version: 66.13
glider: 401
mission: 22
dive: 222
start: 7 30 117 14 43 56
data:
$ID,401
$MISSION,22
$DIVE,222
$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,29
$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,0.18
$_SM_ANGLEo,-1.5
$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,-0.286639,0.182286
$KALMAN_X,30456.910156,-1274.845703,-294.294861,-69484.640625,125.383148
$KALMAN_Y,7737.805664,2203.445557,554.704041,39845.949219,-131.100647
$MHEAD_RNG_PITCHd_Wd,294.2,18977,-11.3,-9.091,-14.98,6431
$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,-390.0,2361,1890,2507,4092,0.0,0.0,0,20,5.35,0.00,-4.12,0.000,20486,0.028,0.000,1846,1891,2962,2962,4095,0,0,0,0,0,0,26.18,25.29,26.21,10.33,51.02
$GC,23,-1.61,-390.0,1846,1891,2961,4095,0.2,0.0,1,32,0.00,2.35,0.00,0.000,260,0.000,0.053,1846,2761,2961,2961,4095,0,0,0,0,0,0,26.34,26.06,26.36,10.43,50.94
$GC,41,-1.61,-390.0,1846,2761,2961,4095,0.2,-0.3,3,51,0.00,2.17,0.00,0.000,1030,0.000,0.031,1846,1910,2961,2961,4095,0,0,0,0,0,0,26.14,26.10,26.18,10.42,50.94
$GC,88,-1.61,-390.0,1846,1910,2962,4095,4.8,-11.5,9,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1910,2962,2962,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.43,50.94
$GC,132,-1.61,-390.0,1846,1910,2963,4094,10.8,-13.4,15,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1910,2964,2964,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.44,50.35
$GC,175,-1.61,-390.0,1846,1910,2964,4095,16.4,-12.8,21,185,0.00,2.30,0.00,0.000,260,0.000,0.057,1846,2754,2964,2964,4095,0,0,0,0,0,0,26.45,26.13,26.46,10.43,50.07
$GC,207,-1.61,-390.0,1846,2754,2965,4095,19.8,-10.6,25,215,0.00,2.20,0.00,0.000,1030,0.000,0.032,1846,1896,2965,2965,4094,0,0,0,0,0,0,26.23,26.22,26.25,10.41,49.76
$GC,251,-1.61,-390.0,1846,1896,2966,4094,24.2,-9.5,31,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1896,2966,2966,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.38,49.09
$GC,297,-1.61,-390.0,1846,1896,2967,4094,28.7,-10.3,37,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1896,2967,2967,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.36,48.14
$GC,343,-1.61,-390.0,1845,1896,2968,4095,33.5,-10.6,43,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1896,2968,2968,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.34,47.75
$GC,386,-1.61,-390.0,1846,1896,2969,4094,38.4,-11.2,49,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1896,2969,2969,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.33,46.69
$GC,430,-1.61,-390.0,1846,1896,2969,4095,43.2,-11.1,55,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1896,2969,2969,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.32,45.98
$GC,474,-1.61,-390.0,1846,1896,2970,4094,48.3,-11.5,61,483,0.00,2.33,0.00,0.000,260,0.000,0.057,1846,2759,2970,2970,4095,0,0,0,0,0,0,26.56,26.24,26.58,10.32,45.39
$GC,506,-1.61,-390.0,1846,2758,2970,4095,52.0,-11.5,65,515,0.00,2.20,0.00,0.000,1030,0.000,0.032,1846,1896,2971,2971,4095,0,0,0,0,0,0,26.36,26.29,26.38,10.32,45.19
$GC,552,-1.61,-390.0,1845,1896,2972,4095,57.1,-11.2,71,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1896,2972,2972,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.31,45.51
$STATE,580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,580,begin apogee
$GC,585,-0.45,0.0,1846,2039,2973,4095,60.6,-11.6,75,620,3.90,0.00,23.08,1.293,10244,0.060,0.000,2206,2039,2500,2500,4094,0,0,0,0,0,0,26.30,25.32,24.66,10.31,45.62
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,623,1.61,390.0,2205,2039,2499,4094,63.1,0.0,79,659,6.97,0.00,22.62,1.265,11270,0.037,0.000,2861,2038,2045,2045,4094,0,0,0,0,0,0,25.76,25.94,24.19,10.20,45.03
$GC,696,1.61,390.0,2861,2039,2044,4094,58.2,10.3,88,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2044,2044,4095,0,0,0,0,0,0,25.65,25.66,25.65,10.10,44.60
$GC,742,1.61,390.0,2861,2039,2043,4095,53.2,10.9,94,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2042,2042,4094,0,0,0,0,0,0,25.79,25.80,25.81,10.09,43.89
$GC,785,1.61,390.0,2860,2039,2041,4094,48.2,11.2,100,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2041,2041,4095,0,0,0,0,0,0,25.89,25.91,25.91,10.09,44.88
$GC,829,1.61,390.0,2861,2039,2040,4095,43.3,11.1,106,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2041,2041,4095,0,0,0,0,0,0,25.98,25.99,25.99,10.09,45.31
$GC,874,1.61,390.0,2861,2039,2039,4095,38.2,11.6,112,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2039,2039,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.08,45.15
$GC,918,1.61,390.0,2860,2039,2039,4094,33.1,11.6,118,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2038,2038,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.08,45.47
$GC,962,1.61,390.0,2860,2039,2037,4094,28.0,11.2,124,972,0.00,2.45,0.00,0.000,516,0.000,0.067,2861,1154,2037,2037,4094,0,0,0,0,0,0,26.15,25.82,26.17,10.08,45.31
$GC,1020,1.61,390.0,2861,1154,2035,4094,21.2,11.8,132,1030,0.00,2.12,0.00,0.000,1030,0.000,0.030,2861,1997,2035,2035,4094,0,0,0,0,0,0,26.00,25.96,26.01,10.08,45.35
$GC,1067,1.61,390.0,2860,1996,2034,4094,16.0,11.3,138,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,2034,2034,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.11,46.49
$GC,1113,1.62,398.5,2861,1998,2034,4094,11.9,9.0,144,1123,0.00,2.42,0.00,0.000,260,0.000,0.061,2861,2886,2034,2034,4094,0,0,0,0,0,0,26.28,25.96,26.29,10.14,47.71
$GC,1165,1.62,398.5,2861,2885,2032,4094,6.7,10.1,151,1174,0.00,2.25,0.00,0.000,1030,0.000,0.031,2861,2013,2032,2032,4094,0,0,0,0,0,0,26.08,26.05,26.11,10.16,48.62
$GC,1210,1.62,398.5,2861,2013,2031,4094,2.2,10.0,157,1219,0.00,2.38,0.00,0.000,516,0.000,0.072,2861,1148,2030,2030,4094,0,0,0,0,0,0,26.34,26.05,26.36,10.18,49.17
$STATE,1227,end climb,SURFACE_DEPTH_REACHED
$STATE,1227,begin surface coast
$FINISH,0.1,1.024244
$STATE,1250,end surface coast,CONTROL_FINISHED_OK
$STATE,1250,begin surface
$SM_CCo,1348,0.00,0.000,0,0,2030,404.40
$SM_GC,1.04,27.65,1.95,0.00,0.024,0.033,0.000,231,1912,2030,-6.65,-1.00,404.40,0,0,0,0,0,0,26.05,26.11,26.14
$IRIDIUM_FIX,5955.74,-17228.01,300717,125700
$TT8_MAMPS,0.025466,0.241178
$HUMID,50.27
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.19,5.485
$10V_AH,10.23,7.124
$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,43.875,27.675,45.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,457.971,59.873,168.160,674.414,48.803,33.416,445.319,0.000,391.370,0.000,0.540,0.000
$DEVICE_MAMPS,60.435,71.910,1292.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.847,440.096,348.382,516.424,671.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330976
$DATA_FILE_SIZE,14312,162
$CAP_FILE_SIZE,35417,0
$CFSIZE,1024409600,1008582656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,150731,5942.513,-17109.111,8,0.8,33,8.3,0.0,147.1,10,4.4