version: 66.13
glider: 401
mission: 22
dive: 149
start: 7 29 117 7 56 39
data:
$ID,401
$MISSION,22
$DIVE,149
$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,21
$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
$GPS1,290717,073257,5932.1016,-17053.6992,6,0.8,31,8.4,0.3,266.1,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.5
$GPS2,290717,073257,5932.1016,-17053.6992,6,0.8,31,8.4,0.3,266.1,10,5.0
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.153371,0.321952
$KALMAN_X,19312.001953,-1166.138550,-348.869751,-44506.113281,65.758453
$KALMAN_Y,4543.760254,1744.580322,727.343140,24086.037109,147.216980
$MHEAD_RNG_PITCHd_Wd,326.1,6849,-10.5,-9.091,-14.30,7232
$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,8,-1.61,-438.8,2414,1892,2397,4092,0.0,0.0,0,18,5.70,0.00,-1.83,0.000,20482,0.025,0.000,1861,1893,2594,2594,4095,0,0,0,0,0,0,26.02,28.83,26.07,10.30,49.40
$GC,20,-1.61,-438.8,1861,1892,2594,4095,0.2,0.0,1,31,0.00,2.45,-3.75,0.000,16900,0.000,1.298,1861,1036,3018,3018,4094,0,0,0,0,0,0,26.23,24.94,26.25,10.35,49.84
$GC,62,-1.61,-438.8,1861,1036,3019,4094,3.7,-11.2,8,68,0.00,2.15,0.00,0.000,1030,0.000,0.031,1861,1905,3019,3019,4095,0,0,0,0,0,0,25.98,25.92,26.00,10.44,49.44
$GC,99,-1.61,-438.8,1861,1906,3020,4095,8.0,-11.9,14,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1906,3020,3020,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.44,49.29
$GC,135,-1.61,-438.8,1860,1906,3021,4094,12.5,-12.1,20,141,0.00,2.30,0.00,0.000,260,0.000,0.059,1861,2763,3021,3021,4094,0,0,0,0,0,0,26.23,25.90,26.24,10.44,49.33
$GC,166,-1.61,-438.8,1861,2763,3021,4094,16.3,-12.9,25,172,0.00,2.20,0.00,0.000,1030,0.000,0.031,1861,1900,3022,3022,4094,0,0,0,0,0,0,26.06,25.98,26.08,10.45,49.05
$GC,203,-1.61,-438.8,1861,1900,3022,4094,20.1,-9.8,31,209,0.00,2.33,0.00,0.000,260,0.000,0.058,1861,2760,3022,3022,4095,0,0,0,0,0,0,26.28,25.95,26.29,10.41,49.17
$GC,222,-1.61,-438.8,1861,2760,3023,4095,21.9,-9.4,34,228,0.00,2.12,0.00,0.000,1030,0.000,0.031,1861,1920,3022,3022,4095,0,0,0,0,0,0,26.10,26.03,26.13,10.39,49.13
$GC,259,-1.61,-438.8,1860,1920,3022,4095,25.5,-9.9,40,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1920,3023,3023,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.38,47.83
$GC,294,-1.61,-438.8,1861,1919,3023,4095,29.1,-9.8,46,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1920,3023,3023,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.37,47.51
$GC,330,-1.61,-438.8,1861,1920,3025,4094,32.8,-10.1,52,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1920,3025,3025,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.36,46.69
$GC,366,-1.61,-438.8,1860,1920,3025,4094,36.5,-10.1,58,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1920,3025,3025,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.35,46.61
$GC,403,-1.61,-438.8,1861,1920,3026,4094,40.4,-10.7,64,409,0.00,2.25,0.00,0.000,260,0.000,0.057,1861,2761,3026,3026,4095,0,0,0,0,0,0,26.41,26.08,26.41,10.34,45.94
$GC,427,-1.61,-438.8,1861,2761,3026,4095,43.0,-10.4,68,433,0.00,2.15,0.00,0.000,1030,0.000,0.031,1861,1911,3026,3026,4095,0,0,0,0,0,0,26.22,26.15,26.25,10.35,45.98
$GC,465,-1.61,-438.8,1861,1911,3027,4095,46.8,-10.3,74,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1911,3027,3027,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.33,46.22
$GC,500,-1.61,-438.8,1860,1911,3028,4095,50.5,-10.0,80,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1911,3028,3028,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.33,45.39
$GC,536,-1.61,-438.8,1861,1911,3029,4094,54.2,-10.2,86,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1911,3029,3029,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.33,45.86
$GC,572,-1.61,-438.8,1861,1911,3029,4094,58.1,-10.9,92,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1911,3029,3029,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.32,45.62
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,594,-0.45,0.0,1861,2044,3029,4095,60.0,-10.6,95,627,3.72,0.00,25.52,1.278,10244,0.057,0.000,2207,2044,2500,2500,4095,0,0,0,0,0,0,26.20,25.41,24.56,10.32,45.82
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,630,1.61,438.8,2206,2044,2500,4095,61.8,0.0,101,669,7.00,0.00,25.20,1.251,11270,0.038,0.000,2861,2044,1988,1988,4094,0,0,0,0,0,0,25.62,25.77,24.06,10.21,45.58
$GC,700,1.61,438.8,2861,2044,1987,4094,56.8,9.9,113,706,0.00,2.50,0.00,0.000,516,0.000,0.066,2861,1155,1987,1987,4094,0,0,0,0,0,0,25.50,25.19,25.51,10.09,45.15
$GC,742,1.61,438.8,2860,1155,1986,4094,52.1,11.2,120,749,0.00,2.08,0.00,0.000,1030,0.000,0.028,2861,1977,1986,1986,4094,0,0,0,0,0,0,25.51,25.44,25.53,10.09,44.48
$GC,779,1.61,438.8,2861,1976,1985,4094,47.9,11.4,126,786,0.00,2.50,0.00,0.000,260,0.000,0.060,2862,2883,1985,1985,4094,0,0,0,0,0,0,25.78,25.47,25.79,10.09,44.68
$GC,834,1.61,438.8,2861,2883,1984,4094,41.4,12.1,135,841,0.00,2.30,0.00,0.000,1030,0.000,0.031,2861,1991,1984,1984,4094,0,0,0,0,0,0,25.72,25.64,25.74,10.08,45.15
$GC,871,1.61,438.8,2861,1991,1983,4094,37.2,10.7,141,878,0.00,2.28,0.00,0.000,516,0.000,0.068,2861,1154,1983,1983,4094,0,0,0,0,0,0,25.96,25.63,25.98,10.08,45.11
$GC,939,1.61,438.8,2861,1154,1981,4094,29.5,11.2,152,945,0.00,2.08,0.00,0.000,1030,0.000,0.029,2862,1983,1982,1982,4094,0,0,0,0,0,0,25.89,25.82,25.90,10.07,46.37
$GC,977,1.61,438.8,2861,1984,1981,4094,25.4,11.0,158,983,0.00,2.45,0.00,0.000,260,0.000,0.062,2862,2882,1980,1980,4094,0,0,0,0,0,0,26.11,25.78,26.12,10.07,45.78
$GC,1044,1.61,438.8,2861,2882,1978,4094,17.4,11.6,169,1050,0.00,2.30,0.00,0.000,1030,0.000,0.032,2862,1986,1978,1978,4094,0,0,0,0,0,0,25.98,25.91,26.01,10.07,46.25
$GC,1081,1.61,438.8,2861,1986,1978,4094,13.6,9.6,175,1087,0.00,2.28,0.00,0.000,516,0.000,0.070,2861,1149,1977,1977,4094,0,0,0,0,0,0,26.21,25.87,26.22,10.12,46.77
$GC,1136,1.61,438.8,2861,1149,1976,4094,8.6,9.4,184,1142,0.00,2.05,0.00,0.000,1030,0.000,0.031,2862,1978,1976,1976,4094,0,0,0,0,0,0,26.07,26.01,26.10,10.14,48.81
$GC,1174,1.62,442.9,2861,1977,1976,4094,5.1,9.0,190,1180,0.00,2.42,0.00,0.000,260,0.000,0.062,2862,2882,1976,1976,4094,0,0,0,0,0,0,26.28,25.95,26.29,10.16,49.13
$STATE,1209,end climb,FINISH_DEPTH_REACHED
$STATE,1209,begin subsurface finish
$FINISH1,1.4,1.025600,0
$GC,1217,0.00,0.0,2861,2016,1974,4094,1.4,10.5,196,1234,5.32,2.38,-4.53,0.000,20996,0.054,1.307,2359,1154,2507,2507,4095,0,0,0,0,0,0,26.10,24.99,26.13,10.17,49.52
$FINISH2,0.5
$STATE,1235,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1235,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,072544
$TT8_MAMPS,0.025466,0.084637
$HUMID,51.22
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.06,3.737
$10V_AH,10.51,5.301
$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,21.750,48.475,50.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,447.187,347.508,156.718,298.530,41.104,33.426,379.721,0.000,296.600,0.000,0.541,0.000
$DEVICE_MAMPS,57.375,1307.385,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330872
$DATA_FILE_SIZE,14351,199
$CAP_FILE_SIZE,38741,0
$CFSIZE,1024409600,1012170752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,073257,5932.102,-17053.699,6,0.8,31,8.4,0.3,266.1,10,5.0