version: 66.13
glider: 401
mission: 22
dive: 236
start: 7 30 117 20 46 51
data:
$ID,401
$MISSION,22
$DIVE,236
$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,24
$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
$GPS1,300717,202256,5944.3491,-17115.4746,5,1.2,50,8.2,0.6,354.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-2.8
$GPS2,300717,202256,5944.3491,-17115.4746,5,1.2,50,8.2,0.6,354.0,8,3.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339299,-0.002817
$KALMAN_X,29551.451172,-1796.261597,-808.448792,-74279.226562,-36.499634
$KALMAN_Y,7987.851074,2033.341919,545.608459,43208.195312,190.424255
$MHEAD_RNG_PITCHd_Wd,261.3,11538,-11.3,-9.091,-15.00,6414
$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,-389.4,2369,1914,2502,4092,0.0,0.0,0,20,5.45,0.00,-4.15,0.000,20486,0.028,0.000,1845,1915,2958,2958,4094,0,0,0,0,0,0,26.08,25.19,26.10,10.34,50.98
$GC,22,-1.61,-389.4,1845,1914,2958,4094,0.1,0.0,1,30,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1915,2958,2958,4095,0,0,0,0,0,0,26.27,26.28,26.27,10.44,50.98
$GC,65,-1.61,-390.0,1845,1914,2959,4095,1.6,-6.2,7,74,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1915,2959,2959,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.44,50.39
$GC,110,-1.61,-390.0,1844,1914,2960,4095,6.8,-12.5,13,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1915,2960,2960,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.44,50.23
$GC,154,-1.61,-390.0,1845,1914,2961,4095,12.3,-12.6,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1915,2961,2961,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.44,49.88
$GC,198,-1.61,-390.0,1845,1914,2962,4095,17.8,-12.7,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1915,2962,2962,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.44,49.68
$GC,242,-1.61,-390.0,1844,1914,2962,4094,22.3,-9.2,31,251,0.00,2.40,0.00,0.000,516,0.000,0.070,1845,1036,2963,2963,4095,0,0,0,0,0,0,26.43,26.11,26.44,10.43,49.88
$GC,313,-1.61,-390.0,1844,1036,2964,4095,28.7,-8.9,41,322,0.00,2.17,0.00,0.000,1030,0.000,0.030,1845,1911,2964,2964,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.38,48.30
$GC,360,-1.61,-390.0,1845,1911,2965,4095,32.6,-8.5,47,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,2965,2965,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.36,47.99
$GC,403,-1.61,-390.0,1844,1910,2966,4095,36.6,-9.3,53,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,2966,2966,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.35,46.85
$GC,447,-1.61,-390.0,1844,1910,2966,4095,40.7,-9.1,59,456,0.00,2.40,0.00,0.000,516,0.000,0.069,1845,1036,2966,2966,4094,0,0,0,0,0,0,26.51,26.17,26.53,10.34,46.02
$GC,538,-1.61,-390.0,1844,1036,2968,4094,49.8,-10.9,72,547,0.00,2.12,0.00,0.000,1030,0.000,0.031,1845,1895,2968,2968,4094,0,0,0,0,0,0,26.34,26.32,26.36,10.32,45.15
$GC,585,-1.61,-390.0,1844,1894,2969,4094,54.3,-9.9,78,593,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1895,2969,2969,4095,0,0,0,0,0,0,26.55,26.58,26.57,10.32,45.47
$GC,630,-1.61,-390.0,1844,1894,2970,4095,59.3,-10.7,84,639,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1895,2970,2970,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.32,45.31
$STATE,647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,647,begin apogee
$GC,652,-0.45,0.0,1845,2037,2970,4094,61.4,-11.0,86,687,3.95,0.00,22.90,1.287,10244,0.061,0.000,2206,2038,2500,2500,4094,0,0,0,0,0,0,26.29,25.32,24.65,10.30,45.07
$STATE,689,end apogee,CONTROL_FINISHED_OK
$STATE,689,begin climb
$GC,690,1.61,390.0,2205,2038,2500,4094,63.9,0.0,90,725,6.97,0.00,22.67,1.270,11270,0.037,0.000,2863,2038,2045,2045,4094,0,0,0,0,0,0,25.76,25.94,24.17,10.22,44.36
$GC,763,1.61,390.0,2862,2038,2044,4094,59.1,10.1,99,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2044,2044,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.11,43.97
$GC,809,1.61,390.0,2863,2038,2043,4094,54.0,11.5,105,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2043,2043,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.10,44.72
$GC,854,1.61,390.0,2862,2037,2042,4094,48.4,11.7,111,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2041,2041,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.10,44.56
$GC,900,1.61,390.0,2862,2037,2041,4094,43.2,11.4,117,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2041,2041,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.10,44.44
$GC,946,1.61,390.0,2862,2038,2039,4094,37.9,11.8,123,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2039,2039,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.09,44.99
$GC,992,1.61,390.0,2862,2037,2038,4094,32.6,11.5,129,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2038,2038,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.09,44.95
$GC,1038,1.61,390.0,2862,2038,2037,4094,27.3,11.2,135,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2037,2037,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.08,45.31
$GC,1083,1.61,390.0,2863,2038,2036,4094,21.9,12.0,141,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2035,2035,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.09,45.11
$GC,1127,1.61,390.0,2862,2038,2035,4094,17.5,9.4,147,1136,0.00,2.45,0.00,0.000,516,0.000,0.067,2863,1153,2034,2034,4094,0,0,0,0,0,0,26.25,25.89,26.26,10.13,46.69
$GC,1185,1.61,390.0,2862,1153,2034,4094,11.7,10.2,155,1194,0.00,2.10,0.00,0.000,1030,0.000,0.029,2863,1990,2033,2033,4094,0,0,0,0,0,0,26.07,26.03,26.10,10.16,49.01
$GC,1231,1.61,390.0,2862,1990,2032,4094,7.3,9.8,161,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1990,2032,2032,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.18,49.17
$GC,1277,1.61,390.0,2862,1990,2031,4094,2.5,10.0,167,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1994,2030,2030,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.19,49.60
$STATE,1294,end climb,FINISH_DEPTH_REACHED
$STATE,1294,begin subsurface finish
$FINISH1,0.6,1.024264,93
$GC,1300,0.14,93.1,2863,1995,2030,4094,0.6,10.1,169,1318,4.70,2.40,-3.25,0.000,20996,0.030,1.313,2408,1158,2396,2396,4094,0,0,0,0,0,0,26.13,25.01,26.18,10.20,49.72
$FINISH2,0.2
$STATE,1319,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1319,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,190154
$TT8_MAMPS,0.026215,0.237433
$HUMID,51.06
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.17,5.820
$10V_AH,10.23,7.487
$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,21.075,18.225,45.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,475.268,0.395,144.223,710.962,47.091,33.426,428.781,0.000,412.380,0.000,0.542,0.000
$DEVICE_MAMPS,61.200,1312.740,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.008,464.519,367.675,544.798,707.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330968
$DATA_FILE_SIZE,17812,171
$CAP_FILE_SIZE,32832,0
$CFSIZE,1024409600,1007878144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,202256,5944.349,-17115.475,5,1.2,50,8.2,0.6,354.0,8,3.0