version: 66.13
glider: 401
mission: 22
dive: 230
start: 7 30 117 18 15 13
data:
$ID,401
$MISSION,22
$DIVE,230
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,300717,174937,5942.7803,-17112.4160,6,0.9,16,8.3,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-1.2
$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,-0.248766,0.231351
$KALMAN_X,29730.140625,-1521.290894,-583.808716,-72060.835938,-108.330200
$KALMAN_Y,6628.546387,1868.588257,288.369019,42085.281250,-80.473419
$MHEAD_RNG_PITCHd_Wd,304.6,15343,-11.3,-9.091,-14.98,6433
$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,-390.0,2362,1917,2503,4092,0.0,0.0,0,20,5.35,0.00,-4.12,0.000,20486,0.028,0.000,1843,1917,2960,2960,4095,0,0,0,0,0,0,26.10,25.20,26.11,10.33,51.22
$GC,23,-1.61,-390.0,1843,1917,2960,4095,0.1,0.0,1,32,0.00,2.30,0.00,0.000,260,0.000,0.056,1843,2760,2960,2960,4095,0,0,0,0,0,0,26.24,25.94,26.25,10.43,51.02
$GC,107,-1.61,-390.0,1842,2759,2962,4095,9.1,-13.2,13,116,0.00,2.20,0.00,0.000,1030,0.000,0.032,1843,1906,2962,2962,4095,0,0,0,0,0,0,26.10,26.06,26.12,10.43,50.55
$GC,153,-1.61,-390.0,1842,1905,2963,4095,15.0,-13.4,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1906,2963,2963,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.43,50.78
$GC,199,-1.61,-390.0,1842,1905,2964,4095,21.0,-12.9,25,208,0.00,2.40,0.00,0.000,516,0.000,0.071,1843,1029,2964,2964,4095,0,0,0,0,0,0,26.39,26.04,26.39,10.42,49.96
$GC,231,-1.61,-390.0,1842,1029,2964,4095,24.5,-10.3,29,241,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1888,2965,2965,4095,0,0,0,0,0,0,26.20,26.16,26.21,10.38,49.52
$GC,276,-1.61,-390.0,1842,1888,2966,4095,28.9,-9.7,35,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1888,2965,2965,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.37,48.50
$GC,321,-1.61,-390.0,1842,1889,2966,4095,33.6,-10.8,41,329,0.00,2.33,0.00,0.000,260,0.000,0.056,1843,2759,2966,2966,4095,0,0,0,0,0,0,26.44,26.15,26.46,10.35,47.75
$GC,358,-1.61,-390.0,1842,2758,2967,4095,37.8,-11.2,46,368,0.00,2.20,0.00,0.000,1030,0.000,0.032,1843,1900,2967,2967,4095,0,0,0,0,0,0,26.23,26.18,26.25,10.34,47.08
$GC,405,-1.61,-390.0,1842,1900,2968,4095,42.8,-10.6,52,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1900,2968,2968,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.33,46.14
$GC,451,-1.61,-390.0,1842,1900,2969,4094,47.8,-11.3,58,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1900,2969,2969,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.33,45.66
$GC,496,-1.61,-390.0,1842,1899,2970,4095,53.1,-12.0,64,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1900,2970,2970,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.32,46.10
$GC,542,-1.61,-390.0,1842,1900,2970,4095,58.7,-12.5,70,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1900,2971,2971,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.31,45.23
$STATE,559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,564,-0.45,0.0,1842,2038,2972,4094,61.0,-12.1,72,599,3.95,0.00,23.08,1.288,10244,0.059,0.000,2204,2039,2500,2500,4095,0,0,0,0,0,0,26.26,25.29,24.62,10.31,45.31
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,602,1.61,390.0,2204,2038,2500,4095,63.3,0.0,76,638,7.00,0.00,22.62,1.265,11270,0.037,0.000,2862,2039,2045,2045,4095,0,0,0,0,0,0,25.72,25.89,24.15,10.21,45.43
$GC,676,1.61,390.0,2861,2038,2045,4095,58.1,9.9,85,684,0.00,2.28,0.00,0.000,260,0.000,0.058,2861,2857,2045,2045,4094,0,0,0,0,0,0,25.62,25.32,25.63,10.10,44.09
$GC,726,1.61,390.0,2861,2856,2043,4094,52.0,12.4,92,734,0.00,2.22,0.00,0.000,1030,0.000,0.031,2862,2009,2043,2043,4094,0,0,0,0,0,0,25.57,25.51,25.59,10.10,44.95
$GC,770,1.61,390.0,2861,2009,2042,4094,46.7,11.3,98,780,0.00,2.38,0.00,0.000,516,0.000,0.070,2862,1154,2042,2042,4094,0,0,0,0,0,0,25.89,25.59,25.89,10.10,44.29
$GC,828,1.61,390.0,2861,1154,2041,4094,39.9,11.7,106,838,0.00,2.08,0.00,0.000,1030,0.000,0.030,2862,1975,2041,2041,4094,0,0,0,0,0,0,25.83,25.75,25.80,10.09,44.95
$GC,875,1.61,390.0,2861,1975,2040,4094,34.8,11.4,112,884,0.00,2.47,0.00,0.000,260,0.000,0.060,2862,2874,2039,2039,4094,0,0,0,0,0,0,26.06,25.74,26.06,10.09,45.58
$GC,939,1.61,390.0,2861,2874,2038,4094,26.6,12.7,121,949,0.00,2.28,0.00,0.000,1030,0.000,0.032,2862,1999,2038,2038,4095,0,0,0,0,0,0,25.91,25.86,25.93,10.08,45.62
$GC,985,1.61,390.0,2861,1999,2036,4095,21.1,12.0,127,993,0.00,2.30,0.00,0.000,516,0.000,0.070,2862,1162,2036,2036,4095,0,0,0,0,0,0,26.17,25.84,26.19,10.08,45.62
$GC,1062,1.61,390.0,2861,1162,2035,4095,13.3,9.5,138,1071,0.00,2.05,0.00,0.000,1030,0.000,0.031,2862,1980,2034,2034,4094,0,0,0,0,0,0,26.03,26.00,26.05,10.15,47.75
$GC,1107,1.61,390.0,2861,1980,2034,4094,9.0,9.6,144,1116,0.00,2.47,0.00,0.000,260,0.000,0.061,2862,2885,2034,2034,4094,0,0,0,0,0,0,26.28,25.96,26.29,10.17,48.77
$GC,1139,1.61,390.0,2861,2884,2033,4094,5.7,10.4,148,1148,0.00,2.33,0.00,0.000,1030,0.000,0.033,2862,1985,2033,2033,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.18,49.29
$STATE,1182,end climb,FINISH_DEPTH_REACHED
$STATE,1182,begin subsurface finish
$FINISH1,1.3,1.024271,93
$GC,1189,0.14,92.6,2862,2039,2032,4094,1.3,9.2,154,1208,4.68,2.53,-3.25,0.000,20996,0.026,1.310,2409,1157,2398,2398,4094,0,0,0,0,0,0,26.09,24.95,26.15,10.19,49.44
$FINISH2,0.2
$STATE,1209,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1209,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,162231
$TT8_MAMPS,0.026215,0.241927
$HUMID,50.27
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.15,5.681
$10V_AH,10.21,7.333
$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,20.975,41.250,45.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.753,0.000,133.133,651.323,42.623,33.423,397.339,0.000,377.688,0.000,0.541,0.000
$DEVICE_MAMPS,58.905,1310.445,1288.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.736,423.784,335.467,497.305,649.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331020
$DATA_FILE_SIZE,14351,156
$CAP_FILE_SIZE,32415,0
$CFSIZE,1024409600,1008205824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,174937,5942.780,-17112.416,6,0.9,16,8.3,0.0,0.0,10,4.9