version: 66.13
glider: 401
mission: 22
dive: 219
start: 7 30 117 13 46 43
data:
$ID,401
$MISSION,22
$DIVE,219
$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,0.18
$_SM_ANGLEo,-0.5
$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,-0.315083,0.126346
$KALMAN_X,30041.125000,-1313.695435,-328.767670,-68419.945312,197.520599
$KALMAN_Y,8137.749023,2343.161865,713.070374,39186.449219,-75.682800
$MHEAD_RNG_PITCHd_Wd,283.6,19481,-11.3,-9.091,-14.99,6421
$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,-389.9,2410,1917,2397,4091,0.0,0.0,0,18,5.72,0.00,-1.77,0.000,20482,0.028,0.000,1860,1919,2591,2591,4094,0,0,0,0,0,0,26.02,28.83,26.07,10.29,50.94
$GC,20,-1.61,-389.9,1859,1918,2590,4094,0.1,0.0,1,31,0.00,2.35,-3.40,0.000,16644,0.000,1.287,1859,2750,2959,2959,4095,0,0,0,0,0,0,26.22,24.92,26.23,10.33,51.06
$GC,88,-1.61,-389.9,1858,2750,2960,4095,5.7,-11.3,12,94,0.00,2.17,0.00,0.000,1030,0.000,0.032,1859,1900,2960,2960,4094,0,0,0,0,0,0,25.98,25.89,25.99,10.41,51.26
$GC,126,-1.61,-389.9,1858,1900,2961,4094,10.3,-12.2,18,131,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1900,2961,2961,4095,0,0,0,0,0,0,26.20,26.22,26.21,10.41,50.35
$GC,162,-1.61,-389.9,1858,1900,2962,4095,15.1,-12.6,24,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1900,2962,2962,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.41,50.59
$GC,198,-1.61,-389.9,1858,1900,2963,4094,19.1,-10.2,30,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1900,2963,2963,4095,0,0,0,0,0,0,26.27,26.27,26.27,10.40,50.27
$GC,234,-1.61,-389.9,1858,1900,2964,4095,22.6,-9.4,36,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1900,2964,2964,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.38,49.92
$GC,270,-1.61,-389.9,1858,1900,2964,4095,26.1,-9.9,42,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1900,2964,2964,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.34,49.29
$GC,306,-1.61,-389.9,1858,1900,2964,4094,29.9,-10.5,48,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1900,2965,2965,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.34,48.22
$GC,342,-1.61,-389.9,1858,1900,2966,4094,33.7,-10.2,54,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1900,2965,2965,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.32,47.87
$GC,378,-1.61,-389.9,1858,1901,2966,4095,37.5,-10.4,60,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1901,2966,2966,4094,0,0,0,0,0,0,26.38,26.40,26.39,10.31,47.51
$GC,414,-1.61,-389.9,1858,1900,2967,4094,41.2,-10.2,66,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1900,2967,2967,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.32,46.73
$GC,450,-1.61,-389.9,1858,1900,2967,4095,45.0,-10.8,72,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1900,2967,2967,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.31,46.29
$GC,486,-1.61,-389.9,1858,1900,2968,4095,48.8,-10.9,78,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1900,2969,2969,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.31,46.45
$GC,523,-1.61,-389.9,1858,1900,2969,4095,52.8,-11.1,84,529,0.00,2.28,0.00,0.000,260,0.000,0.055,1859,2755,2969,2969,4094,0,0,0,0,0,0,26.46,26.13,26.46,10.30,45.94
$GC,559,-1.61,-389.9,1858,2755,2970,4094,56.8,-10.9,90,566,0.00,2.17,0.00,0.000,1030,0.000,0.031,1858,1893,2970,2970,4094,0,0,0,0,0,0,26.27,26.20,26.29,10.30,45.78
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,594,-0.45,0.0,1858,2035,2971,4094,60.2,-10.6,95,627,3.75,0.00,22.95,1.278,10244,0.060,0.000,2205,2035,2500,2500,4094,0,0,0,0,0,0,26.20,25.24,24.57,10.30,46.29
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,629,1.61,389.9,2205,2035,2500,4094,62.3,0.0,101,663,6.97,0.00,22.60,1.258,11270,0.037,0.000,2861,2035,2044,2044,4094,0,0,0,0,0,0,25.67,25.84,24.12,10.20,45.58
$GC,694,1.61,389.9,2860,2035,2044,4094,57.8,9.9,112,700,0.00,2.28,0.00,0.000,260,0.000,0.059,2861,2858,2044,2044,4094,0,0,0,0,0,0,25.55,25.25,25.56,10.09,44.88
$GC,756,1.61,389.9,2860,2857,2042,4094,50.6,12.3,122,762,0.00,2.17,0.00,0.000,1030,0.000,0.031,2861,2017,2042,2042,4094,0,0,0,0,0,0,25.59,25.51,25.61,10.08,45.31
$GC,795,1.61,389.9,2860,2016,2042,4094,46.1,11.1,128,801,0.00,2.38,0.00,0.000,516,0.000,0.070,2861,1153,2041,2041,4094,0,0,0,0,0,0,25.86,25.52,25.86,10.08,45.86
$GC,844,1.61,389.9,2860,1153,2040,4094,40.3,11.8,136,850,0.00,2.08,0.00,0.000,1030,0.000,0.029,2861,1983,2040,2040,4094,0,0,0,0,0,0,25.77,25.71,25.79,10.08,45.98
$GC,881,1.61,389.9,2860,1982,2039,4094,36.1,11.4,142,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1983,2039,2039,4094,0,0,0,0,0,0,26.01,26.01,26.02,10.08,46.45
$GC,917,1.61,389.9,2860,1982,2038,4094,31.9,12.3,148,923,0.00,2.42,0.00,0.000,260,0.000,0.060,2861,2882,2038,2038,4094,0,0,0,0,0,0,26.06,25.73,26.06,10.07,45.66
$GC,966,1.61,389.9,2860,2882,2037,4094,26.1,11.6,156,972,0.00,2.25,0.00,0.000,1030,0.000,0.031,2861,2005,2037,2037,4095,0,0,0,0,0,0,25.92,25.84,25.94,10.07,46.73
$GC,1003,1.61,389.9,2860,2005,2036,4095,21.9,11.4,162,1009,0.00,2.33,0.00,0.000,516,0.000,0.069,2861,1152,2036,2036,4094,0,0,0,0,0,0,26.15,25.81,26.16,10.07,46.25
$GC,1070,1.67,428.8,2860,1151,2034,4094,14.9,8.5,173,1083,0.10,2.08,3.38,0.381,11270,0.075,0.030,2877,1988,2000,2000,4094,0,0,0,0,0,0,25.97,25.97,25.20,10.11,47.24
$GC,1114,1.67,428.8,2876,1989,1999,4094,11.0,9.3,180,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1989,2000,2000,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.13,48.70
$GC,1150,1.67,428.8,2876,1988,1998,4094,7.4,10.3,186,1156,0.00,2.42,0.00,0.000,260,0.000,0.062,2877,2883,1997,1997,4094,0,0,0,0,0,0,26.25,25.92,26.26,10.15,49.44
$GC,1193,1.67,428.8,2876,2882,1997,4094,2.5,11.5,193,1199,0.00,2.30,0.00,0.000,1030,0.000,0.032,2877,1984,1997,1997,4094,0,0,0,0,0,0,26.08,26.01,26.11,10.16,49.84
$STATE,1205,end climb,SURFACE_DEPTH_REACHED
$STATE,1205,begin surface coast
$FINISH,0.2,0.959929
$STATE,1223,end surface coast,CONTROL_FINISHED_OK
$STATE,1223,begin surface
$SM_CCo,1320,0.00,0.000,0,0,1995,434.45
$SM_GC,1.27,27.88,0.20,0.00,0.025,0.065,0.000,231,1876,1995,-6.65,1.09,434.45,0,0,0,0,0,0,26.01,26.08,26.08
$IRIDIUM_FIX,5955.74,-17228.01,300717,125206
$TT8_MAMPS,0.025466,0.083888
$HUMID,52.08
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,1.80
$XPDR_PINGS,0
$24V_AH,24.12,5.432
$10V_AH,10.51,7.065
$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,44.425,34.100,48.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,456.242,416.634,171.255,296.066,42.608,33.415,389.052,0.000,295.113,0.000,0.539,0.000
$DEVICE_MAMPS,74.970,1287.495,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330928
$DATA_FILE_SIZE,14311,198
$CAP_FILE_SIZE,38532,0
$CFSIZE,1024409600,1008730112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,140933,5942.528,-17108.375,8,0.9,16,8.3,0.0,238.2,10,4.7