version: 66.13
glider: 401
mission: 22
dive: 188
start: 7 30 117 0 31 0
data:
$ID,401
$MISSION,22
$DIVE,188
$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
$GPS1,300717,000749,5938.7622,-17059.6855,5,0.9,16,8.4,0.0,76.8,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.2
$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,-0.317105,0.121289
$KALMAN_X,26285.740234,-1038.663574,-322.380615,-57304.304688,122.749573
$KALMAN_Y,6659.641113,2423.565918,934.618347,33409.730469,6.372986
$MHEAD_RNG_PITCHd_Wd,282.5,29328,-11.3,-9.091,-14.99,6423
$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,6,begin dive
$GC,8,-1.61,-390.0,2369,1897,2505,4092,0.0,0.0,0,21,5.43,0.00,-4.18,0.000,20486,0.031,0.000,1848,1897,2959,2959,4095,0,0,0,0,0,0,26.06,25.18,26.11,10.32,51.26
$GC,23,-1.61,-390.0,1848,1897,2959,4095,0.1,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2959,2959,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.42,51.10
$GC,67,-1.61,-390.0,1848,1897,2960,4095,3.6,-9.7,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2960,2960,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.42,51.29
$GC,111,-1.61,-390.0,1847,1897,2961,4095,8.8,-12.4,13,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1898,2961,2961,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.43,50.23
$GC,154,-1.61,-390.0,1848,1897,2962,4095,14.4,-13.4,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2962,2962,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.43,50.90
$GC,199,-1.61,-390.0,1848,1897,2963,4094,19.5,-10.2,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2963,2963,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.39,49.76
$GC,243,-1.61,-390.0,1848,1896,2964,4095,23.9,-9.9,31,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2964,2964,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.37,49.25
$GC,287,-1.61,-390.0,1847,1897,2964,4094,28.4,-10.1,37,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2965,2965,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.35,48.30
$GC,332,-1.61,-390.0,1847,1898,2966,4095,33.2,-11.1,43,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2966,2966,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.34,47.16
$GC,376,-1.61,-390.0,1847,1897,2966,4095,38.2,-11.2,49,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2966,2966,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.33,47.12
$GC,420,-1.61,-390.0,1847,1897,2967,4094,42.9,-10.6,55,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2967,2967,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.32,46.77
$GC,464,-1.61,-390.0,1848,1897,2968,4095,47.5,-10.5,61,474,0.00,2.35,0.00,0.000,260,0.000,0.059,1848,2762,2968,2968,4095,0,0,0,0,0,0,26.51,26.18,26.52,10.31,45.90
$GC,510,-1.61,-390.0,1847,2762,2969,4095,52.6,-10.9,67,519,0.00,2.20,0.00,0.000,1030,0.000,0.032,1848,1900,2969,2969,4095,0,0,0,0,0,0,26.29,26.25,26.32,10.31,45.47
$GC,555,-1.61,-390.0,1847,1900,2970,4095,57.4,-9.8,73,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1900,2970,2970,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.30,46.18
$STATE,579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,579,begin apogee
$GC,584,-0.45,0.0,1848,2040,2971,4095,60.2,-11.3,76,619,3.88,0.00,22.77,1.280,10244,0.060,0.000,2207,2040,2504,2504,4094,0,0,0,0,0,0,26.26,25.32,24.65,10.30,45.55
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,622,1.61,390.0,2206,2039,2504,4094,62.6,0.0,80,658,6.95,0.00,22.85,1.260,11270,0.037,0.000,2863,2040,2044,2044,4094,0,0,0,0,0,0,25.74,25.91,24.17,10.20,44.80
$GC,695,1.61,390.0,2862,2040,2043,4094,57.4,10.6,89,705,0.00,2.28,0.00,0.000,260,0.000,0.058,2863,2855,2043,2043,4095,0,0,0,0,0,0,25.62,25.32,25.63,10.10,44.72
$GC,872,1.61,390.0,2862,2856,2039,4095,38.9,11.3,115,881,0.00,2.17,0.00,0.000,1030,0.000,0.030,2863,2019,2039,2039,4094,0,0,0,0,0,0,25.81,25.76,25.83,10.09,45.58
$GC,918,1.61,390.0,2863,2019,2038,4094,34.3,9.9,121,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2019,2038,2038,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.08,46.02
$GC,964,1.61,390.0,2863,2019,2037,4094,30.1,9.2,127,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2019,2037,2037,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.08,45.90
$GC,1007,1.61,390.0,2862,2019,2037,4094,25.9,9.2,133,1016,0.00,2.33,0.00,0.000,260,0.000,0.058,2863,2860,2036,2036,4094,0,0,0,0,0,0,26.18,25.86,26.20,10.08,45.70
$GC,1269,1.75,484.0,2862,2860,2031,4094,3.0,7.6,172,1288,0.32,2.12,5.90,0.505,11270,0.036,0.031,2900,2030,1934,1934,4094,0,0,0,0,0,0,26.15,26.11,25.43,10.16,49.56
$STATE,1296,end climb,FINISH_DEPTH_REACHED
$STATE,1296,begin subsurface finish
$FINISH1,0.7,1.024129,102
$GC,1302,0.15,102.5,2900,2028,1934,4094,0.7,7.7,175,1321,5.03,2.38,-4.00,0.000,20740,0.029,1.306,2411,2857,2384,2384,4094,0,0,0,0,0,0,26.10,25.01,26.15,10.16,49.56
$FINISH2,0.2
$STATE,1322,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1322,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,224740
$TT8_MAMPS,0.026215,0.253911
$HUMID,50.43
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,24.17,4.699
$10V_AH,10.24,6.295
$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,21.600,18.700,51.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,474.820,0.000,127.117,738.094,41.247,33.422,391.295,0.000,426.857,0.000,0.540,0.000
$DEVICE_MAMPS,60.435,1305.855,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.074,480.852,380.693,564.588,736.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330960
$DATA_FILE_SIZE,17743,177
$CAP_FILE_SIZE,28941,0
$CFSIZE,1024409600,1010253824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,000749,5938.762,-17059.686,5,0.9,16,8.4,0.0,76.8,9,4.3