version: 66.13
glider: 401
mission: 22
dive: 240
start: 7 30 117 22 25 20
data:
$ID,401
$MISSION,22
$DIVE,240
$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,29
$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
$GPS1,300717,213937,5945.1792,-17116.2910,6,0.7,22,8.2,0.2,48.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,1.2
$GPS2,300717,213937,5945.1792,-17116.2910,6,0.7,22,8.2,0.2,48.0,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.325867,-0.094895
$KALMAN_X,30457.669922,-1863.477783,-801.941345,-75893.921875,160.740112
$KALMAN_Y,9273.018555,2252.552490,773.876831,43010.968750,196.165588
$MHEAD_RNG_PITCHd_Wd,245.6,10334,-11.3,-9.091,-14.99,6418
$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,-389.7,2369,1886,2509,4092,0.0,0.0,0,20,5.32,0.00,-2.78,0.000,20486,0.034,0.000,1860,1886,2960,2960,4095,0,0,0,0,0,0,26.16,25.27,26.19,10.32,51.18
$GC,23,-1.61,-389.7,1860,1886,2961,4095,1.9,0.0,1,32,0.00,2.38,0.00,0.000,260,0.000,0.054,1861,2761,2961,2961,4095,0,0,0,0,0,0,26.30,26.01,26.31,10.42,51.92
$GC,107,-1.61,-389.7,1860,2761,2962,4095,11.3,-11.8,13,116,0.00,2.20,0.00,0.000,1030,0.000,0.032,1860,1904,2962,2962,4095,0,0,0,0,0,0,26.17,26.11,26.18,10.42,51.22
$GC,153,-1.61,-389.7,1859,1904,2963,4095,17.0,-12.7,19,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1904,2964,2964,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.42,50.55
$GC,196,-1.61,-389.7,1859,1904,2964,4094,22.3,-11.2,25,205,0.00,2.38,0.00,0.000,516,0.000,0.071,1860,1032,2964,2964,4094,0,0,0,0,0,0,26.43,26.08,26.44,10.41,50.11
$GC,255,-1.61,-389.7,1860,1032,2965,4094,28.3,-10.8,33,265,0.00,2.17,0.00,0.000,1030,0.000,0.031,1860,1900,2965,2965,4095,0,0,0,0,0,0,26.24,26.21,26.26,10.36,50.23
$GC,302,-1.61,-389.7,1860,1900,2966,4095,33.3,-10.6,39,311,0.00,2.30,0.00,0.000,260,0.000,0.058,1860,2759,2966,2966,4094,0,0,0,0,0,0,26.47,26.15,26.48,10.34,48.93
$GC,360,-1.61,-389.7,1859,2759,2967,4094,39.6,-10.4,47,368,0.00,2.17,0.00,0.000,1030,0.000,0.031,1860,1906,2967,2967,4094,0,0,0,0,0,0,26.25,26.23,26.29,10.33,46.96
$GC,406,-1.61,-389.7,1859,1906,2968,4094,44.2,-10.6,53,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1906,2968,2968,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.32,46.57
$GC,451,-1.61,-389.7,1859,1906,2969,4094,49.0,-10.7,59,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1906,2969,2969,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.31,46.49
$GC,497,-1.61,-389.7,1859,1906,2970,4094,53.9,-10.8,65,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1906,2970,2970,4095,0,0,0,0,0,0,26.55,26.55,26.56,10.31,45.55
$GC,543,-1.61,-389.7,1859,1906,2970,4095,58.8,-10.7,71,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1906,2971,2971,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.31,45.70
$STATE,560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,560,begin apogee
$GC,565,-0.45,0.0,1860,2046,2971,4094,60.9,-10.5,73,601,3.75,0.03,22.77,1.283,10244,0.059,0.074,2203,2019,2504,2504,4095,0,0,0,0,0,0,26.28,25.32,24.65,10.30,45.58
$STATE,602,end apogee,CONTROL_FINISHED_OK
$STATE,602,begin climb
$GC,604,1.61,389.7,2203,2018,2504,4095,63.1,0.0,77,640,7.00,0.00,22.65,1.263,11270,0.037,0.000,2861,2019,2050,2050,4094,0,0,0,0,0,0,25.76,25.94,24.20,10.20,45.39
$GC,677,1.61,389.7,2860,2018,2050,4094,58.2,10.8,86,686,0.00,2.35,0.17,0.002,8452,0.000,0.056,2861,2856,2049,2049,4094,0,0,0,0,0,0,25.65,25.34,25.65,10.10,44.60
$GC,724,1.61,389.7,2861,2856,2048,4094,52.6,12.4,92,732,0.00,2.20,0.00,0.000,1030,0.000,0.031,2861,2019,2048,2048,4094,0,0,0,0,0,0,25.58,25.54,25.60,10.09,44.17
$GC,769,1.61,389.7,2861,2018,2047,4094,47.3,11.5,98,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2019,2047,2047,4095,0,0,0,0,0,0,25.90,25.91,25.91,10.09,44.48
$GC,813,1.61,389.7,2861,2018,2046,4095,42.2,11.6,104,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2019,2045,2045,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.09,45.47
$GC,857,1.61,389.7,2860,2018,2045,4094,37.2,11.3,110,866,0.00,2.40,0.00,0.000,516,0.000,0.070,2861,1145,2045,2045,4094,0,0,0,0,0,0,26.05,25.72,26.06,10.08,44.72
$GC,909,1.61,389.7,2860,1145,2043,4094,31.1,11.9,117,918,0.00,2.12,0.00,0.000,1030,0.000,0.030,2861,1986,2043,2043,4094,0,0,0,0,0,0,25.90,25.88,25.92,10.08,45.47
$GC,954,1.61,389.7,2860,1986,2042,4094,26.0,11.3,123,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1987,2042,2042,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.07,45.66
$GC,998,1.61,389.7,2861,1986,2041,4094,21.1,10.4,129,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1987,2041,2041,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.08,45.31
$GC,1044,1.61,389.7,2861,1987,2041,4094,16.8,9.3,135,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1988,2040,2040,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.13,46.29
$GC,1090,1.61,389.7,2860,1989,2039,4094,12.5,9.6,141,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1989,2039,2039,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.15,48.30
$GC,1133,1.61,389.7,2861,1989,2038,4094,7.8,10.5,147,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1989,2038,2038,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.17,49.21
$GC,1177,1.61,389.7,2860,1989,2037,4095,3.1,10.8,153,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1989,2037,2037,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.18,49.05
$STATE,1194,end climb,SURFACE_DEPTH_REACHED
$STATE,1194,begin surface coast
$FINISH,0.3,1.024241
$STATE,1215,end surface coast,CONTROL_FINISHED_OK
$STATE,1215,begin surface
$SM_CCo,1311,0.00,0.000,0,0,2036,400.11
$SM_GC,1.00,27.67,0.25,0.00,0.024,0.072,0.000,231,1899,2036,-6.65,0.91,400.11,0,0,0,0,0,0,26.02,26.10,26.13
$IRIDIUM_FIX,5955.74,-17228.01,300717,201725
$TT8_MAMPS,0.024717,0.235935
$HUMID,50.23
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,24.20,5.904
$10V_AH,10.21,7.585
$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,43.750,23.525,45.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.125,59.707,155.153,657.334,45.865,33.417,415.245,0.000,382.723,0.000,0.540,0.000
$DEVICE_MAMPS,58.905,74.205,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.223,429.216,339.735,503.978,654.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330996
$DATA_FILE_SIZE,14486,158
$CAP_FILE_SIZE,33438,0
$CFSIZE,1024409600,1007697920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,224805,5945.729,-17116.676,5,0.9,20,8.2,0.6,57.8,10,4.8