version: 66.13
glider: 401
mission: 22
dive: 221
start: 7 30 117 14 22 24
data:
$ID,401
$MISSION,22
$DIVE,221
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,300717,141524,5942.4961,-17108.3652,6,0.8,18,8.3,0.4,144.8,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,0.4
$GPS2,300717,141524,5942.4961,-17108.3652,6,0.8,18,8.3,0.4,144.8,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.281306,0.190444
$KALMAN_X,30147.271484,-1284.949829,-301.833374,-69157.250000,53.502319
$KALMAN_Y,7891.560547,2241.504150,595.291931,39613.597656,-113.802612
$MHEAD_RNG_PITCHd_Wd,295.8,18977,-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,7,-1.61,-390.0,2354,1914,2499,4092,0.0,0.0,0,17,5.30,0.00,-2.05,0.000,20486,0.029,0.000,1841,1914,2964,2964,4095,0,0,0,0,0,0,25.90,24.99,25.94,10.38,47.95
$GC,20,-1.61,-390.0,1841,1914,2964,4095,5.6,0.0,1,26,0.00,2.30,0.00,0.000,260,0.000,0.052,1841,2764,2964,2964,4095,0,0,0,0,0,0,26.08,25.79,26.09,10.48,47.99
$GC,134,-1.61,-390.0,1841,2765,2967,4095,18.9,-11.0,20,141,0.00,2.17,0.00,0.000,1030,0.000,0.028,1841,1902,2966,2966,4095,0,0,0,0,0,0,26.03,25.96,26.06,10.46,47.75
$GC,172,-1.61,-390.0,1841,1901,2967,4095,21.7,-7.7,26,178,0.00,2.35,0.00,0.000,516,0.000,0.070,1841,1035,2967,2967,4095,0,0,0,0,0,0,26.26,25.91,26.27,10.43,47.08
$GC,209,-1.61,-390.0,1841,1034,2968,4095,25.4,-10.5,32,215,0.00,2.12,0.00,0.000,1030,0.000,0.028,1841,1892,2968,2968,4094,0,0,0,0,0,0,26.10,26.05,26.12,10.40,46.57
$GC,246,-1.61,-390.0,1841,1892,2969,4094,29.5,-11.0,38,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2969,2969,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.39,46.02
$GC,282,-1.61,-390.0,1841,1892,2969,4094,33.3,-10.8,44,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1892,2969,2969,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.38,45.39
$GC,318,-1.61,-390.0,1840,1892,2970,4094,37.1,-10.2,50,324,0.00,2.30,0.00,0.000,260,0.000,0.055,1841,2760,2970,2970,4095,0,0,0,0,0,0,26.36,26.03,26.36,10.37,44.44
$GC,349,-1.61,-390.0,1840,2760,2970,4095,40.5,-11.3,55,355,0.00,2.17,0.00,0.000,1030,0.000,0.031,1841,1899,2971,2971,4094,0,0,0,0,0,0,26.17,26.10,26.20,10.37,44.32
$GC,387,-1.61,-390.0,1841,1899,2972,4094,44.6,-11.4,61,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1899,2971,2971,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.36,44.05
$GC,423,-1.61,-390.0,1840,1899,2972,4094,48.8,-11.0,67,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1899,2972,2972,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.35,43.89
$GC,459,-1.61,-390.0,1840,1899,2973,4094,53.1,-11.8,73,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1899,2973,2973,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.35,43.66
$GC,495,-1.61,-390.0,1841,1899,2973,4095,57.2,-11.7,79,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1899,2973,2973,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.34,44.21
$STATE,523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,524,begin apogee
$GC,529,-0.45,0.0,1841,2041,2974,4095,60.6,-11.2,84,561,3.97,0.00,23.10,1.275,10244,0.059,0.000,2206,2042,2499,2499,4094,0,0,0,0,0,0,26.17,25.22,24.56,10.34,43.54
$STATE,562,end apogee,CONTROL_FINISHED_OK
$STATE,562,begin climb
$GC,564,1.61,390.0,2206,2041,2499,4094,62.8,0.0,90,598,6.95,0.00,22.55,1.257,11270,0.037,0.000,2860,2042,2045,2045,4094,0,0,0,0,0,0,25.65,25.81,24.08,10.23,43.46
$GC,629,1.61,390.0,2859,2041,2044,4094,58.2,10.1,101,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2044,2044,4094,0,0,0,0,0,0,25.53,25.55,25.55,10.13,43.69
$GC,665,1.61,390.0,2858,2041,2043,4094,54.3,10.8,107,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2043,2043,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.12,42.95
$GC,701,1.61,390.0,2859,2041,2042,4094,50.2,11.1,113,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2042,2042,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.12,43.73
$GC,737,1.61,390.0,2859,2041,2041,4094,46.1,11.1,119,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2041,2041,4094,0,0,0,0,0,0,25.87,25.89,25.88,10.12,44.48
$GC,773,1.61,390.0,2859,2041,2041,4094,42.1,11.1,125,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2041,2041,4094,0,0,0,0,0,0,25.94,25.96,25.95,10.11,43.77
$GC,809,1.61,390.0,2859,2042,2040,4094,37.9,11.2,131,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2040,2040,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.11,44.56
$GC,845,1.61,390.0,2859,2041,2039,4094,33.9,11.2,137,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2038,2038,4095,0,0,0,0,0,0,26.05,26.06,26.06,10.10,44.92
$GC,881,1.61,390.0,2859,2042,2038,4095,29.8,11.6,143,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2038,2038,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.10,45.43
$GC,917,1.61,390.0,2859,2042,2037,4094,25.8,11.6,149,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2037,2037,4095,0,0,0,0,0,0,26.14,26.15,26.15,10.10,44.84
$GC,953,1.61,390.0,2859,2041,2036,4095,21.7,11.6,155,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2036,2036,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.10,44.95
$GC,989,1.61,390.0,2859,2041,2035,4094,17.6,11.5,161,995,0.00,2.42,0.00,0.000,516,0.000,0.067,2860,1155,2035,2035,4095,0,0,0,0,0,0,26.21,25.86,26.22,10.10,45.58
$GC,1069,1.61,390.0,2859,1155,2033,4095,9.5,10.0,174,1076,0.00,2.05,0.00,0.000,1030,0.000,0.028,2859,1990,2033,2033,4095,0,0,0,0,0,0,26.09,26.03,26.11,10.17,47.99
$GC,1108,1.61,390.0,2859,1989,2032,4095,5.8,9.9,180,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1990,2032,2032,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.18,48.77
$GC,1144,1.61,390.0,2859,1990,2031,4094,2.0,10.0,186,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1990,2031,2031,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.19,49.13
$STATE,1154,end climb,FINISH_DEPTH_REACHED
$STATE,1154,begin subsurface finish
$FINISH1,0.9,1.025600,0
$GC,1159,0.00,0.0,2860,1990,2030,4094,0.9,9.7,188,1171,5.10,0.00,-4.18,0.000,20486,0.028,0.000,2362,1997,2507,2507,4095,0,0,0,0,0,0,26.11,25.25,26.13,10.20,49.40
$FINISH2,0.3
$STATE,1172,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1172,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,125700
$TT8_MAMPS,0.026215,0.086135
$HUMID,50.23
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,24.08,5.468
$10V_AH,10.55,7.088
$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,21.325,20.725,45.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.620,341.638,138.115,284.608,39.301,33.423,348.755,0.000,283.833,0.000,0.541,0.000
$DEVICE_MAMPS,58.905,69.615,1275.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330976
$DATA_FILE_SIZE,14261,190
$CAP_FILE_SIZE,34158,0
$CFSIZE,1024409600,1008631808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,141524,5942.496,-17108.365,6,0.8,18,8.3,0.4,144.8,11,4.8