version: 66.13
glider: 401
mission: 22
dive: 139
start: 7 29 117 3 44 13
data:
$ID,401
$MISSION,22
$DIVE,139
$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,13
$R_STBD_OVSHOOT,22
$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
$GPS1,290717,033623,5929.5562,-17052.3672,7,0.8,13,8.4,0.3,217.7,10,4.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-40.9
$GPS2,290717,034307,5929.5239,-17052.4258,5,0.8,15,8.4,0.0,246.6,11,5.0
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.015797,0.356472
$KALMAN_X,20089.789062,-1063.298218,-229.907578,-44285.589844,-108.751526
$KALMAN_Y,4557.331055,1521.387939,515.923279,19715.583984,-112.471985
$MHEAD_RNG_PITCHd_Wd,354.1,11769,-10.5,-9.091,-14.29,7242
$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,-438.8,231,1901,1973,4092,0.0,0.0,0,16,7.20,0.00,0.00,0.000,2049,0.121,0.000,809,1894,1973,1973,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.24,49.13
$GC,18,-1.61,-438.8,809,1893,1973,4094,1.0,0.0,1,47,11.23,2.47,-9.77,0.000,18948,0.054,1.304,1835,1027,3016,3016,4095,0,0,0,0,0,0,25.87,24.83,25.91,10.24,49.60
$GC,132,-1.61,-438.8,1834,1027,3017,4095,8.8,-13.5,20,138,0.00,2.17,0.00,0.000,1030,0.000,0.030,1835,1907,3018,3018,4095,0,0,0,0,0,0,25.97,25.91,25.99,10.47,48.62
$GC,169,-1.61,-438.8,1835,1907,3018,4095,13.9,-13.4,26,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1908,3018,3018,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.48,48.77
$GC,205,-1.61,-438.8,1834,1908,3019,4095,18.4,-11.6,32,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,3019,3019,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.46,48.11
$GC,241,-1.61,-438.8,1835,1910,3020,4095,22.0,-9.8,38,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1911,3020,3020,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.41,47.91
$GC,277,-1.61,-438.8,1835,1911,3021,4094,25.8,-10.7,44,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1911,3021,3021,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.39,47.48
$GC,314,-1.61,-438.8,1835,1910,3021,4095,29.9,-11.3,50,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1910,3022,3022,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.38,46.92
$GC,349,-1.61,-438.8,1835,1911,3022,4094,33.8,-10.3,56,356,0.00,2.28,0.00,0.000,260,0.000,0.057,1835,2764,3022,3022,4094,0,0,0,0,0,0,26.33,26.01,26.34,10.38,45.78
$GC,380,-1.61,-438.8,1835,2764,3023,4094,37.1,-10.5,61,387,0.00,2.17,0.00,0.000,1030,0.000,0.031,1835,1895,3023,3023,4095,0,0,0,0,0,0,26.16,26.08,26.18,10.38,45.35
$GC,418,-1.61,-438.8,1835,1895,3023,4095,41.3,-11.1,67,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1895,3023,3023,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.37,45.31
$GC,453,-1.61,-438.8,1835,1894,3024,4095,45.5,-11.5,73,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1895,3025,3025,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.36,44.88
$GC,489,-1.61,-438.8,1835,1894,3025,4095,49.8,-12.1,79,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1895,3025,3025,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.36,44.92
$GC,525,-1.61,-438.8,1834,1894,3025,4094,54.2,-11.8,85,531,0.00,2.33,0.00,0.000,260,0.000,0.055,1835,2761,3026,3026,4094,0,0,0,0,0,0,26.43,26.10,26.44,10.35,44.48
$GC,556,-1.61,-438.8,1835,2761,3026,4094,58.0,-11.9,90,562,0.00,2.15,0.00,0.000,1030,0.000,0.031,1835,1909,3026,3026,4094,0,0,0,0,0,0,26.25,26.17,26.27,10.35,44.64
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,579,-0.45,0.0,1834,2044,3026,4094,60.1,-11.5,93,612,4.03,0.00,25.42,1.284,10244,0.059,0.000,2205,2044,2500,2500,4094,0,0,0,0,0,0,26.17,25.37,24.50,10.34,44.64
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,615,1.61,438.8,2204,2044,2500,4094,62.3,0.0,99,654,6.97,2.25,25.38,1.263,10500,0.037,0.060,2865,2858,1987,1987,4094,0,0,0,0,0,0,25.52,25.45,24.00,10.22,44.01
$GC,685,1.61,438.8,2865,2859,1986,4094,57.3,11.6,111,691,0.00,2.20,0.00,0.000,1030,0.000,0.030,2866,2019,1986,1986,4094,0,0,0,0,0,0,25.30,25.22,25.32,10.11,44.25
$GC,722,1.61,438.8,2865,2019,1985,4094,53.0,12.2,117,728,0.00,2.40,0.00,0.000,516,0.000,0.067,2866,1152,1985,1985,4094,0,0,0,0,0,0,25.63,25.30,25.64,10.11,44.17
$GC,790,1.61,438.8,2865,1151,1983,4094,44.9,12.5,128,796,0.00,2.10,0.00,0.000,1030,0.000,0.028,2865,1997,1983,1983,4094,0,0,0,0,0,0,25.65,25.58,25.67,10.10,44.88
$GC,829,1.61,438.8,2865,1996,1982,4094,40.3,11.9,134,835,0.00,2.42,0.00,0.000,260,0.000,0.060,2866,2882,1982,1982,4094,0,0,0,0,0,0,25.90,25.58,25.91,10.10,44.36
$GC,890,1.61,438.8,2865,2882,1981,4094,32.7,12.3,144,896,0.00,2.15,0.00,0.000,1030,0.000,0.030,2865,2036,1981,1981,4095,0,0,0,0,0,0,25.82,25.75,25.84,10.09,44.92
$GC,927,1.61,438.8,2865,2036,1980,4095,28.5,11.2,150,933,0.00,2.38,0.00,0.000,516,0.000,0.069,2865,1154,1980,1980,4094,0,0,0,0,0,0,26.06,25.71,26.06,10.09,45.23
$GC,995,1.61,438.8,2865,1154,1978,4094,20.7,11.4,161,1001,0.00,2.17,0.00,0.000,1030,0.000,0.030,2866,2031,1978,1978,4094,0,0,0,0,0,0,25.95,25.88,25.97,10.08,45.58
$GC,1033,1.61,438.8,2865,2031,1977,4094,16.7,9.7,167,1039,0.00,2.30,0.00,0.000,260,0.000,0.061,2866,2883,1977,1977,4094,0,0,0,0,0,0,26.17,25.85,26.18,10.09,45.51
$GC,1071,1.64,461.9,2865,2883,1976,4094,13.2,8.8,173,1083,0.00,2.20,2.58,0.211,9222,0.000,0.031,2866,2021,1960,1960,4094,0,0,0,0,0,0,26.01,25.94,25.24,10.13,47.04
$GC,1114,1.69,489.9,2865,2020,1960,4094,9.4,8.7,180,1126,0.10,2.35,3.25,0.332,10756,0.078,0.068,2883,1153,1927,1927,4094,0,0,0,0,0,0,26.03,25.86,25.28,10.15,47.95
$STATE,1186,end climb,FINISH_DEPTH_REACHED
$STATE,1186,begin subsurface finish
$FINISH1,2.0,1.025600,0
$GC,1194,0.00,0.0,2882,2023,1926,4094,2.0,10.4,192,1210,5.68,0.00,-4.75,0.000,20486,0.067,0.000,2369,2029,2507,2507,4094,0,0,0,0,0,0,25.98,25.58,26.03,10.17,50.15
$FINISH2,0.3
$STATE,1211,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1211,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,022459
$TT8_MAMPS,0.025466,0.079394
$HUMID,50.23
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.00,3.484
$10V_AH,10.56,5.052
$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,35.200,41.000,56.625,0.000,0.000,33.642,19.284,247.205,0.000,0.000,16.709,441.279,343.654,162.213,609.672,81.145,33.450,383.651,0.000,292.527,0.000,0.542,0.000
$DEVICE_MAMPS,120.870,1303.560,1283.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329404
$DATA_FILE_SIZE,14297,195
$CAP_FILE_SIZE,40995,0
$CFSIZE,1024409600,1012662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290717,034307,5929.524,-17052.426,5,0.8,15,8.4,0.0,246.6,11,5.0