version: 66.13
glider: 401
mission: 22
dive: 129
start: 7 28 117 23 21 3
data:
$ID,401
$MISSION,22
$DIVE,129
$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,450
$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,38
$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
$GPS1,280717,223344,5928.4038,-17051.1191,8,0.8,22,8.4,0.5,46.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.1
$GPS2,280717,223344,5928.4038,-17051.1191,8,0.8,22,8.4,0.5,46.1,10,5.0
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.230442,0.272272
$KALMAN_X,19650.224609,-1200.336182,-304.298157,-42411.191406,209.560059
$KALMAN_Y,6308.409180,1511.432373,622.673035,15805.816406,-42.499634
$MHEAD_RNG_PITCHd_Wd,311.4,14091,-10.5,-9.091,-14.30,7236
$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,-438.8,2407,1913,2397,4092,0.0,0.0,0,17,5.82,0.00,-1.25,0.000,20482,0.028,0.000,1844,1913,2532,2532,4094,0,0,0,0,0,0,26.06,28.83,26.09,10.28,50.98
$GC,19,-1.61,-438.8,1843,1913,2532,4094,0.0,0.0,1,25,0.00,0.00,-4.57,0.000,16390,0.000,0.000,1844,1914,3017,3017,4094,0,0,0,0,0,0,26.25,25.20,26.25,10.32,50.63
$GC,57,-1.61,-438.8,1843,1913,3018,4094,1.1,-4.3,7,63,0.00,2.42,0.00,0.000,516,0.000,0.074,1844,1031,3017,3017,4095,0,0,0,0,0,0,26.29,25.94,26.30,10.42,50.82
$GC,75,-1.61,-438.8,1843,1031,3017,4095,3.3,-10.3,10,82,0.00,2.10,0.00,0.000,1030,0.000,0.034,1844,1880,3018,3018,4094,0,0,0,0,0,0,26.12,26.06,26.14,10.42,50.94
$GC,113,-1.61,-438.8,1843,1880,3018,4094,8.1,-12.3,16,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1880,3018,3018,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.43,50.90
$GC,149,-1.61,-438.8,1843,1880,3020,4095,13.0,-13.4,22,154,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1880,3019,3019,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.44,50.31
$GC,185,-1.61,-438.8,1843,1881,3020,4095,17.9,-13.3,28,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1882,3020,3020,4094,0,0,0,0,0,0,26.37,26.38,26.39,10.41,50.82
$GC,221,-1.61,-438.8,1843,1882,3021,4094,21.8,-10.5,34,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1883,3021,3021,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.38,50.15
$GC,257,-1.61,-438.8,1843,1883,3022,4094,25.5,-10.0,40,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1883,3022,3022,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.37,49.37
$GC,293,-1.61,-438.8,1843,1883,3023,4094,29.2,-10.0,46,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1883,3023,3023,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,48.18
$GC,329,-1.61,-438.8,1843,1883,3023,4095,32.8,-9.5,52,335,0.00,2.33,0.00,0.000,260,0.000,0.059,1844,2756,3022,3022,4095,0,0,0,0,0,0,26.45,26.12,26.46,10.35,48.30
$GC,348,-1.61,-438.8,1843,2756,3023,4095,35.0,-11.4,55,354,0.00,2.17,0.00,0.000,1030,0.000,0.032,1843,1893,3024,3024,4094,0,0,0,0,0,0,26.26,26.18,26.28,10.35,48.11
$GC,385,-1.61,-438.8,1843,1893,3024,4094,38.8,-10.4,61,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,3024,3024,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.34,47.12
$GC,421,-1.61,-438.8,1843,1893,3025,4095,42.8,-11.0,67,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1893,3025,3025,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.33,47.36
$GC,457,-1.61,-438.8,1843,1893,3026,4094,46.7,-10.9,73,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,3026,3026,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.33,46.92
$GC,493,-1.61,-438.8,1843,1893,3027,4094,51.3,-12.6,79,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1893,3027,3027,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.33,46.41
$GC,529,-1.61,-438.8,1843,1893,3027,4095,55.0,-10.0,85,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,3028,3028,4095,0,0,0,0,0,0,26.52,26.54,26.54,10.32,46.22
$GC,565,-1.61,-438.8,1843,1894,3028,4095,58.6,-10.3,91,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,3028,3028,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.32,46.29
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,586,-0.45,0.0,1843,2048,3029,4094,60.6,-10.3,94,620,3.95,0.08,25.38,1.284,10244,0.060,0.101,2206,2011,2500,2500,4094,0,0,0,0,0,0,26.26,25.46,24.59,10.32,46.41
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,623,1.61,438.8,2206,2010,2500,4094,62.5,0.0,100,661,7.00,0.00,25.25,1.255,11270,0.039,0.000,2860,2011,1987,1987,4094,0,0,0,0,0,0,25.66,25.82,24.09,10.20,45.70
$GC,692,1.61,438.8,2860,2011,1986,4094,57.5,10.0,112,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2011,1986,1986,4094,0,0,0,0,0,0,25.52,25.53,25.53,10.09,44.92
$GC,728,1.61,438.8,2859,2011,1984,4094,53.6,10.6,118,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2010,1986,1986,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.09,45.15
$GC,764,1.61,438.8,2859,2010,1985,4094,49.5,11.6,124,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2011,1985,1985,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.09,45.07
$GC,800,1.61,438.8,2859,2010,1984,4094,44.9,12.8,130,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2011,1983,1983,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.08,45.58
$GC,837,1.61,438.8,2859,2010,1983,4094,40.8,11.0,136,843,0.00,2.33,0.00,0.000,516,0.000,0.066,2859,1161,1982,1982,4095,0,0,0,0,0,0,25.93,25.60,25.94,10.08,45.47
$GC,874,1.61,438.8,2859,1160,1981,4095,36.1,12.4,142,880,0.00,2.08,0.00,0.000,1030,0.000,0.030,2860,1987,1982,1982,4094,0,0,0,0,0,0,25.81,25.74,25.83,10.07,45.70
$GC,912,1.61,438.8,2860,1986,1981,4094,31.8,11.2,148,918,0.00,2.45,0.00,0.000,260,0.000,0.064,2860,2882,1980,1980,4094,0,0,0,0,0,0,26.04,25.72,26.06,10.07,46.14
$GC,967,1.61,438.8,2859,2882,1979,4094,24.7,12.6,157,973,0.00,2.17,0.00,0.000,1030,0.000,0.031,2860,2032,1978,1978,4094,0,0,0,0,0,0,25.92,25.84,25.94,10.06,46.06
$GC,1004,1.61,438.8,2860,2032,1978,4094,20.3,12.0,163,1010,0.00,2.38,0.00,0.000,516,0.000,0.068,2860,1154,1978,1978,4094,0,0,0,0,0,0,26.15,25.81,26.16,10.06,47.20
$GC,1071,1.65,461.9,2859,1154,1976,4094,13.5,8.8,174,1079,0.00,2.08,2.58,0.215,9222,0.000,0.031,2860,1994,1961,1961,4094,0,0,0,0,0,0,26.03,25.97,25.24,10.10,47.44
$GC,1110,1.72,514.4,2859,1993,1960,4094,10.2,8.3,180,1123,0.28,2.40,4.53,0.475,10500,0.045,0.063,2891,2882,1898,1898,4094,0,0,0,0,0,0,26.01,25.85,25.26,10.13,48.30
$GC,1171,1.72,514.4,2891,2881,1896,4094,3.7,11.6,190,1178,0.00,2.25,0.00,0.000,1030,0.000,0.033,2892,1999,1896,1896,4094,0,0,0,0,0,0,26.04,25.96,26.06,10.14,49.72
$STATE,1189,end climb,SURFACE_DEPTH_REACHED
$STATE,1189,begin surface coast
$FINISH,0.2,0.959929
$STATE,1202,end surface coast,CONTROL_FINISHED_OK
$STATE,1202,begin surface
$SM_CCo,1299,0.00,0.000,0,0,1895,520.31
$SM_GC,0.97,27.95,0.25,0.00,0.024,0.056,0.000,239,1884,1895,-6.61,0.82,520.31,0,0,0,0,0,0,26.03,26.06,26.08
$IRIDIUM_FIX,5955.74,-17228.01,280717,211255
$TT8_MAMPS,0.025466,0.073402
$HUMID,51.14
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,24.09,3.211
$10V_AH,10.54,4.796
$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,45.000,29.675,57.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,447.060,400.397,177.224,292.604,43.522,33.415,398.917,0.000,290.879,0.000,0.540,0.000
$DEVICE_MAMPS,60.435,100.980,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,331000
$DATA_FILE_SIZE,14281,195
$CAP_FILE_SIZE,40208,0
$CFSIZE,1024409600,1013153792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,234340,5928.875,-17050.869,7,0.8,24,8.4,0.4,60.3,10,5.0