version: 66.13
glider: 401
mission: 22
dive: 231
start: 7 30 117 18 37 26
data:
$ID,401
$MISSION,22
$DIVE,231
$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,18
$R_STBD_OVSHOOT,28
$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,0.19
$_SM_ANGLEo,-2.2
$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,-0.250903,0.228900
$KALMAN_X,30058.947266,-1553.123901,-613.185181,-72327.250000,11.446838
$KALMAN_Y,6383.642578,1847.435547,280.172272,42358.730469,-137.463318
$MHEAD_RNG_PITCHd_Wd,304.1,15343,-11.3,-9.091,-14.99,6429
$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,7,-1.61,-390.0,2409,1895,2398,4092,0.0,0.0,0,18,5.85,0.00,-2.10,0.000,20482,0.027,0.000,1842,1897,2630,2630,4094,0,0,0,0,0,0,26.03,28.83,26.08,10.30,50.98
$GC,20,-1.61,-390.0,1842,1896,2630,4094,0.1,0.0,1,26,0.00,0.00,-3.00,0.000,16390,0.000,0.000,1842,1897,2961,2961,4095,0,0,0,0,0,0,26.23,25.18,26.24,10.36,51.53
$GC,57,-1.61,-390.0,1842,1896,2962,4095,0.3,-0.3,7,63,0.00,2.38,0.00,0.000,516,0.000,0.071,1842,1028,2962,2962,4094,0,0,0,0,0,0,26.25,25.90,26.25,10.41,50.78
$GC,118,-1.61,-390.0,1842,1028,2963,4094,7.5,-14.1,17,124,0.00,2.17,0.00,0.000,1030,0.000,0.032,1842,1902,2963,2963,4095,0,0,0,0,0,0,26.10,26.03,26.13,10.43,50.59
$GC,155,-1.61,-390.0,1841,1902,2964,4095,12.6,-13.6,23,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1902,2964,2964,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.43,50.19
$GC,191,-1.61,-390.0,1841,1902,2965,4094,17.4,-13.2,29,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1902,2965,2965,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.44,50.39
$GC,227,-1.61,-390.0,1841,1906,2966,4094,21.8,-11.2,35,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,2966,2966,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.40,49.92
$GC,263,-1.61,-390.0,1842,1906,2966,4094,25.4,-9.9,41,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,2966,2966,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.38,49.37
$GC,299,-1.61,-390.0,1841,1906,2967,4094,29.1,-10.4,47,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1907,2967,2967,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.36,48.46
$GC,335,-1.61,-390.0,1842,1907,2968,4094,33.0,-10.9,53,341,0.00,2.28,0.00,0.000,260,0.000,0.057,1842,2761,2968,2968,4095,0,0,0,0,0,0,26.42,26.10,26.43,10.35,47.95
$GC,360,-1.61,-390.0,1841,2761,2969,4095,35.9,-11.3,57,366,0.00,2.15,0.00,0.000,1030,0.000,0.031,1842,1912,2969,2969,4094,0,0,0,0,0,0,26.23,26.15,26.26,10.34,47.79
$GC,397,-1.61,-390.0,1841,1912,2969,4094,40.0,-11.3,63,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1912,2969,2969,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.33,46.85
$GC,433,-1.61,-390.0,1841,1912,2970,4094,44.1,-11.7,69,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1912,2970,2970,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.33,46.37
$GC,469,-1.61,-390.0,1841,1912,2971,4095,48.3,-11.7,75,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1912,2971,2971,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.32,46.18
$GC,505,-1.61,-390.0,1841,1912,2971,4094,52.4,-11.6,81,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1912,2971,2971,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.31,46.69
$GC,542,-1.61,-390.0,1842,1911,2973,4095,56.6,-12.4,87,547,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1912,2973,2973,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.31,45.66
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,575,-0.45,0.0,1842,2046,2973,4095,60.4,-12.8,92,608,3.95,0.00,23.10,1.285,10244,0.060,0.000,2205,2046,2499,2499,4094,0,0,0,0,0,0,26.23,25.27,24.60,10.31,45.78
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,609,begin climb
$GC,611,1.61,390.0,2205,2045,2499,4094,62.8,0.0,98,644,7.00,0.00,22.58,1.254,11270,0.039,0.000,2860,2046,2045,2045,4094,0,0,0,0,0,0,25.70,25.86,24.13,10.21,45.66
$GC,675,1.61,390.0,2860,2046,2044,4094,57.7,9.6,109,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2046,2044,2044,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.10,44.68
$GC,711,1.61,390.0,2860,2046,2043,4094,53.6,11.3,115,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2046,2043,2043,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.10,44.60
$GC,747,1.61,390.0,2860,2046,2042,4094,49.6,11.2,121,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2042,2042,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.08,44.76
$GC,783,1.61,390.0,2860,2045,2041,4094,45.8,10.7,127,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2046,2041,2041,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.09,44.99
$GC,819,1.61,390.0,2860,2045,2041,4094,41.8,11.3,133,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2046,2041,2041,4094,0,0,0,0,0,0,25.96,25.97,25.96,10.09,45.07
$GC,856,1.61,390.0,2860,2046,2039,4094,37.7,11.0,139,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2046,2039,2039,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.08,45.82
$GC,892,1.61,390.0,2860,2046,2039,4094,33.4,11.6,145,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2046,2038,2038,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.08,45.51
$GC,928,1.61,390.0,2860,2046,2037,4094,29.4,11.1,151,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2046,2037,2037,4095,0,0,0,0,0,0,26.10,26.12,26.12,10.07,45.74
$GC,964,1.61,390.0,2860,2046,2037,4095,25.4,11.0,157,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2046,2036,2036,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.07,45.82
$GC,1000,1.61,390.0,2860,2046,2036,4094,21.1,11.8,163,1006,0.00,2.45,0.00,0.000,516,0.000,0.067,2860,1152,2035,2035,4094,0,0,0,0,0,0,26.18,25.84,26.20,10.07,45.90
$GC,1049,1.61,390.0,2860,1151,2034,4094,16.0,9.3,171,1055,0.00,2.05,0.00,0.000,1030,0.000,0.029,2861,1981,2035,2035,4094,0,0,0,0,0,0,26.04,25.98,26.06,10.12,47.04
$GC,1086,1.61,390.0,2860,1980,2034,4094,12.6,9.2,177,1092,0.00,2.40,0.00,0.000,260,0.000,0.060,2861,2877,2034,2034,4094,0,0,0,0,0,0,26.25,25.93,26.27,10.14,48.22
$GC,1135,1.61,390.0,2860,2877,2033,4094,7.6,10.2,185,1141,0.00,2.22,0.00,0.000,1030,0.000,0.031,2861,2005,2033,2033,4094,0,0,0,0,0,0,26.10,26.02,26.12,10.16,49.25
$GC,1172,1.61,390.0,2860,2005,2032,4094,4.1,9.2,191,1178,0.00,2.30,0.00,0.000,516,0.000,0.070,2861,1154,2031,2031,4094,0,0,0,0,0,0,26.31,25.97,26.32,10.18,49.88
$STATE,1195,end climb,SURFACE_DEPTH_REACHED
$STATE,1195,begin surface coast
$FINISH,0.5,0.959929
$STATE,1214,end surface coast,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$SM_CCo,1311,0.00,0.000,0,0,2030,404.40
$SM_GC,1.09,27.65,1.90,0.00,0.024,0.031,0.000,231,1899,2030,-6.65,-1.37,404.40,0,0,0,0,0,0,26.03,26.13,26.11
$IRIDIUM_FIX,5955.74,-17228.01,300717,162231
$TT8_MAMPS,0.025466,0.088382
$HUMID,51.65
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.13,5.698
$10V_AH,10.52,7.344
$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,44.450,24.425,45.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,449.551,413.003,169.510,297.257,44.365,33.418,390.358,0.000,295.225,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,71.145,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,331020
$DATA_FILE_SIZE,14332,198
$CAP_FILE_SIZE,38394,0
$CFSIZE,1024409600,1008140288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,190027,5943.447,-17113.977,8,0.8,36,8.3,0.3,24.3,11,4.9