version: 66.13
glider: 401
mission: 22
dive: 218
start: 7 30 117 13 22 44
data:
$ID,401
$MISSION,22
$DIVE,218
$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,35
$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
$GPS1,300717,125935,5942.5171,-17107.7578,7,0.9,7,8.3,0.5,47.7,10,0.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-0.1
$GPS2,300717,125935,5942.5171,-17107.7578,7,0.9,7,8.3,0.5,47.7,10,0.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.311361,0.135840
$KALMAN_X,29724.349609,-1340.849243,-357.938629,-68046.554688,141.820709
$KALMAN_Y,8230.850586,2374.167969,752.443359,39022.820312,-67.037781
$MHEAD_RNG_PITCHd_Wd,285.3,19481,-11.3,-9.091,-14.98,6432
$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,-390.0,2368,1905,2509,4092,0.0,0.0,0,19,5.45,0.00,-1.98,0.000,20486,0.032,0.000,1844,1905,2964,2964,4094,0,0,0,0,0,0,26.07,25.18,26.09,10.32,50.63
$GC,22,-1.61,-390.0,1844,1905,2964,4094,5.3,0.0,1,31,0.00,2.30,0.00,0.000,260,0.000,0.056,1844,2750,2965,2965,4094,0,0,0,0,0,0,26.21,25.92,26.22,10.41,50.82
$GC,86,-1.61,-390.0,1844,2750,2966,4094,12.1,-10.2,10,95,0.00,2.17,0.00,0.000,1030,0.000,0.031,1844,1903,2966,2966,4095,0,0,0,0,0,0,26.06,26.01,26.08,10.42,50.23
$GC,131,-1.61,-390.0,1843,1903,2966,4095,16.8,-10.5,16,139,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1903,2967,2967,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.42,50.47
$GC,175,-1.61,-390.0,1844,1902,2968,4095,20.8,-8.6,22,184,0.00,2.38,0.00,0.000,516,0.000,0.072,1844,1036,2968,2968,4095,0,0,0,0,0,0,26.34,26.01,26.36,10.38,49.52
$GC,279,-1.61,-390.0,1843,1035,2969,4095,31.5,-10.9,37,288,0.00,2.10,0.00,0.000,1030,0.000,0.030,1844,1882,2969,2969,4095,0,0,0,0,0,0,26.20,26.17,26.21,10.35,47.87
$GC,325,-1.61,-390.0,1844,1883,2970,4095,36.0,-9.9,43,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1883,2970,2970,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,46.65
$GC,368,-1.61,-390.0,1843,1883,2971,4094,40.4,-10.1,49,378,0.00,2.33,0.00,0.000,260,0.000,0.054,1844,2753,2971,2971,4094,0,0,0,0,0,0,26.45,26.13,26.46,10.32,46.57
$GC,478,-1.61,-390.0,1843,2752,2973,4094,51.0,-9.2,65,488,0.00,2.17,0.00,0.000,1030,0.000,0.031,1844,1900,2973,2973,4095,0,0,0,0,0,0,26.25,26.23,26.29,10.31,45.51
$GC,524,-1.61,-390.0,1843,1900,2974,4095,54.9,-8.8,71,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1900,2974,2974,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.30,45.15
$GC,567,-1.61,-390.0,1843,1900,2974,4095,58.8,-9.2,77,575,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1900,2975,2975,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.30,45.47
$STATE,583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,583,begin apogee
$GC,588,-0.45,0.0,1844,2041,2975,4095,60.5,-9.5,79,623,3.97,0.00,22.95,1.284,10244,0.063,0.000,2205,2042,2504,2504,4094,0,0,0,0,0,0,26.25,25.29,24.63,10.30,45.58
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,626,1.61,390.0,2205,2042,2504,4094,62.6,0.0,83,662,7.00,0.00,22.80,1.264,11270,0.037,0.000,2862,2042,2046,2046,4094,0,0,0,0,0,0,25.72,25.89,24.15,10.20,45.39
$GC,700,1.61,390.0,2861,2042,2045,4094,58.1,9.6,92,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2042,2045,2045,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.10,44.05
$GC,745,1.61,390.0,2861,2041,2044,4094,53.5,10.1,98,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2042,2043,2043,4094,0,0,0,0,0,0,25.77,25.78,25.78,10.09,44.99
$GC,791,1.61,390.0,2861,2041,2043,4094,49.0,10.2,104,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2042,2042,2042,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.09,44.36
$GC,837,1.64,411.2,2861,2041,2041,4094,44.9,8.8,110,847,0.00,0.00,2.90,0.396,8198,0.000,0.000,2862,2042,2020,2020,4095,0,0,0,0,0,0,25.96,25.35,24.76,10.08,45.35
$GC,884,1.64,411.2,2862,2041,2019,4095,40.6,9.2,116,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2042,2019,2019,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.08,44.80
$GC,930,1.64,411.2,2861,2041,2019,4094,36.3,9.9,122,939,0.00,2.22,0.00,0.000,260,0.000,0.059,2862,2854,2018,2018,4094,0,0,0,0,0,0,26.08,25.77,26.08,10.07,45.07
$GC,988,1.64,411.2,2862,2854,2017,4094,29.9,10.7,130,997,0.00,2.17,0.00,0.000,1030,0.000,0.031,2862,2013,2017,2017,4094,0,0,0,0,0,0,25.92,25.86,25.94,10.07,45.43
$GC,1034,1.64,411.2,2862,2013,2016,4094,25.5,9.8,136,1043,0.00,2.35,0.00,0.000,516,0.000,0.070,2862,1157,2015,2015,4094,0,0,0,0,0,0,26.19,25.85,26.20,10.06,45.51
$GC,1072,1.64,411.2,2861,1156,2015,4094,21.3,10.8,141,1082,0.00,2.10,0.00,0.000,1030,0.000,0.031,2862,1996,2015,2015,4095,0,0,0,0,0,0,25.98,25.97,26.02,10.05,45.62
$GC,1119,1.64,411.2,2862,1995,2014,4095,16.9,9.5,147,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1998,2014,2014,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.07,45.66
$GC,1165,1.91,589.8,2861,1998,2013,4094,13.7,6.2,153,1184,0.90,2.30,10.27,0.707,10756,0.036,0.073,2953,1153,1815,1815,4095,0,0,0,0,0,0,26.06,25.62,25.18,10.11,47.28
$STATE,1286,end climb,FINISH_DEPTH_REACHED
$STATE,1286,begin subsurface finish
$FINISH1,1.6,1.024242,95
$GC,1294,0.14,94.6,2953,2014,1812,4094,1.6,10.9,170,1314,5.65,2.45,-5.12,0.000,20996,0.029,1.308,2411,1153,2397,2397,4094,0,0,0,0,0,0,26.01,24.91,26.07,10.13,49.40
$FINISH2,0.2
$STATE,1315,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1315,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,125206
$TT8_MAMPS,0.025466,0.243425
$HUMID,50.59
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.15,5.414
$10V_AH,10.21,7.054
$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,22.975,31.400,58.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,478.408,0.979,134.980,715.175,43.654,33.420,404.124,0.000,414.879,0.000,0.540,0.000
$DEVICE_MAMPS,63.495,1308.150,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.372,467.274,369.926,549.016,712.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330928
$DATA_FILE_SIZE,17798,172
$CAP_FILE_SIZE,32388,0
$CFSIZE,1024409600,1008779264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,125935,5942.517,-17107.758,7,0.9,7,8.3,0.5,47.7,10,0.0