version: 66.13
glider: 401
mission: 22
dive: 138
start: 7 29 117 3 14 0
data:
$ID,401
$MISSION,22
$DIVE,138
$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,23
$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
$GPS1,290717,022908,5929.2085,-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,2.01
$_SM_ANGLEo,-0.3
$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,-0.036003,0.355134
$KALMAN_X,20641.410156,-992.648743,-150.907181,-44186.027344,-31.174286
$KALMAN_Y,4569.489258,1472.718628,470.688416,19224.396484,-206.817444
$MHEAD_RNG_PITCHd_Wd,345.8,12543,-10.5,-9.091,-14.29,7249
$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,6,begin dive
$GC,8,-1.61,-438.8,2367,1919,2509,4092,0.0,0.0,0,19,5.32,0.00,-2.58,0.000,20486,0.030,0.000,1856,1920,3019,3019,4094,0,0,0,0,0,0,26.08,25.19,26.09,10.30,50.98
$GC,22,-1.61,-438.8,1855,1920,3020,4094,3.5,0.0,1,30,0.00,2.30,0.00,0.000,260,0.000,0.060,1856,2760,3021,3021,4094,0,0,0,0,0,0,26.22,25.92,26.23,10.41,51.81
$GC,124,-1.61,-438.8,1855,2760,3023,4094,16.1,-13.1,16,134,0.00,2.20,0.00,0.000,1030,0.000,0.032,1856,1904,3023,3023,4095,0,0,0,0,0,0,26.09,26.08,26.13,10.42,51.53
$GC,171,-1.61,-438.8,1855,1904,3023,4095,20.5,-9.4,22,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1904,3023,3023,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.38,50.23
$GC,215,-1.61,-438.8,1855,1904,3024,4095,25.0,-10.0,28,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1904,3024,3024,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.36,49.17
$GC,259,-1.61,-438.8,1855,1904,3025,4094,29.4,-10.1,34,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1904,3025,3025,4094,0,0,0,0,0,0,26.41,26.41,26.42,10.34,48.46
$GC,303,-1.61,-438.8,1855,1904,3026,4094,34.0,-10.3,40,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1904,3026,3026,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,47.95
$GC,347,-1.61,-438.8,1854,1904,3027,4094,39.0,-11.4,46,356,0.00,2.35,0.00,0.000,260,0.000,0.060,1856,2764,3026,3026,4095,0,0,0,0,0,0,26.45,26.13,26.46,10.32,46.88
$GC,385,-1.61,-438.8,1855,2764,3028,4095,43.1,-10.5,51,395,0.00,2.20,0.00,0.000,1030,0.000,0.033,1856,1905,3028,3028,4095,0,0,0,0,0,0,26.24,26.19,26.26,10.32,46.49
$GC,432,-1.61,-438.8,1855,1905,3029,4095,47.8,-10.3,57,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,1904,3029,3029,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.31,46.96
$GC,478,-1.61,-438.8,1855,1905,3029,4095,52.5,-9.5,63,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1905,3030,3030,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.31,46.22
$GC,522,-1.61,-438.8,1855,1905,3030,4095,57.7,-11.4,69,532,0.00,2.33,0.00,0.000,260,0.000,0.059,1856,2760,3030,3030,4094,0,0,0,0,0,0,26.52,26.19,26.53,10.31,45.90
$STATE,547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,548,begin apogee
$GC,554,-0.45,0.0,1855,2014,3031,4094,60.5,-11.1,72,590,3.83,0.00,25.73,1.298,10244,0.059,0.000,2205,2013,2500,2500,4094,0,0,0,0,0,0,26.24,25.22,24.56,10.31,45.70
$STATE,591,end apogee,CONTROL_FINISHED_OK
$STATE,591,begin climb
$GC,593,1.61,438.8,2204,2013,2500,4094,63.1,0.0,76,629,7.00,0.00,25.33,1.269,11270,0.037,0.000,2859,2013,1988,1988,4094,0,0,0,0,0,0,25.64,25.80,24.04,10.19,45.47
$GC,667,1.61,438.8,2859,2013,1987,4094,58.4,9.9,85,676,0.00,2.45,0.00,0.000,260,0.000,0.058,2859,2881,1986,1986,4094,0,0,0,0,0,0,25.53,25.21,25.53,10.08,45.31
$GC,713,1.61,438.8,2859,2880,1985,4094,52.9,12.6,91,723,0.00,2.28,0.00,0.000,1030,0.000,0.030,2860,2018,1985,1985,4094,0,0,0,0,0,0,25.48,25.45,25.51,10.07,45.27
$GC,760,1.61,438.8,2859,2018,1985,4094,47.8,10.8,97,769,0.00,2.40,0.00,0.000,516,0.000,0.070,2860,1154,1984,1984,4094,0,0,0,0,0,0,25.82,25.49,25.84,10.07,44.76
$GC,844,1.61,438.8,2859,1154,1982,4094,37.6,12.0,109,853,0.00,2.15,0.00,0.000,1030,0.000,0.031,2860,2000,1982,1982,4094,0,0,0,0,0,0,25.77,25.74,25.80,10.06,45.74
$GC,889,1.61,438.8,2859,2000,1981,4094,32.2,12.2,115,898,0.00,2.42,0.00,0.000,260,0.000,0.061,2860,2882,1981,1981,4094,0,0,0,0,0,0,26.05,25.72,26.06,10.06,45.51
$GC,954,1.61,438.8,2859,2882,1979,4094,24.2,11.9,124,963,0.00,2.30,0.00,0.000,1030,0.000,0.032,2860,1997,1979,1979,4094,0,0,0,0,0,0,25.90,25.86,25.91,10.06,45.47
$GC,1000,1.61,438.8,2859,1996,1978,4094,19.0,11.5,130,1010,0.00,2.33,0.00,0.000,516,0.000,0.071,2859,1152,1978,1978,4094,0,0,0,0,0,0,26.17,25.82,26.18,10.06,46.53
$GC,1104,1.61,438.8,2859,1151,1976,4094,8.8,9.3,145,1114,0.00,2.10,0.00,0.000,1030,0.000,0.031,2860,1986,1976,1976,4095,0,0,0,0,0,0,26.04,26.02,26.06,10.13,48.22
$GC,1151,1.61,438.8,2859,1986,1974,4095,4.3,10.1,151,1160,0.00,2.45,0.00,0.000,260,0.000,0.063,2860,2882,1974,1974,4094,0,0,0,0,0,0,26.29,25.96,26.31,10.15,49.44
$STATE,1174,end climb,SURFACE_DEPTH_REACHED
$STATE,1175,begin surface coast
$FINISH,0.0,1.024251
$STATE,1197,end surface coast,CONTROL_FINISHED_OK
$STATE,1197,begin surface
$SM_CCo,1296,0.00,0.000,0,0,1973,453.34
$SM_GC,1.00,27.70,2.60,0.00,0.024,0.036,0.000,231,1901,1973,-6.65,0.73,453.34,0,0,0,0,0,0,25.98,26.03,26.09
$IRIDIUM_FIX,5955.74,-17228.01,290717,011100
$TT8_MAMPS,0.025466,0.241927
$HUMID,50.15
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.04,3.447
$10V_AH,10.27,5.037
$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,43.850,38.675,51.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.647,60.401,150.139,655.171,41.825,33.413,396.749,0.000,380.330,0.000,0.540,0.000
$DEVICE_MAMPS,58.905,71.145,1298.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.986,426.529,337.846,500.766,652.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,14371,157
$CAP_FILE_SIZE,31599,0
$CFSIZE,1024409600,1012727808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,033623,5929.556,-17052.367,7,0.8,13,8.4,0.3,217.7,10,4.9