version: 66.13
glider: 401
mission: 22
dive: 137
start: 7 29 117 2 52 19
data:
$ID,401
$MISSION,22
$DIVE,137
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,290717,022908,5929.2085,-17051.5664,8,0.9,17,8.4,1.3,112.7,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-1.6
$GPS2,290717,022908,5929.2085,-17051.5664,8,0.9,17,8.4,1.3,112.7,9,4.7
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.040988,0.353664
$KALMAN_X,20581.708984,-987.251770,-136.679443,-44145.968750,-49.905914
$KALMAN_Y,4948.197266,1490.261230,495.111359,18804.378906,-120.648438
$MHEAD_RNG_PITCHd_Wd,345.0,12543,-10.5,-9.091,-14.32,7203
$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,-438.5,2409,1880,2395,4092,0.0,0.0,0,18,5.85,0.00,-1.70,0.000,20482,0.026,0.000,1842,1881,2582,2582,4094,0,0,0,0,0,0,26.04,28.83,26.08,10.29,50.47
$GC,20,-1.61,-438.5,1842,1880,2583,4094,0.0,0.0,1,31,0.00,2.38,-3.85,0.000,16900,0.000,1.304,1842,1046,3018,3018,4095,0,0,0,0,0,0,26.22,24.94,26.24,10.34,49.84
$GC,98,-1.61,-438.5,1842,1046,3019,4095,9.2,-13.9,14,104,0.00,2.10,0.00,0.000,1030,0.000,0.031,1842,1892,3019,3019,4095,0,0,0,0,0,0,26.01,25.95,26.03,10.44,50.31
$GC,135,-1.61,-438.5,1841,1892,3020,4095,14.3,-13.4,20,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1892,3020,3020,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.44,50.07
$GC,171,-1.61,-438.5,1842,1892,3021,4095,18.7,-11.2,26,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1893,3022,3022,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.42,50.15
$GC,208,-1.61,-438.5,1841,1894,3022,4095,22.3,-10.2,32,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1895,3022,3022,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.39,48.97
$GC,244,-1.61,-438.5,1841,1895,3023,4094,26.1,-10.8,38,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1895,3023,3023,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.37,48.38
$GC,280,-1.61,-438.5,1841,1894,3023,4094,29.9,-10.5,44,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1895,3022,3022,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.36,47.28
$GC,316,-1.61,-438.5,1841,1894,3025,4095,34.0,-11.8,50,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1895,3024,3024,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.36,46.92
$GC,352,-1.61,-438.5,1841,1894,3025,4095,38.2,-11.8,56,358,0.00,2.30,0.00,0.000,260,0.000,0.059,1842,2763,3025,3025,4094,0,0,0,0,0,0,26.38,26.06,26.39,10.35,47.16
$GC,376,-1.61,-438.5,1841,2763,3025,4094,40.9,-10.9,60,383,0.00,2.12,0.00,0.000,1030,0.000,0.032,1842,1921,3025,3025,4095,0,0,0,0,0,0,26.20,26.11,26.22,10.35,46.73
$GC,414,-1.61,-438.5,1841,1920,3026,4095,44.8,-11.1,66,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1920,3026,3026,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.34,46.33
$GC,450,-1.61,-438.5,1841,1920,3028,4095,48.8,-11.0,72,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1920,3027,3027,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,45.86
$GC,486,-1.61,-438.5,1842,1920,3028,4094,53.0,-12.2,78,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1920,3028,3028,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.33,45.58
$GC,522,-1.61,-438.5,1841,1920,3029,4095,57.2,-11.8,84,528,0.00,2.25,0.00,0.000,260,0.000,0.057,1842,2763,3029,3029,4095,0,0,0,0,0,0,26.46,26.14,26.48,10.32,46.18
$STATE,545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,545,begin apogee
$GC,552,-0.45,0.0,1842,2013,3029,4094,60.4,-12.6,88,588,3.88,0.00,25.52,1.281,10244,0.060,0.000,2204,2012,2500,2500,4094,0,0,0,0,0,0,26.18,25.39,24.53,10.33,46.06
$STATE,589,end apogee,CONTROL_FINISHED_OK
$STATE,590,begin climb
$GC,591,1.61,438.5,2204,2013,2500,4094,62.5,0.0,95,630,7.05,0.00,25.27,1.253,11270,0.039,0.000,2863,2013,1989,1989,4094,0,0,0,0,0,0,25.60,25.76,24.03,10.21,45.51
$GC,661,1.61,438.5,2863,2012,1988,4094,57.3,9.6,107,668,0.00,2.40,0.00,0.000,260,0.000,0.056,2863,2882,1988,1988,4095,0,0,0,0,0,0,25.49,25.20,25.50,10.10,44.29
$GC,698,1.61,438.5,2863,2882,1987,4095,53.1,11.6,113,704,0.00,2.25,0.00,0.000,1030,0.000,0.031,2863,2022,1987,1987,4094,0,0,0,0,0,0,25.47,25.39,25.49,10.09,45.27
$GC,735,1.61,438.5,2863,2021,1986,4094,48.6,11.9,119,741,0.00,2.40,0.00,0.000,516,0.000,0.067,2863,1149,1986,1986,4094,0,0,0,0,0,0,25.76,25.43,25.77,10.09,44.88
$GC,804,1.61,438.5,2862,1149,1985,4094,41.0,11.3,130,810,0.00,2.12,0.00,0.000,1030,0.000,0.030,2863,1995,1984,1984,4095,0,0,0,0,0,0,25.73,25.67,25.75,10.08,44.92
$GC,842,1.61,438.5,2862,1995,1983,4095,36.6,11.5,136,848,0.00,2.45,0.00,0.000,260,0.000,0.063,2863,2886,1983,1983,4094,0,0,0,0,0,0,25.98,25.65,25.98,10.08,45.35
$GC,909,1.61,438.5,2863,2885,1982,4094,28.4,12.0,147,915,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,2010,1981,1981,4094,0,0,0,0,0,0,25.89,25.80,25.91,10.07,46.49
$GC,946,1.61,438.5,2863,2010,1981,4094,24.4,10.6,153,952,0.00,2.35,0.00,0.000,516,0.000,0.070,2863,1149,1981,1981,4094,0,0,0,0,0,0,26.11,25.77,26.13,10.07,46.45
$GC,1043,1.61,438.5,2863,1149,1978,4094,13.7,9.4,169,1049,0.00,2.10,0.00,0.000,1030,0.000,0.031,2863,2004,1978,1978,4094,0,0,0,0,0,0,26.03,25.96,26.05,10.11,46.73
$GC,1080,1.61,438.5,2863,2004,1977,4094,10.3,9.7,175,1086,0.00,2.38,0.00,0.000,260,0.000,0.063,2863,2882,1977,1977,4094,0,0,0,0,0,0,26.24,25.91,26.25,10.14,48.38
$GC,1135,1.61,438.5,2863,2882,1976,4094,4.5,10.5,184,1141,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,2001,1976,1976,4095,0,0,0,0,0,0,26.09,26.01,26.11,10.16,48.89
$STATE,1159,end climb,FINISH_DEPTH_REACHED
$STATE,1159,begin subsurface finish
$FINISH1,1.8,1.025600,0
$GC,1164,0.00,0.0,2863,2001,1975,4094,1.8,10.7,188,1181,5.38,2.35,-4.05,0.000,20996,0.055,1.304,2367,1153,2509,2509,4094,0,0,0,0,0,0,26.03,24.98,26.06,10.16,50.11
$FINISH2,0.8
$STATE,1182,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1182,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,011100
$TT8_MAMPS,0.025466,0.076398
$HUMID,50.23
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.03,3.428
$10V_AH,10.54,5.001
$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,22.150,38.700,50.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,425.279,343.898,146.159,285.965,37.011,33.422,357.381,0.000,285.207,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,1304.325,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330892
$DATA_FILE_SIZE,14271,191
$CAP_FILE_SIZE,34607,0
$CFSIZE,1024409600,1012760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,022908,5929.208,-17051.566,8,0.9,17,8.4,1.3,112.7,9,4.7