version: 66.13
glider: 401
mission: 22
dive: 191
start: 7 30 117 1 49 7
data:
$ID,401
$MISSION,22
$DIVE,191
$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,39
$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
$GPS1,300717,012424,5938.8496,-17100.0605,5,0.8,17,8.4,0.3,122.1,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.3
$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,-0.282721,0.188062
$KALMAN_X,26950.009766,-993.368958,-267.896881,-58422.425781,87.132355
$KALMAN_Y,6473.861328,2354.154297,810.640930,33950.757812,-86.844421
$MHEAD_RNG_PITCHd_Wd,295.2,28945,-11.3,-9.091,-14.99,6425
$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,-390.0,2412,1917,2384,4092,0.0,0.0,0,18,5.72,0.00,-1.92,0.000,20482,0.028,0.000,1858,1918,2593,2593,4094,0,0,0,0,0,0,26.00,28.83,26.05,10.29,50.35
$GC,20,-1.61,-390.0,1857,1918,2593,4094,0.1,0.0,1,31,0.00,2.47,-3.38,0.000,16900,0.000,1.300,1857,1055,2961,2961,4095,0,0,0,0,0,0,26.20,24.90,26.22,10.34,50.19
$GC,62,-1.61,-390.0,1857,1055,2961,4095,2.7,-9.4,8,68,0.00,2.12,0.00,0.000,1030,0.000,0.031,1857,1908,2961,2961,4094,0,0,0,0,0,0,25.94,25.89,25.96,10.42,50.39
$GC,99,-1.61,-390.0,1857,1908,2962,4094,6.5,-10.6,14,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1908,2962,2962,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.43,50.35
$GC,135,-1.61,-390.0,1857,1908,2963,4094,10.9,-12.2,20,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1908,2963,2963,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.43,49.80
$GC,171,-1.61,-390.0,1857,1908,2964,4095,15.0,-11.2,26,177,0.00,2.35,0.00,0.000,516,0.000,0.069,1857,1049,2964,2964,4094,0,0,0,0,0,0,26.23,25.88,26.24,10.42,49.33
$GC,281,-1.61,-390.0,1857,1049,2965,4094,23.6,-7.7,44,287,0.00,2.12,0.00,0.000,1030,0.000,0.030,1857,1909,2965,2965,4095,0,0,0,0,0,0,26.14,26.08,26.15,10.36,48.46
$GC,318,-1.61,-390.0,1857,1909,2966,4095,26.7,-8.5,50,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1909,2966,2966,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.35,47.99
$GC,354,-1.61,-390.0,1857,1909,2966,4095,29.6,-7.5,56,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1909,2966,2966,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.34,47.28
$GC,390,-1.61,-390.0,1857,1909,2967,4095,32.5,-7.8,62,396,0.00,2.25,0.00,0.000,260,0.000,0.054,1857,2756,2967,2967,4094,0,0,0,0,0,0,26.38,26.06,26.39,10.33,47.08
$GC,427,-1.61,-390.0,1857,2756,2968,4094,36.0,-9.6,68,433,0.00,2.10,0.00,0.000,1030,0.000,0.031,1857,1925,2968,2968,4095,0,0,0,0,0,0,26.20,26.13,26.23,10.33,46.33
$GC,465,-1.61,-390.0,1856,1925,2968,4095,39.3,-8.5,74,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1925,2968,2968,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.32,45.86
$GC,501,-1.61,-390.0,1857,1925,2969,4095,42.3,-7.6,80,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1925,2969,2969,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.31,46.25
$GC,538,-1.61,-390.0,1857,1924,2970,4094,45.6,-9.4,86,544,0.00,2.40,0.00,0.000,516,0.000,0.069,1857,1031,2969,2969,4094,0,0,0,0,0,0,26.45,26.10,26.46,10.31,46.53
$GC,628,-1.61,-390.0,1857,1031,2971,4094,53.9,-9.5,101,635,0.00,2.12,0.00,0.000,1030,0.000,0.031,1857,1906,2971,2971,4095,0,0,0,0,0,0,26.31,26.26,26.33,10.30,46.06
$GC,666,-1.61,-390.0,1857,1907,2971,4095,57.3,-8.9,107,672,0.00,2.22,0.00,0.000,260,0.000,0.056,1858,2751,2972,2972,4095,0,0,0,0,0,0,26.50,26.17,26.51,10.30,45.94
$STATE,689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,689,begin apogee
$GC,695,-0.45,0.0,1857,2011,2972,4094,60.0,-10.4,111,727,3.83,0.00,22.92,1.270,10244,0.066,0.000,2205,2011,2499,2499,4094,0,0,0,0,0,0,26.21,25.49,24.61,10.30,45.82
$STATE,728,end apogee,CONTROL_FINISHED_OK
$STATE,728,begin climb
$GC,730,1.61,390.0,2205,2011,2500,4094,62.1,0.0,117,763,6.95,0.00,22.60,1.252,11270,0.036,0.000,2859,2011,2045,2045,4094,0,0,0,0,0,0,25.69,25.86,24.13,10.19,45.70
$GC,795,1.67,428.9,2859,2010,2044,4094,58.4,8.5,128,802,0.10,0.00,3.95,0.679,10246,0.073,0.000,2876,2011,2000,2000,4094,0,0,0,0,0,0,25.38,25.13,24.29,10.10,45.31
$GC,832,1.67,428.9,2875,2010,1999,4094,54.9,9.6,134,839,0.00,2.38,0.00,0.000,260,0.000,0.056,2876,2869,1999,1999,4094,0,0,0,0,0,0,25.66,25.35,25.67,10.08,45.58
$GC,941,1.67,428.9,2876,2869,1997,4094,44.0,9.7,152,948,0.00,2.17,0.00,0.000,1030,0.000,0.031,2876,2023,1997,1997,4094,0,0,0,0,0,0,25.75,25.67,25.77,10.07,46.61
$GC,979,1.70,451.6,2876,2023,1996,4094,40.7,8.7,158,985,0.00,0.00,2.95,0.395,8198,0.000,0.000,2876,2023,1974,1974,4094,0,0,0,0,0,0,25.98,25.58,24.81,10.08,46.45
$GC,1016,1.72,463.1,2876,2023,1972,4094,37.4,8.9,164,1028,0.10,2.40,2.53,0.254,10756,0.077,0.068,2891,1153,1959,1959,4094,0,0,0,0,0,0,25.82,25.65,24.86,10.07,46.14
$GC,1095,1.72,463.1,2891,1153,1958,4094,29.8,9.9,177,1101,0.00,2.15,0.00,0.000,1030,0.000,0.030,2891,2023,1958,1958,4094,0,0,0,0,0,0,25.92,25.86,25.94,10.06,46.88
$GC,1133,1.72,463.1,2891,2022,1957,4094,26.4,9.4,183,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2023,1957,1957,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.06,47.59
$GC,1169,1.77,493.8,2891,2022,1956,4094,23.2,8.6,189,1176,0.10,0.00,3.33,0.411,10246,0.090,0.000,2904,2022,1923,1923,4094,0,0,0,0,0,0,25.95,25.77,25.10,10.05,46.81
$GC,1207,1.83,532.7,2903,2022,1923,4094,19.8,8.5,195,1214,0.15,0.00,3.88,0.473,10246,0.065,0.000,2926,2022,1877,1877,4094,0,0,0,0,0,0,25.97,25.77,25.13,10.05,47.04
$GC,1245,1.83,532.7,2925,2022,1877,4094,15.9,10.8,201,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2022,1876,1876,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.04,47.20
$GC,1281,1.83,532.7,2925,2022,1876,4094,11.8,11.1,207,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2023,1876,1876,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.09,47.79
$GC,1317,1.83,532.7,2925,2022,1875,4094,7.7,11.2,213,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2023,1875,1875,4095,0,0,0,0,0,0,26.25,26.25,26.25,10.11,48.89
$GC,1353,1.83,532.7,2925,2022,1874,4095,3.6,11.7,219,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2022,1873,1873,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.12,49.68
$STATE,1370,end climb,FINISH_DEPTH_REACHED
$STATE,1370,begin subsurface finish
$FINISH1,1.3,1.025600,0
$GC,1375,0.00,0.0,2925,2023,1873,4094,1.3,12.3,222,1392,5.90,0.00,-5.57,0.000,20486,0.040,0.000,2360,2027,2507,2507,4095,0,0,0,0,0,0,26.07,25.21,26.08,10.13,50.86
$FINISH2,0.2
$STATE,1393,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1393,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,000254
$TT8_MAMPS,0.025466,0.084637
$HUMID,52.04
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.13,4.772
$10V_AH,10.52,6.359
$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,22.850,33.050,62.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,499.443,416.463,156.109,336.777,41.948,33.423,395.662,0.000,333.378,0.000,0.542,0.000
$DEVICE_MAMPS,89.505,1299.735,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330900
$DATA_FILE_SIZE,17730,225
$CAP_FILE_SIZE,41297,0
$CFSIZE,1024409600,1010089984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,012424,5938.850,-17100.061,5,0.8,17,8.4,0.3,122.1,11,4.9