version: 66.13
glider: 401
mission: 22
dive: 187
start: 7 30 117 0 8 57
data:
$ID,401
$MISSION,22
$DIVE,187
$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,22
$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
$GPS1,300717,000128,5938.7676,-17059.7715,8,0.9,40,8.4,0.2,193.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-46.5
$GPS2,300717,000749,5938.7622,-17059.6855,5,0.9,16,8.4,0.0,76.8,9,4.3
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.312667,0.132256
$KALMAN_X,26081.140625,-1111.307983,-406.167114,-56937.500000,161.253723
$KALMAN_Y,6675.299316,2469.120361,1013.107727,33259.675781,-32.997559
$MHEAD_RNG_PITCHd_Wd,284.5,29328,-11.3,-9.091,-14.99,6422
$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,-389.9,230,1891,2024,4092,0.0,0.0,0,17,7.60,0.00,0.00,0.000,2049,0.112,0.000,854,1891,2025,2025,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.25,49.60
$GC,19,-1.61,-389.9,853,1890,2024,4094,0.9,0.0,1,46,11.10,0.00,-8.52,0.000,18694,0.076,0.000,1837,1891,2959,2959,4094,0,0,0,0,0,0,25.90,25.08,25.94,10.25,49.21
$GC,77,-1.61,-389.9,1837,1891,2960,4094,3.0,-10.2,11,82,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1891,2960,2960,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.46,49.48
$GC,113,-1.61,-389.9,1837,1891,2961,4094,7.3,-12.5,17,119,0.00,2.38,0.00,0.000,260,0.000,0.056,1837,2765,2961,2961,4095,0,0,0,0,0,0,26.13,25.81,26.15,10.45,48.77
$GC,149,-1.61,-389.9,1837,2765,2961,4095,12.3,-13.6,23,155,0.00,2.20,0.00,0.000,1030,0.000,0.031,1838,1902,2962,2962,4095,0,0,0,0,0,0,25.98,25.90,26.00,10.46,48.54
$GC,186,-1.61,-389.9,1837,1902,2962,4095,17.2,-13.1,29,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1902,2962,2962,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.45,48.07
$GC,222,-1.61,-389.9,1837,1902,2963,4094,20.9,-9.9,35,228,0.00,2.35,0.00,0.000,516,0.000,0.070,1837,1033,2963,2963,4094,0,0,0,0,0,0,26.24,25.89,26.25,10.41,47.63
$GC,259,-1.61,-389.9,1837,1033,2964,4094,24.8,-10.7,41,265,0.00,2.12,0.00,0.000,1030,0.000,0.029,1838,1890,2964,2964,4095,0,0,0,0,0,0,26.08,26.03,26.10,10.39,46.77
$GC,297,-1.61,-389.9,1837,1893,2964,4095,29.0,-11.2,47,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1894,2965,2965,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.38,46.45
$GC,332,-1.61,-389.9,1837,1893,2965,4094,33.1,-11.6,53,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1893,2966,2966,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.37,46.06
$GC,369,-1.61,-389.9,1837,1893,2966,4094,37.3,-11.4,59,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1893,2966,2966,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.36,45.74
$GC,405,-1.61,-389.9,1837,1893,2967,4094,41.4,-11.6,65,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1893,2967,2967,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.35,44.68
$GC,441,-1.61,-389.9,1837,1893,2968,4094,45.6,-12.7,71,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1893,2968,2968,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.35,44.56
$GC,477,-1.61,-389.9,1837,1893,2968,4094,50.1,-12.0,77,483,0.00,2.33,0.00,0.000,260,0.000,0.056,1837,2765,2969,2969,4095,0,0,0,0,0,0,26.41,26.08,26.41,10.34,44.60
$GC,507,-1.61,-389.9,1837,2765,2969,4095,53.7,-11.6,82,513,0.00,2.20,0.00,0.000,1030,0.000,0.031,1837,1892,2969,2969,4094,0,0,0,0,0,0,26.22,26.14,26.25,10.34,44.01
$GC,544,-1.61,-389.9,1837,1892,2970,4094,58.0,-11.7,88,550,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1892,2970,2970,4095,0,0,0,0,0,0,26.44,26.44,26.44,10.33,44.09
$STATE,561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,561,begin apogee
$GC,566,-0.45,0.0,1837,2039,2971,4094,60.2,-12.3,91,599,4.00,0.00,23.02,1.278,10244,0.060,0.000,2205,2040,2499,2499,4095,0,0,0,0,0,0,26.15,25.20,24.55,10.32,44.80
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,602,1.61,389.9,2205,2039,2499,4095,62.5,0.0,97,635,6.97,0.00,22.65,1.259,11270,0.038,0.000,2862,2040,2045,2045,4094,0,0,0,0,0,0,25.63,25.79,24.08,10.22,44.17
$GC,666,1.61,389.9,2861,2039,2044,4094,58.2,9.5,108,672,0.00,2.30,0.00,0.000,260,0.000,0.061,2862,2863,2043,2043,4094,0,0,0,0,0,0,25.52,25.22,25.53,10.12,43.62
$GC,715,1.61,389.9,2861,2862,2043,4094,52.5,12.3,116,721,0.00,2.17,0.00,0.000,1030,0.000,0.030,2861,2017,2043,2043,4095,0,0,0,0,0,0,25.53,25.45,25.55,10.12,43.93
$GC,752,1.61,389.9,2861,2017,2042,4095,48.4,10.8,122,758,0.00,2.38,0.00,0.000,516,0.000,0.068,2862,1154,2042,2042,4094,0,0,0,0,0,0,25.80,25.47,25.82,10.11,43.97
$GC,795,1.61,389.9,2861,1154,2041,4094,43.2,12.6,129,801,0.00,2.10,0.00,0.000,1030,0.000,0.028,2862,1992,2041,2041,4094,0,0,0,0,0,0,25.72,25.66,25.74,10.11,44.44
$GC,832,1.61,389.9,2861,1991,2040,4094,38.5,13.1,135,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1992,2040,2040,4095,0,0,0,0,0,0,25.96,25.98,25.97,10.10,44.17
$GC,868,1.61,389.9,2861,1991,2039,4095,34.1,12.1,141,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2039,2039,4095,0,0,0,0,0,0,26.01,26.03,26.03,10.10,44.99
$GC,904,1.61,389.9,2861,1991,2038,4095,29.8,12.1,147,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2038,2038,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.10,44.72
$GC,940,1.61,389.9,2861,1991,2037,4094,25.7,11.7,153,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2037,2037,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.09,45.11
$GC,976,1.61,389.9,2861,1991,2036,4094,21.6,11.6,159,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1992,2036,2036,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.09,44.88
$GC,1012,1.61,389.9,2861,1991,2035,4094,17.5,11.1,165,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1991,2034,2034,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.09,45.31
$GC,1048,1.64,406.2,2861,1993,2034,4094,14.1,8.8,171,1054,0.00,0.00,2.33,0.145,8198,0.000,0.000,2862,1993,2024,2024,4094,0,0,0,0,0,0,26.22,25.84,25.23,10.12,45.66
$GC,1086,1.68,434.8,2861,1994,2023,4094,10.9,8.6,177,1098,0.10,2.30,3.25,0.338,10756,0.076,0.067,2880,1152,1992,1992,4094,0,0,0,0,0,0,26.03,25.88,25.26,10.15,47.48
$GC,1141,1.68,434.8,2879,1153,1990,4094,5.4,10.0,186,1147,0.00,2.12,0.00,0.000,1030,0.000,0.030,2880,2015,1990,1990,4094,0,0,0,0,0,0,26.07,26.00,26.09,10.17,48.70
$STATE,1176,end climb,FINISH_DEPTH_REACHED
$STATE,1177,begin subsurface finish
$FINISH1,1.7,1.025600,0
$GC,1182,0.00,0.0,2879,2015,1989,4094,1.7,10.3,192,1199,5.70,2.42,-4.50,0.000,20740,0.075,1.303,2369,2880,2505,2505,4094,0,0,0,0,0,0,25.99,24.95,26.03,10.17,49.37
$FINISH2,0.2
$STATE,1200,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1200,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,224740
$TT8_MAMPS,0.025466,0.085386
$HUMID,49.52
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.08,4.681
$10V_AH,10.55,6.256
$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,35.475,29.700,51.250,0.000,0.000,22.990,17.122,236.258,0.000,0.000,17.951,440.755,328.830,163.779,586.160,86.373,33.452,393.353,0.000,292.815,0.000,0.542,0.000
$DEVICE_MAMPS,111.690,1302.795,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329448
$DATA_FILE_SIZE,14232,195
$CAP_FILE_SIZE,42416,0
$CFSIZE,1024409600,1010302976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300717,000749,5938.762,-17059.686,5,0.9,16,8.4,0.0,76.8,9,4.3