version: 66.13
glider: 401
mission: 22
dive: 135
start: 7 29 117 2 0 57
data:
$ID,401
$MISSION,22
$DIVE,135
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,290717,011546,5929.0269,-17050.8770,5,0.8,16,8.4,0.6,182.4,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-3.9
$GPS2,290717,011546,5929.0269,-17050.8770,5,0.8,16,8.4,0.6,182.4,11,4.8
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.131133,0.332133
$KALMAN_X,20909.078125,-964.802917,-90.121025,-43889.792969,87.158119
$KALMAN_Y,5338.522461,1542.247559,571.811951,17947.769531,-189.353821
$MHEAD_RNG_PITCHd_Wd,330.1,13061,-10.5,-9.091,-14.28,7255
$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,-438.8,2406,1892,2398,4092,0.0,0.0,0,23,5.85,0.00,-5.75,0.000,20486,0.029,0.000,1843,1892,3017,3017,4094,0,0,0,0,0,0,26.03,25.13,26.06,10.29,50.27
$GC,25,-1.61,-438.8,1843,1892,3017,4094,0.2,-3.2,2,31,0.00,2.35,0.00,0.000,516,0.000,0.073,1843,1032,3017,3017,4095,0,0,0,0,0,0,26.17,25.87,26.19,10.42,50.59
$GC,98,-1.61,-438.8,1842,1032,3019,4095,7.7,-12.7,14,104,0.00,2.15,0.00,0.000,1030,0.000,0.032,1843,1904,3019,3019,4095,0,0,0,0,0,0,26.08,26.01,26.10,10.42,50.23
$GC,135,-1.61,-438.8,1842,1904,3019,4095,12.8,-13.2,20,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1904,3020,3020,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.43,50.39
$GC,171,-1.61,-438.8,1842,1905,3021,4094,17.7,-13.3,26,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1906,3021,3021,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.42,50.86
$GC,207,-1.61,-438.8,1842,1907,3020,4094,21.4,-10.3,32,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3021,3021,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.39,50.47
$GC,243,-1.61,-438.8,1842,1908,3021,4095,25.2,-10.6,38,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3022,3022,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.37,49.09
$GC,279,-1.61,-438.8,1842,1908,3023,4095,29.1,-10.2,44,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3023,3023,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.36,48.42
$GC,315,-1.61,-438.8,1842,1908,3023,4095,33.3,-12.0,50,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3023,3023,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.34,47.91
$GC,351,-1.61,-438.8,1842,1908,3024,4095,37.5,-11.7,56,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3025,3025,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.34,47.12
$GC,388,-1.61,-438.8,1842,1908,3025,4095,41.6,-11.6,62,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1908,3025,3025,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.34,47.12
$GC,423,-1.61,-438.8,1842,1908,3026,4095,45.9,-11.8,68,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3026,3026,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.34,46.69
$GC,460,-1.61,-438.8,1842,1908,3026,4095,49.9,-11.1,74,466,0.00,2.25,0.00,0.000,260,0.000,0.057,1843,2760,3027,3027,4094,0,0,0,0,0,0,26.48,26.15,26.48,10.33,46.69
$GC,484,-1.61,-438.8,1842,2760,3027,4094,52.6,-10.5,78,491,0.00,2.17,0.00,0.000,1030,0.000,0.033,1843,1901,3027,3027,4095,0,0,0,0,0,0,26.29,26.20,26.32,10.32,46.33
$GC,522,-1.61,-438.8,1842,1901,3028,4095,56.8,-11.7,84,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1901,3028,3028,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.32,46.33
$STATE,550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,550,begin apogee
$GC,555,-0.45,0.0,1842,2042,3029,4094,60.3,-11.7,89,588,3.95,0.00,25.40,1.278,10244,0.060,0.000,2206,2042,2500,2500,4094,0,0,0,0,0,0,26.22,25.43,24.57,10.32,46.37
$STATE,589,end apogee,CONTROL_FINISHED_OK
$STATE,589,begin climb
$GC,591,1.61,438.8,2206,2042,2500,4094,62.2,0.0,95,630,7.03,0.00,25.27,1.256,11270,0.038,0.000,2861,2042,1988,1988,4094,0,0,0,0,0,0,25.63,25.78,24.06,10.20,45.82
$GC,661,1.61,438.8,2861,2042,1987,4094,57.2,11.0,107,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,1987,1987,4094,0,0,0,0,0,0,25.51,25.52,25.51,10.09,45.47
$GC,697,1.61,438.8,2861,2042,1986,4094,53.1,11.5,113,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,1986,1986,4095,0,0,0,0,0,0,25.65,25.67,25.66,10.09,44.92
$GC,733,1.61,438.8,2861,2042,1985,4095,48.6,12.1,119,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,1985,1985,4095,0,0,0,0,0,0,25.76,25.77,25.77,10.09,45.74
$GC,769,1.61,438.8,2861,2042,1984,4095,44.3,12.0,125,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,1984,1984,4094,0,0,0,0,0,0,25.85,25.86,25.86,10.08,45.03
$GC,805,1.61,438.8,2861,2042,1983,4094,40.1,11.8,131,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,1983,1983,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.08,45.51
$GC,841,1.61,438.8,2861,2042,1982,4094,36.1,10.9,137,847,0.00,2.45,0.00,0.000,516,0.000,0.067,2861,1153,1983,1983,4094,0,0,0,0,0,0,25.98,25.64,26.00,10.08,45.51
$GC,885,1.61,438.8,2860,1153,1981,4094,30.8,13.3,144,892,0.00,2.10,0.00,0.000,1030,0.000,0.030,2861,1990,1981,1981,4094,0,0,0,0,0,0,25.86,25.79,25.89,10.07,46.06
$GC,924,1.61,438.8,2861,1990,1980,4094,26.1,11.8,150,930,0.00,2.45,0.00,0.000,260,0.000,0.063,2861,2885,1980,1980,4094,0,0,0,0,0,0,26.09,25.77,26.10,10.07,46.61
$GC,985,1.61,438.8,2861,2884,1979,4094,18.3,12.5,160,991,0.00,2.20,0.00,0.000,1030,0.000,0.031,2861,2016,1978,1978,4094,0,0,0,0,0,0,25.97,25.89,25.99,10.06,46.81
$GC,1022,1.69,494.4,2861,2016,1978,4094,14.9,8.3,166,1035,0.15,2.33,4.28,0.480,10756,0.059,0.070,2883,1153,1922,1922,4094,0,0,0,0,0,0,25.99,25.80,25.19,10.10,47.51
$GC,1113,1.69,494.4,2883,1152,1920,4094,6.1,10.4,181,1120,0.00,2.15,0.00,0.000,1030,0.000,0.031,2883,2012,1920,1920,4094,0,0,0,0,0,0,26.05,25.98,26.07,10.14,49.09
$GC,1150,1.69,494.4,2883,2012,1919,4094,2.5,9.4,187,1156,0.00,2.35,0.00,0.000,260,0.000,0.066,2883,2881,1919,1919,4094,0,0,0,0,0,0,26.26,25.93,26.27,10.15,50.47
$STATE,1161,end climb,SURFACE_DEPTH_REACHED
$STATE,1161,begin surface coast
$FINISH,0.1,0.959928
$STATE,1180,end surface coast,CONTROL_FINISHED_OK
$STATE,1181,begin surface
$SM_CCo,1279,0.00,0.000,0,0,1917,500.56
$SM_GC,0.88,27.83,2.58,0.00,0.024,0.034,0.000,239,1906,1917,-6.61,1.09,500.56,0,0,0,0,0,0,26.06,26.00,26.10
$IRIDIUM_FIX,5955.74,-17228.01,280717,235246
$TT8_MAMPS,0.025466,0.079394
$HUMID,50.70
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.06,3.374
$10V_AH,10.54,4.951
$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,44.800,28.075,54.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.603,403.809,172.198,287.573,40.397,33.413,385.624,0.000,286.688,0.000,0.541,0.000
$DEVICE_MAMPS,60.435,72.675,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,331032
$DATA_FILE_SIZE,14342,192
$CAP_FILE_SIZE,36803,0
$CFSIZE,1024409600,1012858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,022332,5929.246,-17051.549,8,0.8,43,8.4,0.4,205.7,10,4.8