version: 66.13
glider: 401
mission: 22
dive: 194
start: 7 30 117 3 7 32
data:
$ID,401
$MISSION,22
$DIVE,194
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,300717,024341,5938.8145,-17100.8320,5,0.8,15,8.4,0.0,193.9,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-0.3
$GPS2,300717,024341,5938.8145,-17100.8320,5,0.8,15,8.4,0.0,193.9,10,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.240424,0.239870
$KALMAN_X,27217.236328,-1000.765076,-277.497559,-59403.531250,12.763428
$KALMAN_Y,5945.199707,2217.189941,636.119995,34725.984375,-138.903198
$MHEAD_RNG_PITCHd_Wd,306.5,28356,-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,8,-1.61,-390.0,2369,1889,2507,4092,0.0,0.0,0,21,5.45,0.00,-4.15,0.000,20486,0.030,0.000,1845,1890,2962,2962,4094,0,0,0,0,0,0,26.09,25.20,26.11,10.32,51.57
$GC,23,-1.61,-390.0,1844,1889,2960,4094,0.1,0.0,1,32,0.00,2.33,0.00,0.000,516,0.000,0.070,1844,1043,2961,2961,4095,0,0,0,0,0,0,26.25,25.94,26.26,10.41,50.82
$GC,61,-1.61,-390.0,1844,1043,2962,4095,3.6,-10.6,6,70,0.00,2.15,0.00,0.000,1030,0.000,0.031,1844,1898,2961,2961,4094,0,0,0,0,0,0,26.09,26.07,26.11,10.41,50.94
$GC,108,-1.61,-390.0,1844,1898,2962,4094,9.2,-13.0,12,117,0.00,2.33,0.00,0.000,260,0.000,0.060,1844,2758,2963,2963,4095,0,0,0,0,0,0,26.33,26.00,26.34,10.42,50.90
$GC,139,-1.61,-390.0,1844,2758,2964,4095,13.7,-13.3,16,148,0.00,2.12,0.00,0.000,1030,0.000,0.032,1843,1932,2963,2963,4094,0,0,0,0,0,0,26.12,26.08,26.15,10.42,50.35
$GC,184,-1.61,-390.0,1844,1932,2964,4094,19.0,-10.7,22,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1932,2964,2964,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.39,49.92
$GC,227,-1.61,-390.0,1844,1932,2965,4094,23.4,-10.4,28,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1932,2965,2965,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.37,49.64
$GC,271,-1.61,-390.0,1843,1932,2966,4094,28.2,-10.8,34,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1932,2966,2966,4095,0,0,0,0,0,0,26.43,26.44,26.43,10.34,48.54
$GC,316,-1.61,-390.0,1844,1932,2967,4095,33.3,-11.6,40,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1932,2966,2966,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.34,47.71
$GC,360,-1.61,-390.0,1844,1931,2968,4095,38.3,-10.7,46,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1931,2968,2968,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.33,47.20
$GC,404,-1.61,-390.0,1844,1931,2969,4095,43.1,-10.4,52,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1931,2968,2968,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.32,46.25
$GC,448,-1.61,-390.0,1844,1931,2969,4094,48.1,-11.5,58,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1931,2970,2970,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.31,46.10
$GC,493,-1.61,-390.0,1844,1931,2970,4095,53.4,-12.4,64,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1931,2971,2971,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.31,45.62
$GC,537,-1.61,-390.0,1844,1931,2971,4094,58.7,-11.9,70,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1931,2971,2971,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.30,46.18
$STATE,552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,553,begin apogee
$GC,558,-0.45,0.0,1844,2040,2972,4095,60.7,-11.5,72,594,3.95,0.00,23.00,1.285,10244,0.060,0.000,2205,2040,2501,2501,4095,0,0,0,0,0,0,26.25,25.29,24.61,10.30,46.02
$STATE,595,end apogee,CONTROL_FINISHED_OK
$STATE,595,begin climb
$GC,597,1.61,390.0,2205,2039,2501,4095,63.0,0.0,76,632,6.97,0.00,22.77,1.264,11270,0.037,0.000,2861,2040,2044,2044,4094,0,0,0,0,0,0,25.72,25.89,24.15,10.20,45.07
$GC,670,1.61,390.0,2861,2039,2044,4094,58.3,10.1,85,679,0.00,2.30,0.00,0.000,260,0.000,0.060,2862,2860,2043,2043,4094,0,0,0,0,0,0,25.60,25.32,25.62,10.10,44.32
$GC,728,1.61,390.0,2861,2860,2042,4094,51.3,12.4,93,737,0.00,2.22,0.00,0.000,1030,0.000,0.031,2862,2013,2042,2042,4094,0,0,0,0,0,0,25.58,25.53,25.60,10.09,44.52
$GC,774,1.61,390.0,2861,2013,2041,4094,46.0,11.9,99,783,0.00,2.40,0.00,0.000,516,0.000,0.070,2861,1149,2041,2041,4094,0,0,0,0,0,0,25.89,25.56,25.91,10.08,44.40
$GC,845,1.61,390.0,2861,1149,2039,4094,37.5,11.1,109,855,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,1981,2039,2039,4094,0,0,0,0,0,0,25.81,25.78,25.84,10.08,45.19
$GC,892,1.61,390.0,2861,1981,2038,4094,33.0,9.3,115,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1981,2038,2038,4095,0,0,0,0,0,0,26.07,26.09,26.09,10.08,45.94
$GC,938,1.61,390.0,2861,1981,2037,4095,28.1,10.6,121,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1982,2037,2037,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.08,45.66
$GC,983,1.61,390.0,2861,1981,2036,4094,22.9,11.5,127,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1982,2035,2035,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.07,45.43
$GC,1029,1.61,390.0,2861,1981,2034,4095,17.6,11.7,133,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1981,2035,2035,4095,0,0,0,0,0,0,26.22,26.23,26.22,10.07,45.62
$GC,1075,1.61,390.0,2861,1983,2034,4095,13.1,9.1,139,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1984,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.13,47.36
$GC,1119,1.62,395.6,2861,1983,2033,4094,9.1,9.0,145,1128,0.00,2.30,0.00,0.000,516,0.000,0.069,2862,1149,2032,2032,4094,0,0,0,0,0,0,26.29,25.95,26.30,10.15,48.14
$GC,1165,1.62,395.6,2861,1149,2031,4094,4.7,9.8,151,1173,0.00,2.12,0.00,0.000,1030,0.000,0.030,2862,1999,2031,2031,4094,0,0,0,0,0,0,26.10,26.07,26.11,10.16,48.70
$STATE,1194,end climb,FINISH_DEPTH_REACHED
$STATE,1194,begin subsurface finish
$FINISH1,1.6,1.024125,103
$GC,1200,0.15,102.8,2861,1999,2030,4094,1.6,9.9,155,1217,4.82,2.53,-3.08,0.000,20740,0.054,1.310,2412,2879,2383,2383,4094,0,0,0,0,0,0,26.10,24.98,26.15,10.18,49.01
$FINISH2,0.4
$STATE,1218,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1219,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,011935
$TT8_MAMPS,0.025466,0.235935
$HUMID,50.11
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,24.15,4.840
$10V_AH,10.24,6.446
$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,21.200,25.425,45.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.685,0.000,138.992,652.753,44.458,33.422,410.207,0.000,379.078,0.000,0.540,0.000
$DEVICE_MAMPS,60.435,1310.445,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.431,426.540,337.590,500.730,649.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330940
$DATA_FILE_SIZE,14351,157
$CAP_FILE_SIZE,31981,0
$CFSIZE,1024409600,1009975296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,024341,5938.814,-17100.832,5,0.8,15,8.4,0.0,193.9,10,4.7