version: 66.13
glider: 401
mission: 22
dive: 234
start: 7 30 117 19 52 15
data:
$ID,401
$MISSION,22
$DIVE,234
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,300717,190640,5943.4795,-17114.0430,6,0.8,28,8.3,0.2,292.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,0.5
$GPS2,300717,190640,5943.4795,-17114.0430,6,0.8,28,8.3,0.2,292.7,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.322899,0.105575
$KALMAN_X,29880.347656,-1699.011719,-739.683289,-73417.882812,60.178223
$KALMAN_Y,6893.680664,1894.956421,378.265350,42998.355469,34.199921
$MHEAD_RNG_PITCHd_Wd,279.8,13406,-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,-390.0,2367,1926,2507,4092,0.0,0.0,0,20,5.30,0.03,-2.83,0.000,20486,0.030,1.457,1857,1900,2962,2962,4095,0,0,0,0,0,0,26.10,25.04,26.11,10.32,51.33
$GC,23,-1.61,-390.0,1857,1900,2962,4095,1.9,0.0,1,32,0.00,2.35,0.00,0.000,260,0.000,0.058,1857,2760,2962,2962,4094,0,0,0,0,0,0,26.25,25.94,26.25,10.41,51.26
$GC,87,-1.61,-390.0,1857,2760,2963,4094,9.3,-12.2,10,96,0.00,2.22,0.00,0.000,1030,0.000,0.033,1857,1898,2964,2964,4094,0,0,0,0,0,0,26.09,26.04,26.10,10.42,51.06
$GC,131,-1.61,-390.0,1857,1898,2964,4094,15.0,-12.9,16,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1899,2964,2964,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.43,51.02
$GC,176,-1.61,-390.0,1857,1898,2966,4094,20.6,-12.2,22,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1898,2966,2966,4095,0,0,0,0,0,0,26.37,26.38,26.38,10.41,50.27
$GC,221,-1.61,-390.0,1857,1898,2965,4095,25.2,-9.7,28,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1899,2966,2966,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,50.66
$GC,264,-1.61,-390.0,1856,1898,2967,4095,29.6,-10.0,34,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1899,2967,2967,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.36,48.93
$GC,308,-1.61,-390.0,1857,1898,2968,4095,34.2,-10.5,40,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1899,2968,2968,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.34,47.59
$GC,353,-1.61,-390.0,1857,1898,2969,4094,38.6,-9.6,46,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1899,2969,2969,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.32,47.28
$GC,397,-1.61,-390.0,1856,1898,2969,4094,43.2,-10.5,52,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1899,2970,2970,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.32,46.41
$GC,441,-1.61,-390.0,1857,1898,2970,4095,48.1,-10.7,58,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1899,2971,2971,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.31,45.82
$GC,485,-1.61,-390.0,1856,1898,2971,4095,52.5,-10.0,64,494,0.00,2.35,0.00,0.000,260,0.000,0.057,1857,2762,2971,2971,4094,0,0,0,0,0,0,26.51,26.20,26.53,10.31,46.37
$GC,517,-1.61,-390.0,1856,2762,2972,4094,55.9,-10.9,68,525,0.00,2.20,0.00,0.000,1030,0.000,0.032,1857,1902,2972,2972,4094,0,0,0,0,0,0,26.29,26.27,26.33,10.30,45.23
$STATE,559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,564,-0.45,0.0,1857,2044,2973,4094,60.5,-10.5,74,600,3.80,0.00,22.80,1.283,10244,0.058,0.000,2205,2044,2507,2507,4094,0,0,0,0,0,0,26.25,25.30,24.63,10.30,45.86
$STATE,601,end apogee,CONTROL_FINISHED_OK
$STATE,601,begin climb
$GC,603,1.61,390.0,2205,2043,2506,4094,62.9,0.0,78,639,7.00,0.00,22.90,1.266,11270,0.037,0.000,2863,2044,2046,2046,4094,0,0,0,0,0,0,25.74,25.91,24.15,10.19,44.68
$GC,676,1.61,390.0,2862,2043,2045,4094,58.2,9.8,87,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2045,2045,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.09,44.40
$GC,722,1.61,390.0,2862,2043,2044,4094,53.4,11.0,93,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2044,2044,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.09,44.32
$GC,768,1.61,390.0,2862,2043,2043,4094,47.9,12.5,99,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2043,2043,2043,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.09,44.17
$GC,814,1.61,390.0,2862,2043,2041,4094,42.4,11.4,105,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2042,2042,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.08,44.68
$GC,859,1.61,390.0,2862,2043,2041,4094,37.2,11.6,111,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2040,2040,4094,0,0,0,0,0,0,26.03,26.06,26.06,10.08,45.19
$GC,903,1.61,390.0,2862,2043,2040,4094,31.9,11.7,117,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2039,2039,4094,0,0,0,0,0,0,26.09,26.11,26.10,10.07,45.11
$GC,947,1.61,390.0,2862,2043,2038,4094,26.9,11.2,123,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2039,2039,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.07,45.82
$GC,990,1.61,390.0,2862,2043,2037,4094,21.7,12.0,129,999,0.00,2.47,0.00,0.000,516,0.000,0.067,2863,1152,2037,2037,4094,0,0,0,0,0,0,26.19,25.85,26.20,10.08,45.86
$GC,1067,1.64,411.9,2862,1151,2035,4094,14.5,8.7,140,1077,0.00,2.10,2.58,0.213,9222,0.000,0.030,2863,1988,2019,2019,4094,0,0,0,0,0,0,26.04,26.01,25.26,10.14,47.44
$GC,1115,1.64,411.9,2862,1988,2018,4094,10.1,9.5,146,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1988,2018,2018,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,48.85
$GC,1161,1.81,522.9,2862,1990,2017,4094,6.7,7.3,152,1180,0.52,2.42,7.28,0.576,10500,0.041,0.057,2920,2886,1888,1888,4094,0,0,0,0,0,0,26.07,25.89,25.32,10.17,49.33
$STATE,1215,end climb,SURFACE_DEPTH_REACHED
$STATE,1216,begin surface coast
$FINISH,0.1,1.008918
$STATE,1238,end surface coast,CONTROL_FINISHED_OK
$STATE,1239,begin surface
$SM_CCo,1339,0.00,0.000,0,0,1886,528.04
$SM_GC,1.03,28.33,2.60,0.00,0.024,0.034,0.000,231,1899,1886,-6.65,0.87,528.04,0,0,0,0,0,0,25.94,26.00,26.05
$IRIDIUM_FIX,5955.74,-17228.01,300717,174432
$TT8_MAMPS,0.025466,0.242676
$HUMID,50.07
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,24.15,5.767
$10V_AH,10.22,7.432
$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,44.950,20.950,55.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,457.712,60.161,164.613,672.064,46.887,33.416,429.188,0.000,391.817,0.000,0.539,0.000
$DEVICE_MAMPS,58.140,1457.325,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.968,440.043,348.340,516.676,669.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331004
$DATA_FILE_SIZE,14409,162
$CAP_FILE_SIZE,33569,0
$CFSIZE,1024409600,1007992832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,201556,5944.278,-17115.461,8,1.1,48,8.2,0.4,303.3,9,5.0