031,2862,2013,2042,2042,4095,0,0,0,0,0,0,25.58,25.49,25.60,10.08,45.23
$GC,717,1.61,389.9,2861,2012,2042,4095,46.9,11.3,116,723,0.00,2.38,0.00,0.000,516,0.000,0.069,2862,1149,2042,2042,4095,0,0,0,0,0,0,25.84,25.51,25.86,10.08,45.15
$GC,760,1.61,389.9,2862,1149,2041,4095,42.0,11.4,123,766,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,1986,2041,2041,4094,0,0,0,0,0,0,25.75,25.69,25.77,10.07,45.03
$GC,797,1.61,389.9,2862,1986,2040,4094,37.9,11.5,129,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1987,2040,2040,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.07,45.55
$GC,833,1.61,389.9,2861,1986,2039,4094,33.8,11.6,135,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1987,2039,2039,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.06,45.51
$GC,869,1.61,389.9,2861,1986,2038,4094,29.6,11.7,141,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1987,2038,2038,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.07,45.58
$GC,905,1.61,389.9,2861,1986,2037,4094,25.6,11.6,147,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1987,2037,2037,4095,0,0,0,0,0,0,26.13,26.15,26.14,10.06,45.66
$GC,941,1.61,389.9,2862,1986,2036,4095,21.5,11.5,153,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1986,2036,2036,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.06,45.74
$GC,977,1.61,389.9,2862,1986,2035,4094,17.5,11.2,159,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1986,2035,2035,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.08,46.45
$GC,1013,1.61,389.9,2861,1988,2034,4094,14.0,9.5,165,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2034,2034,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.12,47.44
$GC,1049,1.61,389.9,2861,1989,2034,4095,10.5,9.6,171,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2034,2034,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.14,48.58
$GC,1085,1.61,389.9,2861,1989,2033,4094,7.0,9.7,177,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1989,2033,2033,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.15,49.01
$GC,1121,1.61,389.9,2862,1989,2032,4094,3.4,9.9,183,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2032,2032,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.16,49.56
$STATE,1137,end climb,SURFACE_DEPTH_REACHED
$STATE,1137,begin surface coast
$FINISH,0.1,0.959929
$STATE,1156,end surface coast,CONTROL_FINISHED_OK
$STATE,1156,begin surface
$SM_CCo,1253,0.00,0.000,0,0,2030,403.54
$SM_GC,1.19,27.52,0.25,0.00,0.024,0.060,0.000,238,1885,2030,-6.61,0.82,403.54,0,0,0,0,0,0,26.12,26.11,26.16
$IRIDIUM_FIX,5955.74,-17228.01,300717,074641
$TT8_MAMPS,0.026215,0.086135
$HUMID,51.26
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,24.13,5.143
$10V_AH,10.52,6.758
$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,43.725,14.375,45.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.195,394.621,162.653,283.735,42.891,33.413,375.954,0.000,282.431,0.000,0.540,0.000
$DEVICE_MAMPS,59.670,68.850,1272.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,331008
$DATA_FILE_SIZE,14238,189
$CAP_FILE_SIZE,36664,0
$CFSIZE,1024409600,1009319936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,090038,5941.528,-17107.607,34,0.8,47,8.3,0.6,27.7,10,4.8