version: 66.13
glider: 401
mission: 22
dive: 141
start: 7 29 117 4 29 29
data:
$ID,401
$MISSION,22
$DIVE,141
$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,20
$R_STBD_OVSHOOT,29
$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,0.12
$_SM_ANGLEo,-3.9
$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,0.010748,0.356981
$KALMAN_X,20067.156250,-1077.689697,-262.228394,-44229.156250,-84.560333
$KALMAN_Y,3933.725586,1431.821533,417.365509,20539.257812,-183.525299
$MHEAD_RNG_PITCHd_Wd,353.3,11769,-10.5,-9.091,-14.28,7258
$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,-438.8,2410,1911,2396,4091,0.0,0.0,0,18,5.85,0.00,-1.38,0.000,20482,0.028,0.000,1850,1912,2544,2544,4095,0,0,0,0,0,0,26.01,28.83,26.07,10.29,50.23
$GC,20,-1.61,-438.8,1850,1911,2543,4095,0.1,0.0,1,32,0.00,2.53,-4.47,0.000,16900,0.000,1.307,1850,1031,3018,3018,4095,0,0,0,0,0,0,26.23,24.94,26.25,10.33,50.66
$GC,104,-1.61,-438.8,1849,1031,3019,4095,7.8,-12.9,15,110,0.00,2.15,0.00,0.000,1030,0.000,0.033,1850,1897,3019,3019,4095,0,0,0,0,0,0,26.03,25.96,26.05,10.43,50.43
$GC,141,-1.61,-438.8,1849,1898,3021,4095,12.5,-12.3,21,147,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1899,3020,3020,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.44,50.19
$GC,177,-1.61,-438.8,1849,1898,3021,4095,17.2,-12.9,27,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1898,3021,3021,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.44,50.82
$GC,213,-1.61,-438.8,1849,1900,3021,4095,20.7,-9.5,33,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1901,3022,3022,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.40,50.07
$GC,250,-1.61,-438.8,1849,1901,3022,4095,24.4,-10.0,39,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1901,3022,3022,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.38,49.44
$GC,286,-1.61,-438.8,1849,1901,3023,4095,28.1,-10.3,45,292,0.00,2.33,0.00,0.000,260,0.000,0.059,1849,2765,3023,3023,4095,0,0,0,0,0,0,26.35,26.03,26.36,10.37,48.42
$GC,304,-1.61,-438.8,1849,2765,3023,4095,30.1,-10.7,48,310,0.00,2.20,0.00,0.000,1030,0.000,0.032,1850,1899,3023,3023,4094,0,0,0,0,0,0,26.17,26.08,26.19,10.36,48.11
$GC,341,-1.61,-438.8,1849,1899,3024,4094,34.2,-11.2,54,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1899,3024,3024,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.35,47.20
$GC,377,-1.61,-438.8,1849,1898,3024,4094,38.2,-10.8,60,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1900,3025,3025,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.34,46.69
$GC,413,-1.61,-438.8,1849,1899,3025,4095,42.2,-10.7,66,420,0.00,2.33,0.00,0.000,260,0.000,0.059,1850,2766,3025,3025,4095,0,0,0,0,0,0,26.42,26.09,26.43,10.34,46.41
$GC,438,-1.61,-438.8,1849,2766,3026,4095,44.9,-11.1,70,444,0.00,2.17,0.00,0.000,1030,0.000,0.032,1850,1907,3026,3026,4095,0,0,0,0,0,0,26.23,26.16,26.26,10.34,46.85
$GC,475,-1.61,-438.8,1849,1907,3026,4095,48.9,-10.3,76,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1907,3027,3027,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.33,46.14
$GC,512,-1.61,-438.8,1849,1907,3028,4095,53.0,-11.2,82,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1907,3028,3028,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.33,46.06
$GC,547,-1.61,-438.8,1849,1907,3028,4095,57.1,-11.5,88,554,0.00,2.30,0.00,0.000,260,0.000,0.060,1850,2762,3028,3028,4095,0,0,0,0,0,0,26.48,26.15,26.48,10.32,46.57
$GC,567,-1.61,-438.8,1849,2762,3029,4095,59.3,-11.3,91,573,0.00,2.12,0.00,0.000,1030,0.000,0.032,1850,1918,3029,3029,4094,0,0,0,0,0,0,26.29,26.21,26.31,10.32,46.22
$STATE,579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,579,begin apogee
$GC,584,-0.45,0.0,1849,2048,3029,4095,60.7,-11.5,93,616,3.85,0.00,25.50,1.290,10244,0.059,0.000,2205,2048,2500,2500,4094,0,0,0,0,0,0,26.20,25.40,24.53,10.32,45.74
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,619,1.61,438.8,2205,2048,2500,4094,62.9,0.0,99,658,7.03,0.00,25.27,1.265,11270,0.039,0.000,2860,2048,1987,1987,4094,0,0,0,0,0,0,25.60,25.75,24.03,10.20,45.62
$GC,689,1.61,438.8,2859,2048,1986,4094,57.4,10.7,111,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2048,1986,1986,4095,0,0,0,0,0,0,25.48,25.50,25.50,10.09,44.95
$GC,725,1.61,438.8,2859,2048,1985,4095,53.4,12.0,117,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2048,1985,1985,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.09,44.95
$GC,761,1.61,438.8,2859,2048,1984,4094,49.1,11.5,123,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2048,1984,1984,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.08,44.92
$GC,797,1.61,438.8,2859,2048,1983,4094,45.0,11.9,129,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2048,1984,1984,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.08,45.27
$GC,833,1.61,438.8,2859,2048,1983,4094,41.0,11.5,135,839,0.00,2.45,0.00,0.000,516,0.000,0.066,2859,1154,1982,1982,4094,0,0,0,0,0,0,25.91,25.58,25.93,10.07,45.39
$GC,876,1.61,438.8,2860,1154,1982,4094,36.1,11.2,142,882,0.00,2.05,0.00,0.000,1030,0.000,0.029,2860,1974,1982,1982,4094,0,0,0,0,0,0,25.81,25.74,25.82,10.07,45.55
$GC,913,1.61,438.8,2859,1973,1981,4094,31.9,11.1,148,919,0.00,2.47,0.00,0.000,260,0.000,0.062,2859,2879,1981,1981,4094,0,0,0,0,0,0,26.03,25.71,26.05,10.07,45.66
$GC,986,1.61,438.8,2859,2878,1978,4094,22.8,12.4,160,992,0.00,2.25,0.00,0.000,1030,0.000,0.032,2860,2002,1978,1978,4094,0,0,0,0,0,0,25.94,25.86,25.96,10.06,46.06
$GC,1023,1.61,438.8,2859,2002,1978,4094,18.7,10.9,166,1029,0.00,2.28,0.00,0.000,516,0.000,0.070,2859,1156,1977,1977,4094,0,0,0,0,0,0,26.16,25.82,26.17,10.06,46.37
$GC,1139,1.61,438.8,2859,1155,1975,4094,7.8,9.8,185,1145,0.00,2.08,0.00,0.000,1030,0.000,0.031,2859,1999,1975,1975,4094,0,0,0,0,0,0,26.08,26.01,26.10,10.15,49.21
$GC,1178,1.61,438.8,2859,2000,1974,4094,4.2,9.3,191,1184,0.00,2.38,0.00,0.000,260,0.000,0.063,2859,2884,1974,1974,4095,0,0,0,0,0,0,26.29,25.96,26.30,10.16,49.80
$STATE,1195,end climb,SURFACE_DEPTH_REACHED
$STATE,1195,begin surface coast
$FINISH,0.1,0.959928
$STATE,1214,end surface coast,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$SM_CCo,1313,0.00,0.000,0,0,1972,454.20
$SM_GC,1.06,27.55,2.58,0.00,0.024,0.031,0.000,240,1902,1972,-6.61,0.91,454.20,0,0,0,0,0,0,26.10,26.02,26.14
$IRIDIUM_FIX,5955.74,-17228.01,290717,022459
$TT8_MAMPS,0.025466,0.073402
$HUMID,50.82
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.03,3.524
$10V_AH,10.53,5.099
$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,44.275,38.800,50.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.753,416.145,172.398,294.802,41.808,33.414,389.900,0.000,293.693,0.000,0.541,0.000
$DEVICE_MAMPS,58.905,1306.620,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330916
$DATA_FILE_SIZE,14279,197
$CAP_FILE_SIZE,38161,0
$CFSIZE,1024409600,1012563968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,045231,5930.118,-17053.219,7,0.9,35,8.4,0.0,257.7,10,4.5