version: 66.13
glider: 401
mission: 22
dive: 146
start: 7 29 117 6 39 56
data:
$ID,401
$MISSION,22
$DIVE,146
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,290717,061641,5930.9956,-17053.7617,5,0.8,19,8.4,0.0,244.4,11,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-0.1
$GPS2,290717,061641,5930.9956,-17053.7617,5,0.8,19,8.4,0.0,244.4,11,4.7
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.041133,0.353672
$KALMAN_X,19071.207031,-1207.783569,-401.466675,-44228.914062,-42.557678
$KALMAN_Y,4164.453613,1551.280640,541.782654,22795.494141,83.483887
$MHEAD_RNG_PITCHd_Wd,345.0,8844,-10.5,-9.091,-14.32,7205
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.61,-438.6,2368,1892,2503,4092,0.0,0.0,0,20,5.45,0.00,-4.78,0.000,20486,0.028,0.000,1847,1892,3016,3016,4095,0,0,0,0,0,0,26.08,25.21,26.09,10.32,50.43
$GC,22,-1.61,-438.6,1846,1892,3016,4095,0.2,0.0,1,31,0.00,2.35,0.00,0.000,516,0.000,0.077,1847,1044,3016,3016,4094,0,0,0,0,0,0,26.27,25.95,26.29,10.43,50.59
$GC,40,-1.61,-438.6,1846,1044,3016,4094,1.5,-5.5,3,50,0.00,2.15,0.00,0.000,1030,0.000,0.030,1847,1904,3016,3016,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.43,51.18
$GC,86,-1.61,-438.6,1846,1905,3017,4094,6.9,-11.8,9,94,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1905,3017,3017,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.44,50.43
$GC,130,-1.61,-438.6,1846,1905,3018,4094,12.7,-13.5,15,138,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1905,3018,3018,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.44,50.19
$GC,174,-1.61,-438.6,1846,1906,3019,4094,17.9,-11.6,21,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1907,3019,3019,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.42,50.23
$GC,220,-1.61,-438.6,1846,1907,3020,4095,22.4,-10.0,27,230,0.00,2.30,0.00,0.000,260,0.000,0.058,1846,2757,3020,3020,4095,0,0,0,0,0,0,26.41,26.09,26.43,10.38,49.92
$GC,267,-1.61,-438.6,1846,2758,3020,4095,27.2,-10.4,33,277,0.00,2.17,0.00,0.000,1030,0.000,0.032,1847,1907,3021,3021,4095,0,0,0,0,0,0,26.20,26.16,26.24,10.37,48.18
$GC,314,-1.61,-438.6,1846,1907,3021,4095,31.8,-9.7,39,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1908,3022,3022,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.36,47.32
$GC,360,-1.61,-438.6,1846,1907,3022,4095,36.8,-11.1,45,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1908,3023,3023,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.35,47.04
$GC,405,-1.61,-438.6,1846,1907,3024,4095,41.9,-11.0,51,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1907,3023,3023,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.34,46.06
$GC,451,-1.61,-438.6,1846,1907,3025,4094,47.0,-11.2,57,461,0.00,2.30,0.00,0.000,260,0.000,0.058,1847,2754,3024,3024,4094,0,0,0,0,0,0,26.52,26.19,26.53,10.33,46.53
$GC,483,-1.61,-438.6,1846,2754,3025,4094,50.8,-11.5,61,492,0.00,2.15,0.00,0.000,1030,0.000,0.031,1847,1909,3026,3026,4095,0,0,0,0,0,0,26.30,26.26,26.32,10.33,46.57
$GC,528,-1.61,-438.6,1846,1909,3026,4095,56.1,-11.4,67,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1909,3027,3027,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.33,45.31
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,570,-0.45,0.0,1846,2038,3027,4094,60.5,-11.6,72,605,3.92,0.00,25.33,1.287,10244,0.060,0.000,2206,2039,2503,2503,4094,0,0,0,0,0,0,26.26,25.26,24.60,10.32,45.62
$STATE,606,end apogee,CONTROL_FINISHED_OK
$STATE,607,begin climb
$GC,608,1.61,438.6,2205,2038,2503,4094,62.9,0.0,76,645,7.03,0.00,25.30,1.266,11270,0.038,0.000,2864,2038,1990,1990,4094,0,0,0,0,0,0,25.67,25.84,24.09,10.21,45.47
$GC,682,1.61,438.6,2864,2038,1988,4094,58.2,10.5,85,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2038,1988,1988,4094,0,0,0,0,0,0,25.56,25.56,25.56,10.09,44.25
$GC,728,1.61,438.6,2864,2038,1987,4094,53.0,11.4,91,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,1987,1987,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.09,44.44
$GC,771,1.61,438.6,2864,2038,1986,4094,47.9,11.7,97,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2039,1986,1986,4094,0,0,0,0,0,0,25.84,25.85,25.84,10.09,44.40
$GC,816,1.61,438.6,2864,2038,1985,4094,42.5,11.6,103,825,0.00,2.47,0.00,0.000,516,0.000,0.066,2865,1152,1985,1985,4095,0,0,0,0,0,0,25.93,25.58,25.94,10.08,45.03
$GC,867,1.61,438.6,2864,1151,1983,4095,36.3,12.6,110,877,0.00,2.12,0.03,0.005,9222,0.000,0.029,2864,1990,1983,1983,4094,0,0,0,0,0,0,25.82,25.77,25.82,10.08,45.07
$GC,913,1.61,438.6,2864,1990,1982,4094,31.2,10.7,116,922,0.00,2.45,0.00,0.000,260,0.000,0.061,2865,2881,1982,1982,4094,0,0,0,0,0,0,26.07,25.78,26.08,10.08,45.58
$GC,977,1.61,438.6,2864,2881,1980,4094,23.3,12.3,125,987,0.00,2.20,0.00,0.000,1030,0.000,0.031,2865,2032,1980,1980,4094,0,0,0,0,0,0,25.96,25.88,25.92,10.07,45.23
$GC,1024,1.61,438.6,2864,2032,1979,4094,17.9,12.0,131,1033,0.00,2.40,0.00,0.000,516,0.000,0.068,2865,1153,1979,1979,4094,0,0,0,0,0,0,26.19,25.85,26.20,10.08,45.31
$GC,1103,1.61,438.6,2864,1153,1977,4094,9.5,10.1,142,1112,0.00,2.22,0.00,0.000,1030,0.000,0.031,2865,2033,1977,1977,4094,0,0,0,0,0,0,26.06,26.00,26.06,10.15,48.11
$GC,1149,1.61,438.6,2864,2033,1976,4094,4.9,10.2,148,1158,0.00,2.33,0.00,0.000,260,0.000,0.063,2865,2884,1976,1976,4094,0,0,0,0,0,0,26.29,25.96,26.30,10.16,48.62
$STATE,1179,end climb,FINISH_DEPTH_REACHED
$STATE,1179,begin subsurface finish
$FINISH1,1.3,1.024248,94
$GC,1187,0.14,94.2,2864,2014,1975,4094,1.3,10.6,152,1206,4.72,0.00,-3.85,0.000,20742,0.030,0.000,2411,2014,2397,2397,4094,0,0,0,0,0,0,26.07,25.34,26.12,10.17,48.97
$FINISH2,0.1
$STATE,1207,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1207,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,045924
$TT8_MAMPS,0.026215,0.235935
$HUMID,49.64
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.09,3.659
$10V_AH,10.25,5.238
$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,21.125,32.450,50.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,438.760,0.000,137.780,643.356,43.064,33.422,404.932,0.000,372.815,0.000,0.542,0.000
$DEVICE_MAMPS,59.670,77.265,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.096,418.314,331.287,491.179,640.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330920
$DATA_FILE_SIZE,14414,154
$CAP_FILE_SIZE,32181,0
$CFSIZE,1024409600,1012334592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,061641,5930.996,-17053.762,5,0.8,19,8.4,0.0,244.4,11,4.7