version: 66.13
glider: 401
mission: 22
dive: 147
start: 7 29 117 7 2 3
data:
$ID,401
$MISSION,22
$DIVE,147
$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,23
$R_STBD_OVSHOOT,22
$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,0.12
$_SM_ANGLEo,-3.3
$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,-0.037494,0.354356
$KALMAN_X,19112.210938,-1209.117798,-399.946564,-44269.761719,-19.606659
$KALMAN_Y,3708.944824,1583.709717,572.249329,23185.873047,-75.104858
$MHEAD_RNG_PITCHd_Wd,345.6,8844,-10.5,-9.091,-14.31,7218
$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,-438.8,2410,1889,2397,4092,0.0,0.0,0,18,5.88,0.00,-1.92,0.000,20482,0.028,0.000,1843,1889,2602,2602,4094,0,0,0,0,0,0,26.03,28.83,26.08,10.29,50.47
$GC,20,-1.61,-438.8,1843,1889,2601,4094,0.1,0.0,1,31,0.00,2.42,-3.92,0.000,16900,0.000,1.302,1843,1036,3018,3018,4094,0,0,0,0,0,0,26.23,24.94,26.24,10.34,50.82
$GC,88,-1.61,-438.8,1842,1036,3019,4094,5.7,-12.2,12,94,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1907,3019,3019,4094,0,0,0,0,0,0,26.00,25.93,26.02,10.43,50.39
$GC,126,-1.61,-438.8,1842,1906,3020,4094,10.4,-12.8,18,131,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1906,3020,3020,4094,0,0,0,0,0,0,26.22,26.24,26.22,10.44,50.98
$GC,162,-1.61,-438.8,1843,1906,3021,4094,15.4,-12.9,24,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1906,3021,3021,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.44,50.07
$GC,198,-1.61,-438.8,1843,1908,3022,4095,19.2,-9.7,30,204,0.00,2.30,0.00,0.000,260,0.000,0.060,1843,2762,3021,3021,4095,0,0,0,0,0,0,26.28,25.96,26.29,10.41,50.63
$GC,229,-1.61,-438.8,1842,2762,3022,4095,22.3,-9.8,35,235,0.00,2.15,0.00,0.000,1030,0.000,0.032,1843,1908,3022,3022,4095,0,0,0,0,0,0,26.10,26.03,26.13,10.38,50.23
$GC,266,-1.61,-438.8,1842,1908,3023,4095,26.1,-10.2,41,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3023,3023,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.37,48.93
$GC,302,-1.61,-438.8,1842,1908,3023,4094,30.0,-10.6,47,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3023,3023,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.37,47.95
$GC,338,-1.61,-438.8,1842,1908,3024,4094,33.9,-10.9,53,344,0.00,2.28,0.00,0.000,260,0.000,0.057,1843,2760,3024,3024,4095,0,0,0,0,0,0,26.37,26.05,26.39,10.35,47.12
$GC,357,-1.61,-438.8,1842,2760,3024,4095,36.1,-11.5,56,363,0.00,2.12,0.00,0.000,1030,0.000,0.031,1843,1912,3025,3025,4095,0,0,0,0,0,0,26.19,26.11,26.21,10.35,46.81
$GC,394,-1.61,-438.8,1842,1911,3025,4095,40.3,-11.0,62,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1912,3026,3026,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.34,47.32
$GC,430,-1.61,-438.8,1843,1911,3026,4094,44.3,-10.9,68,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1912,3026,3026,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.34,46.65
$GC,466,-1.61,-438.8,1842,1912,3027,4094,48.1,-10.5,74,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1912,3027,3027,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.34,46.18
$GC,502,-1.61,-438.8,1842,1912,3028,4095,52.2,-11.0,80,508,0.00,2.25,0.00,0.000,260,0.000,0.054,1843,2761,3028,3028,4094,0,0,0,0,0,0,26.46,26.13,26.46,10.32,46.10
$GC,521,-1.61,-438.8,1842,2761,3028,4094,54.3,-11.4,83,527,0.00,2.15,0.00,0.000,1030,0.000,0.032,1843,1911,3028,3028,4094,0,0,0,0,0,0,26.26,26.18,26.29,10.33,46.37
$GC,558,-1.61,-438.8,1842,1911,3029,4094,58.7,-12.3,89,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,3029,3029,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.32,46.10
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,573,-0.45,0.0,1843,2039,3029,4095,60.1,-11.9,91,606,3.92,0.00,25.27,1.279,10244,0.059,0.000,2204,2039,2500,2500,4095,0,0,0,0,0,0,26.20,25.41,24.54,10.32,46.10
$STATE,607,end apogee,CONTROL_FINISHED_OK
$STATE,607,begin climb
$GC,609,1.61,438.8,2204,2039,2500,4095,61.9,0.0,97,648,7.03,0.00,25.27,1.254,11270,0.038,0.000,2861,2039,1987,1987,4094,0,0,0,0,0,0,25.60,25.77,24.05,10.20,45.70
$GC,679,1.61,438.8,2860,2039,1986,4094,56.9,10.6,109,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,1986,1986,4094,0,0,0,0,0,0,25.49,25.51,25.51,10.10,45.07
$GC,715,1.61,438.8,2860,2039,1985,4094,53.0,10.4,115,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,1985,1985,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.09,44.64
$GC,751,1.61,438.8,2861,2039,1985,4094,48.9,11.2,121,757,0.00,2.45,0.00,0.000,516,0.000,0.066,2861,1152,1985,1985,4094,0,0,0,0,0,0,25.76,25.43,25.77,10.09,45.19
$GC,800,1.61,438.8,2861,1151,1983,4094,43.1,12.5,129,806,0.00,2.10,0.00,0.000,1030,0.000,0.029,2861,1984,1982,1982,4094,0,0,0,0,0,0,25.70,25.63,25.71,10.09,45.15
$GC,837,1.61,438.8,2861,1984,1983,4094,38.6,11.9,135,843,0.00,2.45,0.00,0.000,260,0.000,0.060,2862,2882,1982,1982,4094,0,0,0,0,0,0,25.94,25.62,25.95,10.08,46.14
$GC,898,1.61,438.8,2861,2882,1981,4094,31.2,12.2,145,904,0.00,2.22,0.00,0.000,1030,0.000,0.031,2861,2013,1981,1981,4094,0,0,0,0,0,0,25.84,25.77,25.86,10.08,45.86
$GC,935,1.61,438.8,2861,2012,1980,4094,27.0,10.7,151,941,0.00,2.35,0.00,0.000,516,0.000,0.070,2861,1151,1980,1980,4094,0,0,0,0,0,0,26.08,25.74,26.09,10.07,45.98
$GC,997,1.61,438.8,2860,1151,1978,4094,20.0,11.8,161,1003,0.00,2.15,0.00,0.000,1030,0.000,0.031,2861,2010,1978,1978,4094,0,0,0,0,0,0,25.96,25.89,25.98,10.06,46.92
$GC,1036,1.61,438.8,2861,2010,1977,4094,15.6,11.0,167,1042,0.00,2.38,0.00,0.000,260,0.000,0.063,2861,2882,1978,1978,4094,0,0,0,0,0,0,26.18,25.86,26.19,10.09,46.77
$GC,1133,1.61,438.8,2861,2882,1975,4094,5.4,10.6,183,1139,0.00,2.17,0.00,0.000,1030,0.000,0.031,2862,2031,1974,1974,4094,0,0,0,0,0,0,26.08,26.00,26.10,10.15,49.29
$STATE,1168,end climb,SURFACE_DEPTH_REACHED
$STATE,1168,begin surface coast
$FINISH,0.2,0.959929
$STATE,1187,end surface coast,CONTROL_FINISHED_OK
$STATE,1187,begin surface
$SM_CCo,1283,0.00,0.000,0,0,1973,453.34
$SM_GC,1.05,27.58,0.32,0.00,0.024,0.056,0.000,239,1885,1973,-6.61,1.09,453.34,0,0,0,0,0,0,26.09,26.07,26.13
$IRIDIUM_FIX,5955.74,-17228.01,290717,045924
$TT8_MAMPS,0.025466,0.073402
$HUMID,51.33
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,24.05,3.679
$10V_AH,10.53,5.249
$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,44.400,37.000,50.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,441.649,405.730,167.451,287.028,40.903,33.416,379.464,0.000,286.626,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1302.030,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330920
$DATA_FILE_SIZE,14292,192
$CAP_FILE_SIZE,37634,0
$CFSIZE,1024409600,1012269056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,072420,5932.059,-17053.717,7,0.7,20,8.4,0.5,62.8,12,5.0