version: 66.13
glider: 401
mission: 22
dive: 229
start: 7 30 117 17 50 46
data:
$ID,401
$MISSION,22
$DIVE,229
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,300717,174302,5942.7686,-17112.3164,8,0.7,37,8.3,0.0,302.5,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-39.1
$GPS2,300717,174937,5942.7803,-17112.4160,6,0.9,16,8.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.224621,0.254504
$KALMAN_X,29589.939453,-1549.112305,-608.153137,-71839.710938,-124.363831
$KALMAN_Y,6778.925781,1950.901489,345.076019,41789.777344,-119.456879
$MHEAD_RNG_PITCHd_Wd,310.3,15343,-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,-389.8,240,1886,1842,4092,0.0,0.0,0,17,7.75,0.00,0.00,0.000,2049,0.098,0.000,890,1886,1842,1842,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.23,49.92
$GC,20,-1.61,-389.8,890,1886,1842,4094,0.7,0.0,1,47,10.30,2.38,-10.12,0.000,18948,0.056,1.303,1836,1040,2960,2960,4095,0,0,0,0,0,0,25.89,24.82,25.93,10.22,49.68
$GC,277,-1.61,-389.8,1835,1039,2963,4095,17.3,-10.4,44,283,0.00,2.12,0.00,0.000,1030,0.000,0.029,1836,1908,2963,2963,4095,0,0,0,0,0,0,26.11,26.06,26.13,10.47,48.89
$GC,314,-1.61,-389.8,1835,1908,2964,4095,20.7,-9.1,50,320,0.00,2.38,0.00,0.000,516,0.000,0.067,1836,1036,2964,2964,4095,0,0,0,0,0,0,26.31,25.97,26.32,10.46,48.74
$GC,405,-1.61,-389.8,1836,1036,2965,4095,30.7,-10.5,65,411,0.00,2.08,0.00,0.000,1030,0.000,0.028,1836,1889,2965,2965,4095,0,0,0,0,0,0,26.20,26.15,26.21,10.39,46.77
$GC,443,-1.61,-389.8,1836,1889,2967,4095,34.4,-9.8,71,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1889,2966,2966,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.38,46.14
$GC,479,-1.61,-389.8,1836,1889,2967,4095,38.1,-9.7,77,486,0.00,2.28,0.00,0.000,260,0.000,0.053,1836,2755,2967,2967,4094,0,0,0,0,0,0,26.41,26.09,26.42,10.37,46.10
$GC,529,-1.61,-389.8,1835,2755,2968,4094,42.9,-10.0,85,535,0.00,2.12,0.00,0.000,1030,0.000,0.030,1836,1907,2968,2968,4094,0,0,0,0,0,0,26.24,26.16,26.26,10.37,45.51
$GC,567,-1.61,-389.8,1836,1907,2968,4094,47.1,-11.6,91,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1907,2969,2969,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.35,44.76
$GC,603,-1.61,-389.8,1836,1906,2969,4095,51.4,-11.0,97,609,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1907,2969,2969,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.35,44.48
$GC,639,-1.61,-389.8,1835,1906,2969,4095,55.6,-12.4,103,645,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1907,2970,2970,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.34,44.40
$GC,675,-1.61,-389.8,1835,1907,2970,4094,60.0,-12.4,109,681,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1907,2971,2971,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.34,44.13
$STATE,685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,685,begin apogee
$GC,690,-0.45,0.0,1835,2040,2971,4094,61.3,-11.9,111,724,4.03,0.00,23.02,1.282,10244,0.063,0.000,2205,2040,2499,2499,4094,0,0,0,0,0,0,26.20,25.26,24.59,10.33,45.07
$STATE,725,end apogee,CONTROL_FINISHED_OK
$STATE,725,begin climb
$GC,727,1.61,389.8,2205,2040,2499,4094,63.5,0.0,117,760,7.00,0.00,22.60,1.259,11270,0.039,0.000,2861,2040,2045,2045,4094,0,0,0,0,0,0,25.69,25.85,24.11,10.23,43.89
$GC,791,1.61,389.8,2860,2040,2044,4094,59.0,9.7,128,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2041,2044,2044,4094,0,0,0,0,0,0,25.56,25.57,25.57,10.13,43.38
$GC,827,1.61,389.8,2860,2040,2043,4094,55.0,11.5,134,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2043,2043,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.13,44.21
$GC,863,1.61,389.8,2860,2040,2042,4094,50.9,11.2,140,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2041,2042,2042,4095,0,0,0,0,0,0,25.80,25.82,25.81,10.12,43.73
$GC,899,1.61,389.8,2860,2040,2041,4095,46.7,11.1,146,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2041,2041,2041,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.12,44.40
$GC,935,1.61,389.8,2860,2040,2041,4094,42.7,11.2,152,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2041,2041,2041,4095,0,0,0,0,0,0,25.95,25.96,25.96,10.12,44.80
$GC,971,1.61,389.8,2860,2041,2039,4095,38.7,11.2,158,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2041,2040,2040,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.11,44.48
$GC,1007,1.61,389.8,2861,2040,2038,4094,34.5,11.9,164,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2041,2038,2038,4095,0,0,0,0,0,0,26.06,26.08,26.07,10.11,44.68
$GC,1043,1.61,389.8,2860,2040,2038,4095,30.4,11.7,170,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2038,2038,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.10,45.07
$GC,1080,1.61,389.8,2860,2040,2037,4094,26.2,11.8,176,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2037,2037,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.09,45.74
$GC,1116,1.61,389.8,2861,2040,2036,4094,21.9,12.2,182,1122,0.00,2.40,0.00,0.000,516,0.000,0.067,2860,1155,2036,2036,4095,0,0,0,0,0,0,26.18,25.84,26.19,10.09,46.25
$GC,1171,1.67,430.0,2860,1155,2035,4095,16.5,8.4,191,1184,0.10,2.05,3.47,0.397,11270,0.073,0.029,2878,1990,1997,1997,4094,0,0,0,0,0,0,25.99,25.99,25.20,10.14,46.33
$GC,1215,1.67,430.0,2877,1990,1997,4094,12.4,9.6,198,1221,0.00,2.40,0.00,0.000,260,0.000,0.060,2878,2878,1996,1996,4094,0,0,0,0,0,0,26.23,25.91,26.24,10.16,48.81
$GC,1258,1.67,430.0,2877,2878,1995,4094,7.8,10.9,205,1264,0.00,2.20,0.00,0.000,1030,0.000,0.031,2878,2014,1995,1995,4094,0,0,0,0,0,0,26.08,26.00,26.10,10.18,48.89
$GC,1295,1.67,430.0,2877,2014,1994,4094,4.0,10.3,211,1301,0.00,2.33,0.00,0.000,516,0.000,0.068,2878,1153,1994,1994,4094,0,0,0,0,0,0,26.29,25.95,26.30,10.19,49.25
$STATE,1318,end climb,FINISH_DEPTH_REACHED
$STATE,1318,begin subsurface finish
$FINISH1,1.4,1.025600,0
$GC,1326,0.00,0.0,2878,2023,1993,4094,1.4,10.5,215,1343,5.57,2.50,-4.45,0.000,20996,0.063,1.315,2362,1155,2503,2503,4095,0,0,0,0,0,0,26.08,24.96,26.10,10.20,49.88
$FINISH2,0.2
$STATE,1344,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1344,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,162231
$TT8_MAMPS,0.025466,0.08239
$HUMID,50.43
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.11,5.663
$10V_AH,10.55,7.298
$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,34.750,29.675,49.100,0.000,0.000,22.988,18.105,247.177,0.000,0.000,17.301,482.745,404.401,157.921,629.658,89.804,33.483,395.182,0.000,325.059,0.000,0.541,0.000
$DEVICE_MAMPS,97.920,1315.035,1282.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329436
$DATA_FILE_SIZE,14268,218
$CAP_FILE_SIZE,41639,0
$CFSIZE,1024409600,1008238592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300717,174937,5942.780,-17112.416,6,0.9,16,8.3,0.0,0.0,10,4.9