version: 66.13
glider: 401
mission: 22
dive: 131
start: 7 29 117 0 23 55
data:
$ID,401
$MISSION,22
$DIVE,131
$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,17
$R_STBD_OVSHOOT,47
$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
$GPS1,280717,235754,5928.8540,-17050.7090,13,0.9,41,8.4,0.6,305.2,9,4.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.2
$GPS2,280717,235754,5928.8540,-17050.7090,13,0.9,41,8.4,0.6,305.2,9,4.8
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.216285,0.282863
$KALMAN_X,20358.400391,-1075.017334,-174.388000,-42986.519531,163.656250
$KALMAN_Y,6360.176758,1575.812134,661.920776,16483.158203,-24.105835
$MHEAD_RNG_PITCHd_Wd,314.2,13414,-10.5,-9.091,-14.32,7206
$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,-438.6,2406,1929,2396,4092,0.0,0.0,0,24,5.82,0.08,-5.82,0.000,20486,0.028,1.364,1841,1889,3017,3017,4094,0,0,0,0,0,0,26.04,25.01,26.08,10.31,49.72
$GC,26,-1.61,-438.6,1840,1887,3017,4094,0.1,-2.0,2,32,0.00,2.28,0.00,0.000,516,0.000,0.062,1840,1040,3017,3017,4094,0,0,0,0,0,0,26.18,25.86,26.20,10.44,50.47
$GC,142,-1.61,-438.6,1840,1040,3018,4094,8.9,-14.3,21,148,0.00,2.10,0.00,0.000,1030,0.000,0.031,1841,1887,3018,3018,4094,0,0,0,0,0,0,26.12,26.04,26.14,10.44,49.76
$GC,181,-1.61,-438.6,1840,1887,3019,4094,14.2,-14.2,27,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1887,3019,3019,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.45,50.39
$GC,217,-1.61,-438.6,1840,1889,3020,4095,19.2,-12.3,33,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1889,3020,3020,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.42,50.15
$GC,253,-1.61,-438.6,1840,1891,3021,4094,23.1,-10.7,39,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1891,3021,3021,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.39,49.84
$GC,289,-1.61,-438.6,1840,1891,3022,4095,27.0,-10.7,45,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1891,3022,3022,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.38,48.54
$GC,325,-1.61,-438.6,1840,1890,3022,4095,31.0,-11.1,51,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1891,3023,3023,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.37,48.34
$GC,361,-1.61,-438.6,1840,1891,3023,4095,35.2,-11.2,57,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1891,3023,3023,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.36,47.20
$GC,397,-1.61,-438.6,1840,1891,3024,4095,39.1,-10.5,63,403,0.00,2.33,0.00,0.000,260,0.000,0.058,1840,2761,3024,3024,4094,0,0,0,0,0,0,26.45,26.13,26.46,10.35,46.92
$GC,416,-1.61,-438.6,1840,2761,3024,4094,41.0,-10.3,66,422,0.00,2.15,0.00,0.000,1030,0.000,0.032,1841,1910,3025,3025,4095,0,0,0,0,0,0,26.27,26.19,26.29,10.35,46.96
$GC,453,-1.61,-438.6,1839,1910,3025,4095,44.5,-9.2,72,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1910,3025,3025,4095,0,0,0,0,0,0,26.47,26.49,26.48,10.34,46.14
$GC,489,-1.61,-438.6,1840,1910,3026,4095,49.0,-13.1,78,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1910,3026,3026,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.34,45.98
$GC,525,-1.61,-438.6,1840,1910,3027,4095,53.3,-11.6,84,531,0.00,2.28,0.00,0.000,260,0.000,0.059,1840,2761,3027,3027,4095,0,0,0,0,0,0,26.51,26.17,26.52,10.34,45.82
$GC,562,-1.61,-438.6,1840,2761,3028,4095,57.8,-12.0,90,568,0.00,2.15,0.00,0.000,1030,0.000,0.032,1840,1910,3028,3028,4095,0,0,0,0,0,0,26.32,26.24,26.34,10.34,45.62
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,591,-0.45,0.0,1840,2043,3028,4095,60.6,-11.1,94,628,3.97,0.00,25.50,1.283,10244,0.060,0.000,2205,2043,2500,2500,4095,0,0,0,0,0,0,26.24,25.44,24.57,10.33,46.02
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,630,1.61,438.6,2205,2043,2500,4095,63.0,0.0,101,670,7.03,0.00,25.23,1.261,11270,0.037,0.000,2862,2043,1989,1989,4094,0,0,0,0,0,0,25.65,25.81,24.07,10.22,45.27
$GC,700,1.61,438.6,2862,2043,1988,4094,57.9,10.5,113,707,0.00,2.25,0.00,0.000,260,0.000,0.059,2863,2858,1988,1988,4094,0,0,0,0,0,0,25.51,25.22,25.53,10.10,45.07
$GC,749,1.61,438.6,2862,2858,1987,4094,52.2,11.9,121,755,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,2003,1986,1986,4095,0,0,0,0,0,0,25.53,25.45,25.55,10.09,44.95
$GC,786,1.61,438.6,2862,2003,1986,4095,48.3,9.8,127,792,0.00,2.35,0.00,0.000,516,0.000,0.070,2863,1153,1986,1986,4094,0,0,0,0,0,0,25.80,25.47,25.82,10.09,44.84
$GC,853,1.61,438.6,2862,1153,1984,4094,40.3,12.6,138,859,0.00,2.08,0.00,0.000,1030,0.000,0.029,2863,1986,1984,1984,4094,0,0,0,0,0,0,25.77,25.71,25.79,10.09,46.02
$GC,892,1.61,438.6,2862,1989,1983,4094,35.7,11.8,144,898,0.00,2.42,0.00,0.000,260,0.000,0.060,2863,2882,1983,1983,4094,0,0,0,0,0,0,26.01,25.68,26.01,10.08,45.74
$GC,940,1.61,438.6,2862,2882,1982,4094,30.2,11.1,152,946,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,2007,1982,1982,4094,0,0,0,0,0,0,25.88,25.80,25.91,10.08,46.29
$GC,977,1.61,438.6,2862,2006,1981,4094,25.7,12.1,158,983,0.00,2.33,0.00,0.000,516,0.000,0.068,2863,1153,1981,1981,4094,0,0,0,0,0,0,26.11,25.77,26.13,10.08,45.78
$GC,1038,1.61,438.6,2862,1153,1979,4094,18.7,11.3,168,1044,0.00,2.08,0.00,0.000,1030,0.000,0.030,2863,1988,1979,1979,4094,0,0,0,0,0,0,26.00,25.93,26.01,10.07,46.10
$GC,1075,1.61,438.6,2862,1987,1978,4094,14.9,9.4,174,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1988,1978,1978,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.10,46.73
$GC,1111,1.61,438.6,2862,1988,1977,4094,11.7,9.2,180,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,1978,1978,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.14,47.59
$GC,1147,1.61,438.6,2862,1989,1977,4094,8.1,10.4,186,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,1977,1977,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,49.17
$GC,1183,1.61,438.6,2862,1989,1976,4094,4.5,10.2,192,1189,0.00,2.25,0.00,0.000,516,0.000,0.068,2863,1154,1976,1976,4094,0,0,0,0,0,0,26.30,25.96,26.31,10.16,50.03
$STATE,1213,end climb,FINISH_DEPTH_REACHED
$STATE,1213,begin subsurface finish
$FINISH1,1.6,1.025600,0
$GC,1221,0.00,0.0,2863,2023,1975,4094,1.6,9.5,197,1238,5.47,2.47,-4.57,0.000,20996,0.068,1.307,2359,1152,2504,2504,4094,0,0,0,0,0,0,26.10,25.00,26.13,10.17,50.27
$FINISH2,0.4
$STATE,1239,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1239,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,280717,234503
$TT8_MAMPS,0.025466,0.086884
$HUMID,50.51
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.07,3.278
$10V_AH,10.55,4.855
$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,22.300,40.450,50.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,446.576,357.331,154.542,299.270,39.249,33.415,374.694,0.000,297.953,0.000,0.541,0.000
$DEVICE_MAMPS,68.085,1363.995,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330956
$DATA_FILE_SIZE,14290,200
$CAP_FILE_SIZE,36536,0
$CFSIZE,1024409600,1013055488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,235754,5928.854,-17050.709,13,0.9,41,8.4,0.6,305.2,9,4.8