version: 66.13
glider: 401
mission: 22
dive: 140
start: 7 29 117 4 6 23
data:
$ID,401
$MISSION,22
$DIVE,140
$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,28
$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
$GPS1,290717,034307,5929.5239,-17052.4258,5,0.8,15,8.4,0.0,246.6,11,5.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-2.0
$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,0.006652,0.356016
$KALMAN_X,20055.513672,-1063.791138,-242.750275,-44250.906250,-103.608948
$KALMAN_Y,4334.099609,1439.497437,427.084167,20122.449219,-82.299072
$MHEAD_RNG_PITCHd_Wd,352.7,11769,-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,-438.7,2369,1881,2506,4092,0.0,0.0,0,21,5.30,0.00,-4.80,0.000,20486,0.028,0.000,1857,1881,3017,3017,4095,0,0,0,0,0,0,26.08,25.19,26.10,10.32,50.74
$GC,23,-1.61,-438.7,1857,1881,3017,4095,0.1,0.0,1,31,0.00,2.30,0.00,0.000,516,0.000,0.070,1857,1045,3017,3017,4094,0,0,0,0,0,0,26.25,25.92,26.25,10.43,51.29
$GC,99,-1.61,-438.7,1856,1045,3019,4094,7.0,-12.3,12,109,0.00,2.15,0.00,0.000,1030,0.000,0.031,1857,1901,3019,3019,4095,0,0,0,0,0,0,26.10,26.05,26.13,10.44,50.23
$GC,145,-1.61,-438.7,1857,1901,3019,4095,12.8,-13.1,18,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1901,3020,3020,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.44,50.74
$GC,188,-1.61,-438.7,1856,1902,3021,4095,18.4,-12.8,24,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1902,3021,3021,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.44,50.00
$GC,232,-1.61,-438.8,1856,1903,3022,4095,22.5,-9.0,30,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1904,3021,3021,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.38,49.37
$GC,277,-1.61,-438.8,1856,1903,3022,4095,27.0,-10.1,36,286,0.00,2.30,0.00,0.000,260,0.000,0.058,1857,2756,3023,3023,4095,0,0,0,0,0,0,26.43,26.10,26.44,10.38,48.62
$GC,303,-1.61,-438.8,1856,2756,3023,4095,29.4,-9.7,39,313,0.00,2.12,0.00,0.000,1030,0.000,0.031,1857,1923,3023,3023,4094,0,0,0,0,0,0,26.22,26.17,26.23,10.37,47.87
$GC,350,-1.61,-438.8,1856,1923,3023,4094,34.2,-10.4,45,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1923,3024,3024,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.36,47.48
$GC,396,-1.61,-438.8,1856,1923,3024,4095,38.8,-10.0,51,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1923,3025,3025,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.35,46.81
$GC,442,-1.61,-438.8,1856,1923,3025,4095,43.7,-10.5,57,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1923,3026,3026,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.34,46.29
$GC,485,-1.61,-438.8,1856,1922,3026,4095,48.6,-10.5,63,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1923,3027,3027,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.33,45.90
$GC,530,-1.61,-438.8,1856,1923,3027,4094,53.1,-10.3,69,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1923,3027,3027,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.33,45.78
$GC,573,-1.61,-438.8,1856,1923,3028,4094,57.9,-11.1,75,583,0.00,2.28,0.00,0.000,260,0.000,0.058,1857,2759,3028,3028,4094,0,0,0,0,0,0,26.55,26.22,26.55,10.32,45.15
$STATE,598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,598,begin apogee
$GC,606,-0.45,0.0,1857,2006,3029,4094,60.7,-10.8,78,641,3.80,0.00,25.55,1.295,10244,0.058,0.000,2205,2006,2500,2500,4094,0,0,0,0,0,0,26.31,25.25,24.60,10.32,45.78
$STATE,642,end apogee,CONTROL_FINISHED_OK
$STATE,642,begin climb
$GC,644,1.61,438.8,2205,2006,2500,4094,63.4,0.0,82,680,7.03,0.00,25.33,1.277,11270,0.037,0.000,2864,2006,1988,1988,4094,0,0,0,0,0,0,25.67,25.83,24.06,10.21,45.07
$GC,717,1.61,438.8,2863,2006,1987,4094,58.8,10.7,91,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2006,1986,1986,4094,0,0,0,0,0,0,25.53,25.56,25.55,10.09,44.21
$GC,763,1.61,438.8,2863,2006,1985,4094,53.6,11.4,97,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2006,1985,1985,4095,0,0,0,0,0,0,25.71,25.72,25.72,10.09,44.72
$GC,809,1.61,438.8,2863,2006,1985,4095,48.2,11.6,103,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2006,1984,1984,4094,0,0,0,0,0,0,25.83,25.85,25.84,10.08,45.03
$GC,855,1.61,438.8,2863,2006,1983,4094,43.0,11.1,109,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2006,1983,1983,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.08,44.64
$GC,900,1.61,438.8,2863,2006,1982,4094,37.8,11.5,115,910,0.00,2.42,0.00,0.000,260,0.000,0.060,2864,2875,1982,1982,4094,0,0,0,0,0,0,26.00,25.72,26.01,10.08,44.68
$GC,947,1.61,438.8,2863,2875,1981,4094,32.0,12.6,121,957,0.00,2.22,0.00,0.000,1030,0.000,0.032,2864,2020,1981,1981,4094,0,0,0,0,0,0,25.84,25.80,25.87,10.07,45.03
$GC,994,1.61,438.8,2863,2020,1980,4094,26.4,12.0,127,1003,0.00,2.35,0.00,0.000,516,0.000,0.068,2864,1158,1980,1980,4094,0,0,0,0,0,0,26.12,25.77,26.13,10.07,45.27
$GC,1065,1.61,438.8,2863,1157,1978,4094,17.5,12.2,137,1075,0.00,2.15,0.00,0.000,1030,0.000,0.032,2864,2007,1978,1978,4094,0,0,0,0,0,0,25.98,25.94,25.99,10.07,46.02
$GC,1112,1.61,438.8,2863,2007,1977,4094,12.8,9.7,143,1121,0.00,2.40,0.00,0.000,260,0.000,0.063,2864,2882,1976,1976,4094,0,0,0,0,0,0,26.23,25.91,26.25,10.12,46.69
$GC,1170,1.61,438.8,2863,2882,1975,4094,6.6,10.5,151,1179,0.00,2.22,0.00,0.000,1030,0.000,0.033,2864,2021,1975,1975,4094,0,0,0,0,0,0,26.04,26.01,26.07,10.15,48.11
$GC,1216,1.63,450.7,2863,2020,1974,4094,2.5,8.9,157,1226,0.00,2.35,0.00,0.000,516,0.000,0.071,2864,1157,1974,1974,4094,0,0,0,0,0,0,26.31,25.97,26.32,10.16,48.77
$STATE,1235,end climb,FINISH_DEPTH_REACHED
$STATE,1235,begin subsurface finish
$FINISH1,0.6,1.024247,94
$GC,1244,0.14,94.3,2864,2024,1973,4094,0.6,8.8,159,1263,4.70,2.53,-3.88,0.000,20996,0.026,1.320,2410,1161,2396,2396,4094,0,0,0,0,0,0,26.08,24.98,26.14,10.17,49.33
$FINISH2,0.1
$STATE,1264,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1264,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,022459
$TT8_MAMPS,0.026215,0.252413
$HUMID,49.76
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.06,3.504
$10V_AH,10.24,5.088
$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,20.825,34.300,50.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,459.468,1.404,143.975,669.354,45.754,33.424,418.577,0.000,388.878,0.000,0.541,0.000
$DEVICE_MAMPS,58.140,1319.625,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.032,437.345,346.414,513.029,666.270,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330916
$DATA_FILE_SIZE,14348,161
$CAP_FILE_SIZE,33691,0
$CFSIZE,1024409600,1012613120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1224.37,0x2138e4,1,24
$GPS,290717,034307,5929.524,-17052.426,5,0.8,15,8.4,0.0,246.6,11,5.0