version: 66.13
glider: 401
mission: 22
dive: 143
start: 7 29 117 5 25 24
data:
$ID,401
$MISSION,22
$DIVE,143
$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,18
$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
$GPS1,290717,050137,5930.1001,-17053.2949,8,0.9,16,8.4,0.7,263.8,10,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.9
$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,0.016294,0.356348
$KALMAN_X,19408.560547,-1157.284180,-351.948578,-44223.820312,-110.025665
$KALMAN_Y,4051.028320,1449.542847,436.188934,21455.328125,-5.676941
$MHEAD_RNG_PITCHd_Wd,354.2,10554,-10.5,-9.091,-14.30,7237
$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,-438.8,2408,1900,2396,4092,0.0,0.0,0,23,5.82,0.00,-5.85,0.000,20486,0.027,0.000,1842,1899,3016,3016,4095,0,0,0,0,0,0,26.05,25.15,26.08,10.30,49.37
$GC,25,-1.61,-438.8,1842,1899,3017,4095,0.0,-0.7,2,31,0.00,2.38,0.00,0.000,516,0.000,0.074,1842,1030,3017,3017,4094,0,0,0,0,0,0,26.20,25.88,26.21,10.44,49.33
$GC,74,-1.61,-438.8,1841,1031,3018,4094,5.5,-12.9,10,80,0.00,2.15,0.00,0.000,1030,0.000,0.032,1842,1904,3018,3018,4094,0,0,0,0,0,0,26.08,26.01,26.10,10.44,49.48
$GC,111,-1.61,-438.8,1842,1903,3019,4094,10.5,-13.3,16,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1904,3019,3019,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.45,49.09
$GC,147,-1.61,-438.8,1841,1904,3019,4094,15.5,-13.7,22,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1903,3019,3019,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.45,49.05
$GC,183,-1.61,-438.8,1841,1904,3020,4094,19.9,-11.3,28,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1904,3020,3020,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.43,49.56
$GC,219,-1.61,-438.8,1841,1905,3021,4094,23.5,-9.8,34,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,3021,3021,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.40,49.13
$GC,255,-1.61,-438.8,1842,1906,3022,4095,27.3,-10.6,40,261,0.00,2.28,0.00,0.000,260,0.000,0.058,1842,2760,3022,3022,4094,0,0,0,0,0,0,26.39,26.06,26.39,10.38,48.26
$GC,280,-1.61,-438.8,1842,2760,3022,4094,30.1,-10.8,44,286,0.00,2.17,0.00,0.000,1030,0.000,0.031,1842,1900,3022,3022,4095,0,0,0,0,0,0,26.20,26.12,26.22,10.37,47.48
$GC,317,-1.61,-438.8,1841,1900,3023,4095,34.3,-11.2,50,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3023,3023,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.37,46.77
$GC,353,-1.61,-438.8,1841,1900,3023,4094,38.3,-11.1,56,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3023,3023,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.35,46.69
$GC,389,-1.61,-438.8,1841,1900,3024,4094,42.2,-10.4,62,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3025,3025,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.35,46.61
$GC,425,-1.61,-438.8,1842,1900,3025,4094,46.3,-11.2,68,431,0.00,2.30,0.00,0.000,260,0.000,0.059,1842,2759,3025,3025,4095,0,0,0,0,0,0,26.46,26.14,26.48,10.35,45.58
$GC,456,-1.61,-438.8,1841,2759,3026,4095,49.8,-10.9,73,462,0.00,2.12,0.00,0.000,1030,0.000,0.031,1842,1905,3026,3026,4095,0,0,0,0,0,0,26.29,26.21,26.31,10.34,46.49
$GC,494,-1.61,-438.8,1841,1905,3027,4095,54.3,-12.4,79,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,3027,3027,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.34,45.47
$GC,530,-1.61,-438.8,1841,1905,3028,4095,58.9,-12.5,85,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,3028,3028,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.33,45.58
$STATE,540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,540,begin apogee
$GC,545,-0.45,0.0,1842,2039,3028,4094,60.4,-12.2,87,579,3.95,0.00,25.33,1.287,10244,0.060,0.000,2206,2039,2500,2500,4095,0,0,0,0,0,0,26.22,25.43,24.56,10.33,45.82
$STATE,580,end apogee,CONTROL_FINISHED_OK
$STATE,580,begin climb
$GC,582,1.61,438.8,2206,2039,2500,4095,62.4,0.0,93,621,6.97,0.00,25.17,1.259,11270,0.037,0.000,2860,2039,1987,1987,4094,0,0,0,0,0,0,25.63,25.79,24.07,10.21,45.31
$GC,652,1.61,438.8,2860,2039,1986,4094,56.6,11.5,105,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2038,1986,1986,4094,0,0,0,0,0,0,25.51,25.53,25.52,10.11,44.13
$GC,688,1.61,438.8,2860,2039,1985,4094,52.7,10.9,111,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2040,1985,1985,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.10,44.56
$GC,724,1.61,438.8,2860,2039,1985,4094,48.3,12.2,117,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2039,1985,1985,4094,0,0,0,0,0,0,25.77,25.78,25.78,10.09,45.27
$GC,760,1.61,438.8,2860,2039,1984,4094,44.1,11.9,123,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2039,1983,1983,4094,0,0,0,0,0,0,25.85,25.87,25.86,10.09,44.88
$GC,796,1.61,438.8,2860,2039,1983,4094,40.1,11.1,129,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2039,1983,1983,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.09,44.92
$GC,832,1.61,438.8,2860,2039,1982,4094,35.9,11.4,135,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2039,1982,1982,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.09,45.15
$GC,868,1.61,438.8,2860,2039,1981,4094,31.8,11.3,141,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2039,1981,1981,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.08,45.19
$GC,904,1.61,438.8,2859,2039,1980,4094,27.6,11.3,147,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,1980,1980,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.07,45.31
$GC,940,1.61,438.8,2860,2039,1979,4094,23.6,10.9,153,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2039,1979,1979,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.07,45.78
$GC,976,1.61,438.8,2859,2039,1978,4094,19.4,11.5,159,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2039,1978,1978,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.07,46.49
$GC,1012,1.61,438.8,2860,2041,1977,4094,15.5,10.4,165,1018,0.00,2.40,0.00,0.000,516,0.000,0.068,2860,1154,1977,1977,4094,0,0,0,0,0,0,26.20,25.86,26.21,10.10,46.33
$GC,1073,1.71,504.8,2860,1154,1976,4094,10.8,8.2,175,1086,0.22,2.10,4.65,0.485,11270,0.047,0.029,2887,2015,1911,1911,4094,0,0,0,0,0,0,26.03,26.02,25.27,10.14,48.11
$GC,1118,1.78,551.3,2886,2016,1910,4094,7.1,8.4,182,1127,0.15,0.00,4.22,0.428,10246,0.070,0.000,2908,2016,1856,1856,4094,0,0,0,0,0,0,26.01,25.84,25.29,10.15,48.38
$GC,1158,1.83,588.1,2908,2016,1855,4094,3.5,8.6,188,1171,0.12,2.35,3.67,0.354,10756,0.070,0.068,2927,1156,1812,1812,4094,0,0,0,0,0,0,26.03,25.86,25.33,10.14,50.03
$STATE,1176,end climb,FINISH_DEPTH_REACHED
$STATE,1176,begin subsurface finish
$FINISH1,1.5,1.025600,0
$GC,1184,0.00,0.0,2927,2014,1811,4094,1.5,10.2,191,1200,6.03,0.00,-6.18,0.000,20998,0.047,0.000,2358,2022,2506,2506,4094,0,0,0,0,0,0,26.01,25.15,26.02,10.14,50.27
$FINISH2,0.1
$STATE,1201,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1201,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,290717,045411
$TT8_MAMPS,0.025466,0.083139
$HUMID,50.15
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.07,3.586
$10V_AH,10.54,5.152
$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,23.275,25.300,63.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.564,324.354,169.633,291.558,42.994,33.423,395.310,0.000,289.453,0.000,0.541,0.000
$DEVICE_MAMPS,69.615,74.205,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330864
$DATA_FILE_SIZE,14290,194
$CAP_FILE_SIZE,38329,0
$CFSIZE,1024409600,1012465664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1118.26,0x236162,1,24
$GPS,290717,050137,5930.100,-17053.295,8,0.9,16,8.4,0.7,263.8,10,4.5