version: 66.13
glider: 401
mission: 22
dive: 242
start: 7 30 117 23 17 44
data:
$ID,401
$MISSION,22
$DIVE,242
$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,27
$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
$GPS1,300717,225437,5945.7808,-17116.5664,10,0.8,25,8.2,0.0,42.7,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-1.1
$GPS2,300717,225437,5945.7808,-17116.5664,10,0.8,25,8.2,0.0,42.7,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.328072,-0.086446
$KALMAN_X,30908.353516,-1831.260864,-725.962830,-76712.500000,140.720154
$KALMAN_Y,10328.492188,2372.571289,878.272461,42843.804688,160.122498
$MHEAD_RNG_PITCHd_Wd,247.0,9850,-11.3,-9.091,-15.00,6412
$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,-389.3,2367,1892,2509,4092,0.0,0.0,0,19,5.43,0.00,-2.35,0.000,20486,0.031,0.000,1844,1893,2965,2965,4095,0,0,0,0,0,0,26.18,25.28,26.21,10.33,50.63
$GC,22,-1.61,-389.3,1844,1892,2965,4095,3.1,0.0,1,30,0.00,2.35,0.00,0.000,260,0.000,0.052,1844,2764,2965,2965,4095,0,0,0,0,0,0,26.32,26.03,26.33,10.43,50.66
$GC,124,-1.61,-389.3,1844,2763,2967,4095,15.8,-13.1,16,134,0.00,2.17,0.00,0.000,1030,0.000,0.031,1844,1913,2968,2968,4094,0,0,0,0,0,0,26.18,26.14,26.21,10.44,50.11
$GC,171,-1.61,-389.3,1844,1913,2969,4094,21.7,-13.0,22,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1913,2969,2969,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.42,50.63
$GC,217,-1.61,-389.3,1844,1913,2969,4095,26.7,-11.0,28,226,0.00,2.38,0.00,0.000,516,0.000,0.070,1844,1040,2969,2969,4095,0,0,0,0,0,0,26.46,26.10,26.46,10.38,50.07
$GC,282,-1.61,-389.3,1844,1040,2971,4095,34.3,-11.6,37,291,0.00,2.15,0.00,0.000,1030,0.000,0.031,1844,1899,2971,2971,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.35,47.99
$GC,327,-1.61,-389.3,1844,1898,2972,4095,39.2,-10.9,43,336,0.00,2.30,0.00,0.000,260,0.000,0.058,1844,2759,2972,2972,4095,0,0,0,0,0,0,26.50,26.17,26.51,10.34,47.51
$GC,378,-1.61,-389.3,1844,2759,2973,4095,44.8,-10.9,50,388,0.00,2.17,0.00,0.000,1030,0.000,0.031,1844,1906,2973,2973,4094,0,0,0,0,0,0,26.29,26.25,26.31,10.33,46.33
$GC,425,-1.61,-389.3,1844,1906,2974,4094,49.8,-11.2,56,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1906,2973,2973,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.32,45.90
$GC,471,-1.61,-389.3,1843,1906,2975,4094,55.0,-11.0,62,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1906,2974,2974,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.32,46.06
$STATE,515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,515,begin apogee
$GC,520,-0.45,0.0,1844,2042,2976,4095,60.1,-10.9,68,556,3.95,0.00,23.15,1.280,10244,0.060,0.000,2205,2042,2500,2500,4095,0,0,0,0,0,0,26.28,25.31,24.64,10.31,45.07
$STATE,557,end apogee,CONTROL_FINISHED_OK
$STATE,557,begin climb
$GC,559,1.61,389.3,2205,2042,2500,4095,62.5,0.0,72,594,7.00,0.00,22.52,1.257,11270,0.037,0.000,2862,2041,2046,2046,4094,0,0,0,0,0,0,25.75,25.92,24.18,10.21,44.52
$GC,632,1.61,389.3,2861,2041,2045,4094,57.5,10.3,81,641,0.00,2.28,0.00,0.000,260,0.000,0.057,2862,2857,2045,2045,4094,0,0,0,0,0,0,25.64,25.35,25.66,10.11,43.77
$GC,670,1.61,389.3,2861,2856,2044,4094,52.7,12.4,86,680,0.00,2.22,0.00,0.000,1030,0.000,0.031,2861,2010,2044,2044,4094,0,0,0,0,0,0,25.56,25.51,25.60,10.10,44.13
$GC,717,1.61,389.3,2861,2010,2043,4094,47.5,11.1,92,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2010,2043,2043,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.10,44.13
$GC,763,1.61,389.3,2861,2010,2042,4094,42.3,11.4,98,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2010,2041,2041,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.09,44.92
$GC,809,1.61,389.3,2861,2010,2041,4094,37.0,11.3,104,818,0.00,2.35,0.00,0.000,516,0.000,0.069,2861,1158,2041,2041,4094,0,0,0,0,0,0,26.04,25.70,26.06,10.08,44.88
$GC,867,1.61,389.3,2861,1158,2039,4094,30.1,11.7,112,876,0.00,2.08,0.00,0.000,1030,0.000,0.030,2862,1981,2039,2039,4094,0,0,0,0,0,0,25.91,25.87,25.93,10.08,44.80
$GC,913,1.61,389.3,2861,1982,2038,4094,25.1,10.6,118,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2038,2038,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.09,45.31
$GC,959,1.61,389.3,2861,1982,2037,4094,20.6,10.0,124,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2037,2037,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.10,45.23
$GC,1005,1.61,389.3,2861,1984,2036,4094,16.1,9.7,130,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1984,2035,2035,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.14,46.88
$GC,1051,1.61,389.3,2862,1984,2035,4094,11.8,9.4,136,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1984,2034,2034,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.17,48.46
$GC,1094,1.61,389.3,2861,1985,2034,4094,7.4,9.7,142,1103,0.00,2.45,0.00,0.000,260,0.000,0.060,2862,2880,2034,2034,4095,0,0,0,0,0,0,26.32,25.99,26.33,10.18,48.89
$GC,1141,1.61,389.3,2861,2880,2033,4095,2.3,10.9,148,1150,0.00,2.22,0.00,0.000,1030,0.000,0.031,2862,2013,2032,2032,4094,0,0,0,0,0,0,26.12,26.08,26.14,10.20,49.17
$STATE,1158,end climb,FINISH_DEPTH_REACHED
$STATE,1158,begin subsurface finish
$FINISH1,0.4,1.024225,96
$GC,1164,0.14,95.8,2862,2010,2032,4094,0.4,10.0,150,1174,4.68,0.00,-3.12,0.000,20486,0.024,0.000,2406,2010,2395,2395,4094,0,0,0,0,0,0,26.14,25.26,26.18,10.19,49.44
$FINISH2,0.2
$STATE,1175,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1175,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,213504
$TT8_MAMPS,0.026215,0.248668
$HUMID,49.92
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.18,5.954
$10V_AH,10.23,7.634
$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,21.050,27.650,45.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.431,0.000,124.239,631.715,42.225,33.427,376.767,0.000,366.252,0.000,0.542,0.000
$DEVICE_MAMPS,60.435,69.615,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.380,410.177,324.701,481.570,629.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330972
$DATA_FILE_SIZE,14315,151
$CAP_FILE_SIZE,30568,0
$CFSIZE,1024409600,1007616000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1102.15,0x2138e4,1,24
$GPS,300717,225437,5945.781,-17116.566,10,0.8,25,8.2,0.0,42.7,10,4.8