version: 66.13
glider: 401
mission: 22
dive: 223
start: 7 30 117 15 14 22
data:
$ID,401
$MISSION,22
$DIVE,223
$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,16
$R_STBD_OVSHOOT,31
$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
$GPS1,300717,150731,5942.5132,-17109.1113,8,0.8,33,8.3,0.0,147.1,10,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-45.2
$GPS2,300717,151315,5942.4844,-17109.1465,5,0.7,14,8.3,0.0,203.9,11,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.228116,0.251631
$KALMAN_X,30281.427734,-1341.874146,-364.812653,-69897.851562,14.183014
$KALMAN_Y,7527.103027,2183.096680,532.720215,40076.871094,-202.227814
$MHEAD_RNG_PITCHd_Wd,309.5,18322,-11.3,-9.091,-14.98,6429
$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,-390.0,230,1920,2029,4092,0.0,0.0,0,17,7.68,0.00,0.00,0.000,2049,0.116,0.000,855,1919,2030,2030,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.26,49.72
$GC,20,-1.61,-390.0,854,1920,2030,4094,1.0,0.0,1,47,10.98,2.55,-8.43,0.000,18948,0.071,1.310,1836,1031,2960,2960,4095,0,0,0,0,0,0,25.94,24.86,25.98,10.26,49.29
$GC,133,-1.61,-390.0,1835,1030,2962,4095,10.4,-14.0,20,139,0.00,2.17,0.00,0.000,1030,0.000,0.030,1836,1904,2962,2962,4094,0,0,0,0,0,0,26.00,25.94,26.01,10.47,48.54
$GC,170,-1.61,-390.0,1836,1903,2964,4094,15.7,-13.7,26,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1904,2964,2964,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.46,48.58
$GC,206,-1.61,-390.0,1835,1906,2964,4094,20.0,-11.1,32,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1906,2964,2964,4095,0,0,0,0,0,0,26.25,26.26,26.25,10.44,47.95
$GC,242,-1.61,-390.0,1836,1907,2965,4095,23.6,-10.1,38,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1908,2965,2965,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.41,47.44
$GC,278,-1.61,-390.0,1835,1907,2966,4095,27.5,-10.5,44,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1908,2965,2965,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.38,47.00
$GC,314,-1.61,-390.0,1836,1907,2966,4095,31.5,-11.1,50,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1908,2966,2966,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.38,46.45
$GC,350,-1.61,-390.0,1836,1907,2967,4095,35.7,-11.5,56,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1907,2967,2967,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.36,45.70
$GC,387,-1.61,-390.0,1835,1907,2968,4095,39.9,-11.8,62,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1908,2968,2968,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.37,45.58
$GC,423,-1.61,-390.0,1835,1907,2969,4094,44.1,-11.9,68,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1907,2969,2969,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.36,45.15
$GC,459,-1.61,-390.0,1835,1907,2969,4094,48.3,-11.8,74,465,0.00,2.28,0.00,0.000,260,0.000,0.055,1836,2761,2970,2970,4095,0,0,0,0,0,0,26.41,26.09,26.42,10.34,44.92
$GC,489,-1.61,-390.0,1836,2761,2970,4095,51.9,-11.9,79,496,0.00,2.17,0.00,0.000,1030,0.000,0.031,1836,1899,2970,2970,4095,0,0,0,0,0,0,26.23,26.15,26.25,10.34,44.13
$GC,527,-1.61,-390.0,1836,1898,2971,4095,56.1,-11.4,85,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1898,2971,2971,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.33,44.25
$STATE,561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,561,begin apogee
$GC,566,-0.45,0.0,1836,2037,2972,4095,60.5,-12.2,91,599,4.03,0.00,22.88,1.284,10244,0.060,0.000,2206,2037,2498,2498,4094,0,0,0,0,0,0,26.17,25.53,24.56,10.33,44.05
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,602,1.61,390.0,2206,2038,2499,4094,62.9,0.0,97,635,6.97,0.00,22.58,1.260,11270,0.037,0.000,2861,2037,2045,2045,4094,0,0,0,0,0,0,25.65,25.82,24.09,10.22,44.29
$GC,666,1.61,390.0,2860,2037,2045,4094,58.0,10.8,108,672,0.00,2.28,0.00,0.000,260,0.000,0.057,2861,2864,2044,2044,4094,0,0,0,0,0,0,25.54,25.25,25.56,10.12,43.30
$GC,715,1.61,390.0,2861,2864,2043,4094,52.2,12.0,116,721,0.00,2.17,0.00,0.000,1030,0.000,0.029,2861,2016,2042,2042,4094,0,0,0,0,0,0,25.55,25.47,25.57,10.12,43.69
$GC,752,1.61,390.0,2860,2016,2042,4094,47.8,12.0,122,758,0.00,2.35,0.00,0.000,516,0.000,0.067,2861,1153,2042,2042,4094,0,0,0,0,0,0,25.82,25.49,25.84,10.11,43.69
$GC,814,1.61,390.0,2861,1152,2041,4094,40.6,11.7,132,821,0.00,2.08,0.00,0.000,1030,0.000,0.028,2861,1985,2041,2041,4094,0,0,0,0,0,0,25.77,25.71,25.79,10.11,44.09
$GC,853,1.61,390.0,2861,1985,2040,4094,36.3,11.2,138,859,0.00,2.42,0.00,0.000,260,0.000,0.059,2861,2878,2039,2039,4094,0,0,0,0,0,0,26.01,25.69,26.03,10.10,44.92
$GC,908,1.61,390.0,2861,2878,2038,4094,29.6,12.2,147,914,0.00,2.22,0.00,0.000,1030,0.000,0.031,2861,2003,2038,2038,4094,0,0,0,0,0,0,25.89,25.82,25.92,10.10,45.15
$GC,945,1.61,390.0,2861,2002,2037,4094,25.2,11.6,153,951,0.00,2.28,0.00,0.000,516,0.000,0.069,2861,1155,2037,2037,4094,0,0,0,0,0,0,26.13,25.79,26.14,10.10,45.19
$GC,1019,1.61,390.0,2860,1155,2035,4094,16.6,11.6,165,1025,0.00,2.08,0.00,0.000,1030,0.000,0.029,2861,1990,2035,2035,4094,0,0,0,0,0,0,26.02,25.96,26.03,10.12,46.41
$GC,1058,1.63,402.1,2860,1990,2034,4094,13.1,8.9,171,1064,0.00,2.40,0.00,0.000,260,0.000,0.060,2861,2883,2034,2034,4094,0,0,0,0,0,0,26.23,25.91,26.24,10.15,47.79
$GC,1119,1.63,402.1,2861,2883,2033,4094,6.8,10.4,181,1125,0.00,2.25,0.00,0.000,1030,0.000,0.031,2861,1998,2033,2033,4094,0,0,0,0,0,0,26.09,26.01,26.10,10.18,48.81
$GC,1156,1.63,402.1,2861,1998,2031,4094,3.3,9.6,187,1162,0.00,2.28,0.00,0.000,516,0.000,0.069,2861,1152,2031,2031,4094,0,0,0,0,0,0,26.31,25.96,26.32,10.19,49.56
$STATE,1173,end climb,FINISH_DEPTH_REACHED
$STATE,1174,begin subsurface finish
$FINISH1,1.5,1.025600,0
$GC,1181,0.00,0.0,2861,2021,2031,4094,1.5,9.3,190,1198,5.45,2.42,-4.18,0.000,20996,0.069,1.307,2366,1154,2508,2508,4094,0,0,0,0,0,0,26.08,24.96,26.10,10.20,49.84
$FINISH2,0.2
$STATE,1199,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1199,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,141102
$TT8_MAMPS,0.025466,0.083139
$HUMID,50.43
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,24.09,5.518
$10V_AH,10.55,7.139
$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,35.100,38.925,45.450,0.000,0.000,25.839,16.560,196.052,0.000,0.000,15.772,441.869,345.966,150.985,544.861,82.995,33.453,368.756,0.000,289.794,0.000,0.542,0.000
$DEVICE_MAMPS,115.515,1310.445,1284.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329368
$DATA_FILE_SIZE,14274,193
$CAP_FILE_SIZE,39692,0
$CFSIZE,1024409600,1008533504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300717,151315,5942.484,-17109.146,5,0.7,14,8.3,0.0,203.9,11,4.9