version: 66.13
glider: 401
mission: 22
dive: 195
start: 7 30 117 3 29 55
data:
$ID,401
$MISSION,22
$DIVE,195
$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,14
$R_STBD_OVSHOOT,27
$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,0.15
$_SM_ANGLEo,-0.6
$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,-0.246863,0.233212
$KALMAN_X,27496.394531,-1002.494934,-280.241882,-59678.308594,85.389893
$KALMAN_Y,5736.934082,2178.156006,591.548096,35017.746094,-167.527954
$MHEAD_RNG_PITCHd_Wd,305.0,28356,-11.3,-9.091,-14.99,6427
$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,-390.0,2412,1903,2383,4092,0.0,0.0,0,18,5.85,0.00,-1.85,0.000,20482,0.027,0.000,1844,1904,2586,2586,4095,0,0,0,0,0,0,26.06,28.83,26.11,10.29,50.27
$GC,20,-1.61,-390.0,1843,1903,2586,4095,0.3,0.0,1,26,0.00,0.00,-3.42,0.000,16390,0.000,0.000,1843,1904,2960,2960,4095,0,0,0,0,0,0,26.26,25.21,26.27,10.33,50.82
$GC,57,-1.61,-390.0,1843,1903,2960,4095,2.6,-9.1,7,62,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2960,2960,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.41,50.94
$GC,93,-1.61,-390.0,1843,1903,2961,4094,6.6,-11.4,13,99,0.00,2.30,0.00,0.000,260,0.000,0.057,1844,2762,2961,2961,4095,0,0,0,0,0,0,26.30,25.98,26.32,10.42,50.98
$GC,124,-1.61,-390.0,1843,2761,2962,4095,10.7,-12.8,18,130,0.00,2.15,0.00,0.000,1030,0.000,0.033,1843,1915,2962,2962,4094,0,0,0,0,0,0,26.13,26.06,26.15,10.42,50.27
$GC,161,-1.61,-390.0,1843,1915,2963,4094,15.6,-13.3,24,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2963,2963,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.42,50.07
$GC,197,-1.61,-390.0,1843,1914,2964,4095,19.5,-9.8,30,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1915,2964,2964,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,50.19
$GC,233,-1.61,-390.0,1843,1914,2964,4095,23.1,-9.8,36,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1915,2964,2964,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.36,49.37
$GC,269,-1.61,-390.0,1843,1914,2964,4095,26.8,-10.3,42,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2965,2965,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.35,48.89
$GC,305,-1.61,-390.0,1843,1914,2966,4095,30.5,-10.4,48,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1915,2966,2966,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,48.03
$GC,341,-1.61,-390.0,1843,1914,2966,4094,34.4,-10.7,54,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2966,2966,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.33,47.28
$GC,377,-1.61,-390.0,1843,1914,2967,4094,38.5,-11.5,60,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1915,2967,2967,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.32,46.85
$GC,414,-1.61,-390.0,1843,1915,2968,4095,42.5,-11.3,66,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1915,2968,2968,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.31,46.45
$GC,450,-1.61,-390.0,1843,1915,2969,4095,46.4,-10.9,72,456,0.00,2.28,0.00,0.000,260,0.000,0.057,1843,2761,2969,2969,4094,0,0,0,0,0,0,26.49,26.17,26.50,10.31,46.61
$GC,474,-1.61,-390.0,1842,2761,2969,4094,49.2,-11.2,76,480,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1911,2970,2970,4094,0,0,0,0,0,0,26.30,26.22,26.32,10.30,46.65
$GC,511,-1.61,-390.0,1843,1910,2970,4094,53.4,-11.3,82,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1911,2970,2970,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.30,46.69
$GC,548,-1.61,-390.0,1843,1911,2971,4095,57.5,-11.6,88,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1911,2971,2971,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.30,45.86
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,575,-0.45,0.0,1843,2053,2971,4094,60.3,-11.3,92,609,3.95,0.08,22.92,1.283,10244,0.060,0.051,2206,2003,2499,2499,4095,0,0,0,0,0,0,26.24,25.29,24.63,10.29,45.98
$STATE,610,end apogee,CONTROL_FINISHED_OK
$STATE,610,begin climb
$GC,612,1.61,390.0,2206,2002,2499,4095,62.7,0.0,98,644,6.95,0.00,22.30,1.267,11270,0.037,0.000,2861,2003,2045,2045,4094,0,0,0,0,0,0,25.72,25.88,24.14,10.19,45.51
$GC,675,1.61,390.0,2860,2003,2044,4094,58.3,10.5,109,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2003,2044,2044,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.09,44.80
$GC,711,1.61,390.0,2860,2003,2043,4094,54.3,10.7,115,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2043,2043,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.09,44.76
$GC,747,1.61,390.0,2860,2003,2042,4094,50.2,11.3,121,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2042,2042,4095,0,0,0,0,0,0,25.80,25.82,25.82,10.08,44.76
$GC,783,1.61,390.0,2861,2003,2041,4095,46.5,10.1,127,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2041,2041,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.08,45.51
$GC,820,1.61,390.0,2860,2003,2041,4094,42.7,10.8,133,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2041,2041,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.08,44.95
$GC,856,1.61,390.0,2860,2003,2040,4094,38.8,10.5,139,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2040,2040,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.08,45.55
$GC,892,1.61,390.0,2860,2003,2039,4094,34.7,11.4,145,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2039,2039,4095,0,0,0,0,0,0,26.06,26.07,26.07,10.08,45.94
$GC,928,1.61,390.0,2861,2003,2038,4095,30.6,11.3,151,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2038,2038,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.07,45.58
$GC,964,1.61,390.0,2860,2003,2037,4094,26.6,11.1,157,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2037,2037,4095,0,0,0,0,0,0,26.14,26.15,26.15,10.06,46.18
$GC,1000,1.61,390.0,2860,2003,2036,4095,22.4,11.6,163,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2036,2036,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.07,46.41
$GC,1036,1.61,390.0,2860,2003,2035,4094,18.2,11.6,169,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2003,2035,2035,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.06,46.61
$GC,1072,1.61,390.0,2861,2003,2034,4094,14.3,10.0,175,1078,0.00,2.25,0.00,0.000,516,0.000,0.069,2861,1166,2034,2034,4094,0,0,0,0,0,0,26.24,25.90,26.25,10.10,47.08
$GC,1133,1.61,390.0,2860,1165,2033,4094,8.5,9.3,185,1139,0.00,2.03,0.00,0.000,1030,0.000,0.030,2861,1987,2033,2033,4095,0,0,0,0,0,0,26.10,26.03,26.12,10.13,48.77
$GC,1170,1.61,390.0,2860,1986,2033,4095,5.1,9.2,191,1176,0.00,2.40,0.00,0.000,260,0.000,0.060,2861,2878,2032,2032,4094,0,0,0,0,0,0,26.30,25.98,26.32,10.15,49.09
$STATE,1205,end climb,SURFACE_DEPTH_REACHED
$STATE,1205,begin surface coast
$FINISH,0.2,0.959929
$STATE,1224,end surface coast,CONTROL_FINISHED_OK
$STATE,1224,begin surface
$SM_CCo,1322,0.00,0.000,0,0,2030,404.40
$SM_GC,1.05,27.60,2.53,0.00,0.024,0.031,0.000,230,1912,2030,-6.65,1.55,404.40,0,0,0,0,0,0,26.03,26.06,26.11
$IRIDIUM_FIX,5955.74,-17228.01,300717,011935
$TT8_MAMPS,0.024717,0.072653
$HUMID,52.00
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,24.14,4.856
$10V_AH,10.51,6.457
$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,44.350,21.000,45.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,452.909,414.344,173.360,299.916,44.843,33.413,397.186,0.000,297.880,0.000,0.541,0.000
$DEVICE_MAMPS,60.435,68.850,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330940
$DATA_FILE_SIZE,14241,200
$CAP_FILE_SIZE,38845,0
$CFSIZE,1024409600,1009909760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300717,035249,5938.992,-17102.156,8,0.9,18,8.4,0.6,213.9,10,4.8