version: 66.13
glider: 401
mission: 22
dive: 142
start: 7 29 117 5 2 44
data:
$ID,401
$MISSION,22
$DIVE,142
$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,15
$R_STBD_OVSHOOT,26
$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
$GPS1,290717,045231,5930.1182,-17053.2188,7,0.9,35,8.4,0.0,257.7,10,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-45.6
$GPS2,290717,050137,5930.1001,-17053.2949,8,0.9,16,8.4,0.7,263.8,10,4.5
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.023685,0.356201
$KALMAN_X,19455.167969,-1153.610229,-344.036591,-44268.867188,-118.030670
$KALMAN_Y,4275.701172,1521.216309,507.377380,21065.925781,-16.734192
$MHEAD_RNG_PITCHd_Wd,355.4,10554,-10.5,-9.091,-14.29,7250
$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,-438.8,239,1901,1972,4092,0.0,0.0,0,20,10.62,0.00,0.00,0.000,2049,0.110,0.000,1112,1898,1972,1972,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.25,49.29
$GC,22,-1.61,-438.8,1112,1897,1972,4094,0.9,0.0,1,49,7.88,2.53,-9.82,0.000,18948,0.050,1.310,1838,1032,3017,3017,4094,0,0,0,0,0,0,25.89,24.84,25.96,10.26,48.70
$GC,105,-1.61,-438.8,1838,1032,3018,4094,5.6,-12.9,12,113,0.00,2.20,0.00,0.000,1030,0.000,0.031,1838,1898,3018,3018,4094,0,0,0,0,0,0,25.85,25.83,25.88,10.49,48.50
$GC,149,-1.61,-438.8,1838,1899,3019,4094,11.6,-13.5,18,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1899,3019,3019,4095,0,0,0,0,0,0,26.12,26.14,26.13,10.49,48.11
$GC,193,-1.61,-438.8,1838,1900,3020,4095,17.5,-13.8,24,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1900,3020,3020,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.49,48.18
$GC,237,-1.61,-438.8,1838,1901,3021,4094,21.8,-9.3,30,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1901,3021,3021,4095,0,0,0,0,0,0,26.22,26.22,26.22,10.43,47.28
$GC,282,-1.61,-438.8,1838,1901,3022,4095,26.3,-9.9,36,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1901,3022,3022,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.41,46.45
$GC,326,-1.61,-438.8,1838,1901,3023,4095,31.0,-10.6,42,335,0.00,2.35,0.00,0.000,260,0.000,0.057,1838,2768,3023,3023,4094,0,0,0,0,0,0,26.29,25.98,26.30,10.39,45.51
$GC,353,-1.61,-438.8,1838,2767,3023,4094,34.0,-11.4,45,362,0.00,2.25,0.00,0.000,1030,0.000,0.031,1839,1891,3023,3023,4094,0,0,0,0,0,0,26.07,26.03,26.09,10.38,44.80
$GC,400,-1.61,-438.8,1838,1892,3024,4094,39.2,-11.4,51,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1892,3024,3024,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.38,44.64
$GC,443,-1.61,-438.8,1838,1892,3025,4094,44.2,-11.3,57,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1892,3025,3025,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.37,44.05
$GC,488,-1.61,-438.8,1838,1892,3026,4095,49.3,-11.1,63,496,0.00,2.38,0.00,0.000,260,0.000,0.057,1839,2764,3026,3026,4094,0,0,0,0,0,0,26.39,26.06,26.40,10.37,43.97
$GC,519,-1.61,-438.8,1838,2764,3026,4094,53.1,-12.1,67,529,0.00,2.20,0.00,0.000,1030,0.000,0.031,1838,1902,3026,3026,4095,0,0,0,0,0,0,26.18,26.12,26.20,10.36,44.25
$GC,565,-1.61,-438.8,1838,1902,3028,4095,58.6,-12.4,73,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1902,3028,3028,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,44.21
$STATE,582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,582,begin apogee
$GC,587,-0.45,0.0,1838,2040,3028,4095,60.7,-12.0,75,622,3.95,0.00,25.62,1.290,10244,0.060,0.000,2199,2040,2500,2500,4094,0,0,0,0,0,0,26.15,25.35,24.49,10.36,43.73
$STATE,623,end apogee,CONTROL_FINISHED_OK
$STATE,624,begin climb
$GC,625,1.61,438.8,2199,2040,2500,4094,63.2,0.0,79,661,7.07,0.00,25.30,1.268,11270,0.037,0.000,2860,2040,1988,1988,4094,0,0,0,0,0,0,25.56,25.72,23.99,10.24,43.54
$GC,698,1.61,438.8,2860,2039,1987,4094,58.5,10.3,88,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,1987,1987,4094,0,0,0,0,0,0,25.48,25.50,25.50,10.13,42.51
$GC,744,1.61,438.8,2860,2039,1986,4094,53.4,11.1,94,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,1985,1985,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.12,42.75
$GC,790,1.61,438.8,2860,2039,1985,4094,48.1,12.1,100,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,1984,1984,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.11,43.10
$GC,836,1.61,438.8,2860,2039,1983,4094,43.0,11.0,106,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,1983,1983,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.10,43.62
$GC,880,1.61,438.8,2860,2039,1982,4094,38.0,11.1,112,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2040,1982,1982,4095,0,0,0,0,0,0,25.98,25.99,25.99,10.10,44.21
$GC,924,1.61,438.8,2860,2039,1981,4095,32.8,11.7,118,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2040,1981,1981,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.10,44.01
$GC,968,1.61,438.8,2860,2040,1980,4094,27.6,11.9,124,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,1980,1980,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.09,43.77
$GC,1013,1.61,438.8,2860,2039,1978,4094,22.4,11.5,130,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,1979,1979,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.09,44.21
$GC,1057,1.61,438.8,2860,2040,1976,4094,17.1,11.9,136,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,1977,1977,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.11,44.64
$GC,1101,1.61,438.8,2860,2040,1976,4094,12.6,10.0,142,1111,0.00,2.42,0.00,0.000,516,0.000,0.067,2861,1158,1976,1976,4094,0,0,0,0,0,0,26.23,25.90,26.25,10.15,46.22
$GC,1180,1.61,438.8,2860,1158,1975,4094,4.9,9.9,153,1190,0.00,2.15,0.00,0.000,1030,0.000,0.031,2861,2014,1974,1974,4094,0,0,0,0,0,0,26.11,26.04,26.09,10.18,48.81
$STATE,1210,end climb,FINISH_DEPTH_REACHED
$STATE,1210,begin subsurface finish
$FINISH1,1.4,1.024252,94
$GC,1216,0.14,94.0,2861,2021,1973,4094,1.4,10.7,157,1235,4.75,2.45,-3.75,0.000,20740,0.039,1.303,2409,2882,2396,2396,4094,0,0,0,0,0,0,26.09,25.01,26.14,10.19,48.74
$FINISH2,0.1
$STATE,1236,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1236,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,290717,045411
$TT8_MAMPS,0.025466,0.260652
$HUMID,49.25
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.99,3.566
$10V_AH,10.25,5.141
$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,34.275,21.225,50.925,0.000,0.000,47.691,63.539,273.572,0.000,0.000,17.855,446.610,45.033,149.314,1077.106,89.894,33.449,435.346,0.000,386.356,0.000,0.543,0.000
$DEVICE_MAMPS,110.160,1309.680,1289.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.342,431.931,342.078,506.725,659.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,14236,159
$CAP_FILE_SIZE,38586,0
$CFSIZE,1024409600,1012514816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290717,050137,5930.100,-17053.295,8,0.9,16,8.4,0.7,263.8,10,4.5