version: 66.13
glider: 401
mission: 22
dive: 190
start: 7 30 117 1 25 32
data:
$ID,401
$MISSION,22
$DIVE,190
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,300717,011805,5938.8887,-17100.1016,8,0.8,17,8.4,0.0,97.7,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-42.6
$GPS2,300717,012424,5938.8496,-17100.0605,5,0.8,17,8.4,0.3,122.1,11,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.265529,0.211491
$KALMAN_X,26773.207031,-1053.826050,-331.600006,-58114.312500,116.642914
$KALMAN_Y,6550.802734,2427.398438,912.131226,33695.609375,-147.227905
$MHEAD_RNG_PITCHd_Wd,300.1,28945,-11.3,-9.091,-14.99,6421
$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,-389.8,240,1893,1865,4092,0.0,0.0,0,21,11.18,0.00,0.00,0.000,2049,0.097,0.000,1180,1893,1865,1865,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.22,50.11
$GC,23,-1.61,-389.8,1179,1893,1865,4094,0.8,0.0,1,49,7.07,0.00,-10.02,0.000,18438,0.047,0.000,1837,1893,2955,2955,4095,0,0,0,0,0,0,25.88,25.44,25.94,10.22,49.80
$GC,86,-1.61,-390.0,1837,1893,2955,4095,2.5,-9.1,9,95,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1893,2956,2956,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.46,49.52
$GC,132,-1.61,-390.0,1837,1893,2957,4094,7.9,-12.6,15,141,0.00,2.38,0.00,0.000,260,0.000,0.056,1837,2762,2957,2957,4095,0,0,0,0,0,0,26.10,25.80,26.10,10.46,49.21
$GC,164,-1.61,-390.0,1837,2762,2957,4095,12.6,-14.0,19,173,0.00,2.22,0.00,0.000,1030,0.000,0.031,1838,1902,2957,2957,4095,0,0,0,0,0,0,25.90,25.86,25.93,10.46,48.58
$GC,209,-1.61,-390.0,1837,1901,2958,4095,18.0,-10.2,25,218,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1902,2958,2958,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.43,48.38
$GC,254,-1.61,-390.0,1837,1901,2959,4094,21.7,-8.8,31,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1902,2959,2959,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.39,47.28
$GC,298,-1.61,-390.0,1837,1901,2960,4095,26.5,-11.8,37,308,0.00,2.33,0.00,0.000,260,0.000,0.055,1837,2754,2960,2960,4094,0,0,0,0,0,0,26.25,25.94,26.27,10.38,46.29
$GC,330,-1.61,-390.0,1837,2754,2961,4094,30.3,-11.6,41,340,0.00,2.20,0.00,0.000,1030,0.000,0.031,1837,1896,2961,2961,4095,0,0,0,0,0,0,26.04,26.04,26.08,10.37,46.25
$GC,376,-1.61,-390.0,1836,1896,2961,4095,35.2,-10.8,47,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1896,2962,2962,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.36,44.68
$GC,420,-1.61,-390.0,1837,1896,2962,4095,40.4,-11.5,53,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1896,2962,2962,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.35,44.64
$GC,466,-1.61,-390.0,1837,1896,2964,4094,45.6,-11.7,59,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1896,2964,2964,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.35,44.13
$GC,512,-1.61,-390.0,1837,1896,2963,4094,51.0,-11.2,65,521,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1896,2965,2965,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.34,44.25
$GC,557,-1.61,-390.0,1837,1896,2965,4095,56.9,-12.6,71,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1896,2966,2966,4095,0,0,0,0,0,0,26.41,26.44,26.43,10.33,43.97
$STATE,580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,580,begin apogee
$GC,586,-0.45,0.0,1837,2037,2966,4095,60.1,-12.2,74,621,4.03,0.00,22.95,1.274,10244,0.060,0.000,2204,2037,2499,2499,4094,0,0,0,0,0,0,26.14,25.20,24.53,10.32,44.52
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,624,1.61,390.0,2204,2037,2499,4094,62.6,0.0,78,660,7.00,0.00,22.70,1.254,11270,0.038,0.000,2862,2037,2045,2045,4094,0,0,0,0,0,0,25.64,25.80,24.09,10.24,43.62
$GC,697,1.61,390.0,2862,2037,2044,4094,58.0,9.6,87,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2044,2044,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.13,42.95
$GC,743,1.61,390.0,2862,2037,2043,4094,52.8,11.5,93,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2037,2043,2043,4095,0,0,0,0,0,0,25.72,25.74,25.74,10.12,43.34
$GC,789,1.61,390.0,2862,2037,2042,4095,47.5,12.0,99,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2041,2041,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.11,43.38
$GC,835,1.61,390.0,2862,2037,2041,4094,42.0,11.5,105,844,0.00,2.45,0.00,0.000,516,0.000,0.067,2862,1155,2040,2040,4094,0,0,0,0,0,0,25.93,25.59,25.94,10.11,44.56
$GC,893,1.61,390.0,2862,1155,2039,4094,35.1,11.6,113,902,0.00,2.12,0.00,0.000,1030,0.000,0.028,2863,1996,2039,2039,4094,0,0,0,0,0,0,25.85,25.78,25.83,10.10,44.09
$GC,939,1.61,390.0,2862,1996,2038,4094,30.2,10.9,119,949,0.00,2.40,0.00,0.000,260,0.000,0.057,2862,2875,2038,2038,4095,0,0,0,0,0,0,26.08,25.76,26.09,10.10,44.64
$GC,1018,1.61,390.0,2862,2875,2036,4095,22.8,9.7,130,1028,0.00,2.15,0.00,0.000,1030,0.000,0.031,2862,2041,2036,2036,4094,0,0,0,0,0,0,25.98,25.91,25.96,10.09,44.88
$GC,1066,1.63,403.5,2862,2041,2035,4094,18.5,8.9,136,1076,0.00,2.42,0.77,0.003,8708,0.000,0.067,2863,1153,2035,2035,4094,0,0,0,0,0,0,26.21,25.87,26.22,10.09,45.11
$GC,1138,1.83,536.7,2862,1153,2034,4094,12.7,7.0,146,1157,0.62,2.28,8.75,0.660,11270,0.036,0.030,2928,2059,1872,1872,4094,0,0,0,0,0,0,26.04,26.02,25.20,10.13,46.06
$GC,1194,1.89,576.4,2928,2058,1872,4094,8.2,8.5,153,1204,0.10,0.00,3.80,0.392,10246,0.081,0.000,2944,2059,1826,1826,4094,0,0,0,0,0,0,25.98,25.79,25.24,10.13,47.75
$GC,1241,1.89,576.4,2943,2058,1825,4094,4.0,9.3,159,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2058,1825,1825,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.14,48.70
$STATE,1264,end climb,FINISH_DEPTH_REACHED
$STATE,1264,begin subsurface finish
$FINISH1,1.6,1.024131,102
$GC,1270,0.15,102.4,2944,1995,1824,4094,1.6,9.1,162,1290,5.80,2.33,-4.97,0.000,20996,0.060,1.310,2413,1173,2384,2384,4095,0,0,0,0,0,0,25.99,24.89,26.04,10.15,48.50
$FINISH2,0.2
$STATE,1291,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1291,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,000254
$TT8_MAMPS,0.026215,0.238182
$HUMID,50.31
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.09,4.752
$10V_AH,10.23,6.347
$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,35.800,25.700,58.975,0.000,0.000,25.875,18.557,217.064,0.000,0.000,19.073,471.696,0.000,153.349,977.191,93.358,33.475,450.107,0.000,397.380,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1310.445,1273.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.005,445.454,352.677,522.520,684.132,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329388
$DATA_FILE_SIZE,14401,164
$CAP_FILE_SIZE,39469,0
$CFSIZE,1024409600,1010155520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300717,012424,5938.850,-17100.061,5,0.8,17,8.4,0.3,122.1,11,4.9