version: 66.13
glider: 401
mission: 22
dive: 189
start: 7 30 117 0 55 7
data:
$ID,401
$MISSION,22
$DIVE,189
$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,18
$R_STBD_OVSHOOT,46
$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,0.21
$_SM_ANGLEo,-3.2
$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,-0.320935,0.111062
$KALMAN_X,26628.107422,-1022.733032,-302.729401,-57681.921875,195.237701
$KALMAN_Y,6564.467773,2410.524902,905.732483,33546.804688,-18.070007
$MHEAD_RNG_PITCHd_Wd,280.7,29328,-11.3,-9.091,-14.99,6428
$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,-390.0,2411,1898,2383,4092,0.0,0.0,0,18,5.82,0.00,-2.17,0.000,20482,0.027,0.000,1844,1898,2620,2620,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.28,51.77
$GC,20,-1.61,-390.0,1844,1899,2620,4094,0.1,0.0,1,26,0.00,0.00,-3.12,0.000,16646,0.000,0.000,1844,1899,2959,2959,4094,0,0,0,0,0,0,26.25,25.20,26.26,10.34,51.85
$GC,57,-1.61,-390.0,1843,1898,2959,4094,2.1,-8.0,7,63,0.00,2.28,0.00,0.000,260,0.000,0.055,1844,2744,2960,2960,4095,0,0,0,0,0,0,26.27,25.94,26.27,10.41,51.33
$GC,106,-1.61,-390.0,1843,2744,2961,4095,7.9,-12.7,15,112,0.00,2.10,0.00,0.000,1030,0.000,0.032,1844,1912,2961,2961,4094,0,0,0,0,0,0,26.11,26.03,26.13,10.41,50.94
$GC,143,-1.61,-390.0,1843,1912,2962,4094,12.8,-13.7,21,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1912,2962,2962,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.41,50.31
$GC,179,-1.61,-390.0,1843,1912,2962,4094,17.4,-12.7,27,188,0.00,2.35,0.00,0.000,516,0.000,0.070,1844,1033,2962,2962,4095,0,0,0,0,0,0,26.35,26.00,26.36,10.40,51.06
$GC,218,-1.61,-390.0,1843,1032,2963,4095,21.8,-11.7,33,224,0.00,2.12,0.00,0.000,1030,0.000,0.031,1844,1892,2963,2963,4094,0,0,0,0,0,0,26.19,26.13,26.21,10.36,50.03
$GC,255,-1.61,-390.0,1843,1893,2964,4094,25.8,-11.1,39,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1894,2964,2964,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.34,49.01
$GC,292,-1.61,-390.0,1843,1894,2965,4095,29.8,-11.4,45,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1894,2965,2965,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.33,48.54
$GC,327,-1.61,-390.0,1843,1894,2966,4094,34.1,-11.8,51,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1895,2966,2966,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.33,47.99
$GC,364,-1.61,-390.0,1843,1894,2966,4095,38.5,-11.6,57,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1895,2966,2966,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.32,47.00
$GC,400,-1.61,-390.0,1843,1894,2967,4095,42.4,-10.5,63,406,0.00,2.33,0.00,0.000,260,0.000,0.057,1843,2766,2967,2967,4094,0,0,0,0,0,0,26.46,26.13,26.47,10.31,47.36
$GC,436,-1.61,-390.0,1843,2766,2968,4094,46.4,-10.6,69,443,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1915,2968,2968,4095,0,0,0,0,0,0,26.28,26.20,26.30,10.31,46.33
$GC,474,-1.61,-390.0,1843,1915,2969,4095,50.6,-11.9,75,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2969,2969,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.30,46.96
$GC,510,-1.61,-390.0,1843,1915,2970,4095,54.6,-10.9,81,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2969,2969,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.31,46.81
$GC,546,-1.61,-390.0,1842,1915,2971,4095,58.9,-11.6,87,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2970,2970,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.30,46.14
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,556,begin apogee
$GC,561,-0.45,0.0,1843,2047,2971,4095,60.2,-11.7,89,595,3.95,0.05,22.92,1.277,10244,0.061,0.060,2206,2009,2500,2500,4095,0,0,0,0,0,0,26.23,25.28,24.63,10.29,46.41
$STATE,596,end apogee,CONTROL_FINISHED_OK
$STATE,596,begin climb
$GC,598,1.61,390.0,2206,2008,2500,4095,62.3,0.0,95,637,6.95,2.33,22.60,1.258,10500,0.038,0.057,2864,2862,2045,2045,4094,0,0,0,0,0,0,25.71,25.58,24.15,10.20,46.33
$GC,680,1.61,390.0,2863,2862,2044,4094,55.4,12.1,109,686,0.00,2.17,0.00,0.000,1030,0.000,0.031,2863,2031,2044,2044,4094,0,0,0,0,0,0,25.46,25.38,25.48,10.09,45.58
$GC,717,1.61,390.0,2863,2031,2043,4094,50.9,11.7,115,723,0.00,2.42,0.00,0.000,516,0.000,0.070,2863,1152,2043,2043,4094,0,0,0,0,0,0,25.75,25.41,25.76,10.09,45.39
$GC,772,1.61,390.0,2863,1151,2041,4094,44.3,12.3,124,778,0.00,2.05,0.00,0.000,1030,0.000,0.030,2863,1972,2041,2041,4094,0,0,0,0,0,0,25.70,25.64,25.72,10.08,45.47
$GC,809,1.61,390.0,2863,1972,2041,4094,40.1,10.7,130,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1972,2041,2041,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.08,45.39
$GC,845,1.61,390.0,2863,1975,2040,4094,36.6,9.5,136,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1975,2040,2040,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.07,45.58
$GC,881,1.61,390.0,2863,1975,2039,4094,33.3,9.2,142,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1975,2039,2039,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.08,46.65
$GC,917,1.61,390.0,2863,1975,2038,4094,29.6,10.0,148,923,0.00,2.45,0.00,0.000,260,0.000,0.058,2863,2879,2038,2038,4095,0,0,0,0,0,0,26.10,25.77,26.11,10.07,46.53
$GC,972,1.61,390.0,2863,2878,2037,4095,24.1,10.3,157,978,0.00,2.28,0.00,0.000,1030,0.000,0.032,2863,1989,2037,2037,4094,0,0,0,0,0,0,25.96,25.89,25.98,10.07,46.14
$GC,1009,1.64,411.4,2863,1989,2036,4094,20.7,8.7,163,1015,0.00,0.00,2.65,0.258,8198,0.000,0.000,2863,1989,2019,2019,4094,0,0,0,0,0,0,26.19,25.80,25.14,10.06,46.81
$GC,1046,1.67,429.0,2863,1989,2018,4094,17.3,8.8,169,1052,0.00,0.00,2.72,0.265,8198,0.000,0.000,2863,1989,1999,1999,4094,0,0,0,0,0,0,26.20,25.82,25.19,10.06,46.53
$GC,1083,1.81,522.6,2863,1989,1999,4094,14.5,7.6,175,1095,0.52,0.00,6.45,0.618,10246,0.039,0.000,2920,1989,1889,1889,4094,0,0,0,0,0,0,25.99,25.77,25.17,10.09,46.81
$GC,1126,1.84,540.2,2920,1989,1889,4094,10.9,8.8,182,1133,0.00,0.00,2.80,0.262,8198,0.000,0.000,2920,1989,1868,1868,4094,0,0,0,0,0,0,26.17,25.80,25.21,10.10,48.38
$GC,1163,1.84,540.2,2920,1989,1868,4094,7.6,9.2,188,1169,0.00,2.42,0.00,0.000,260,0.000,0.059,2921,2882,1868,1868,4095,0,0,0,0,0,0,26.20,25.86,26.20,10.11,48.93
$GC,1206,1.84,540.2,2920,2882,1866,4095,2.9,11.4,195,1212,0.00,2.25,0.00,0.000,1030,0.000,0.033,2921,1997,1866,1866,4094,0,0,0,0,0,0,26.03,25.95,26.06,10.13,49.76
$STATE,1217,end climb,SURFACE_DEPTH_REACHED
$STATE,1217,begin surface coast
$FINISH,0.1,0.959929
$STATE,1230,end surface coast,CONTROL_FINISHED_OK
$STATE,1231,begin surface
$SM_CCo,1327,0.00,0.000,0,0,1865,546.07
$SM_GC,1.09,28.12,0.25,0.00,0.024,0.063,0.000,240,1893,1865,-6.61,0.91,546.07,0,0,0,0,0,0,26.03,26.01,26.07
$IRIDIUM_FIX,5955.74,-17228.01,290717,224740
$TT8_MAMPS,0.025466,0.071904
$HUMID,51.69
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,1.90
$XPDR_PINGS,0
$24V_AH,24.15,4.717
$10V_AH,10.51,6.306
$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,45.375,34.800,60.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,457.778,408.938,180.722,298.385,45.067,33.413,405.013,0.000,296.586,0.000,0.541,0.000
$DEVICE_MAMPS,61.200,70.380,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,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,330960
$DATA_FILE_SIZE,14257,199
$CAP_FILE_SIZE,41696,0
$CFSIZE,1024409600,1010204672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,180.00,0x236164,0,24
$GPS,300717,011805,5938.889,-17100.102,8,0.8,17,8.4,0.0,97.7,11,4.9