version: 66.13
glider: 401
mission: 22
dive: 150
start: 7 29 117 8 19 14
data:
$ID,401
$MISSION,22
$DIVE,150
$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,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
$GPS1,290717,073257,5932.1016,-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,0.80
$_SM_ANGLEo,-1.7
$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,-0.152702,0.322374
$KALMAN_X,19459.859375,-1149.355591,-329.143890,-44689.769531,104.072662
$KALMAN_Y,4107.346191,1792.232788,767.402405,24432.443359,-17.457703
$MHEAD_RNG_PITCHd_Wd,326.3,6849,-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,-438.8,2359,1916,2507,4092,0.0,0.0,0,19,5.32,0.00,-2.92,0.000,20486,0.028,0.000,1845,1917,3020,3020,4095,0,0,0,0,0,0,26.10,25.20,26.11,10.30,51.53
$GC,22,-1.61,-438.8,1844,1917,3020,4095,2.5,0.0,1,31,0.00,2.30,0.00,0.000,260,0.000,0.056,1845,2763,3020,3020,4095,0,0,0,0,0,0,26.22,25.94,26.24,10.41,51.18
$GC,60,-1.61,-438.8,1844,2762,3021,4095,6.7,-10.9,6,69,0.00,2.22,0.00,0.000,1030,0.000,0.033,1845,1901,3021,3021,4094,0,0,0,0,0,0,26.08,26.03,26.08,10.42,50.66
$GC,106,-1.61,-438.8,1844,1901,3022,4094,12.5,-13.2,12,114,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1901,3022,3022,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.43,51.18
$GC,150,-1.61,-438.8,1845,1901,3023,4095,18.4,-12.2,18,159,0.00,2.33,0.00,0.000,260,0.000,0.059,1845,2750,3023,3023,4095,0,0,0,0,0,0,26.34,26.02,26.36,10.41,50.55
$GC,188,-1.61,-438.8,1844,2750,3024,4095,22.6,-10.7,23,198,0.00,2.17,0.00,0.000,1030,0.000,0.033,1845,1903,3024,3024,4095,0,0,0,0,0,0,26.14,26.10,26.15,10.38,49.96
$GC,235,-1.61,-438.8,1844,1903,3025,4095,27.3,-10.6,29,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1904,3025,3025,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.36,48.54
$GC,279,-1.61,-438.8,1844,1903,3025,4095,32.2,-10.8,35,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1904,3026,3026,4094,0,0,0,0,0,0,26.42,26.44,26.42,10.34,47.59
$GC,323,-1.61,-438.8,1844,1903,3026,4094,37.0,-11.0,41,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1904,3027,3027,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.34,47.20
$GC,367,-1.61,-438.8,1844,1904,3028,4094,41.9,-11.3,47,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1904,3028,3028,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.33,47.00
$GC,411,-1.61,-438.8,1844,1903,3029,4095,47.2,-11.7,53,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1904,3028,3028,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.32,46.33
$GC,455,-1.61,-438.8,1844,1903,3030,4094,52.5,-11.8,59,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1903,3030,3030,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.32,46.18
$GC,500,-1.61,-438.8,1844,1903,3030,4094,57.6,-11.5,65,509,0.00,2.33,0.00,0.000,260,0.000,0.057,1845,2762,3030,3030,4094,0,0,0,0,0,0,26.51,26.19,26.53,10.32,46.06
$STATE,525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,525,begin apogee
$GC,532,-0.45,0.0,1844,2014,3031,4095,60.7,-11.9,68,567,3.92,0.00,25.67,1.299,10244,0.059,0.000,2204,2013,2500,2500,4094,0,0,0,0,0,0,26.24,25.43,24.56,10.32,45.55
$STATE,568,end apogee,CONTROL_FINISHED_OK
$STATE,568,begin climb
$GC,570,1.61,438.8,2203,2013,2500,4094,63.6,0.0,72,606,7.05,0.00,25.27,1.274,11270,0.038,0.000,2864,2013,1988,1988,4094,0,0,0,0,0,0,25.63,25.79,24.04,10.20,45.19
$GC,644,1.61,438.8,2863,2013,1987,4094,58.4,10.3,81,653,0.00,2.47,0.00,0.000,260,0.000,0.062,2864,2879,1987,1987,4094,0,0,0,0,0,0,25.53,25.22,25.53,10.08,44.76
$GC,690,1.61,438.8,2863,2879,1986,4094,53.0,11.5,87,700,0.00,2.30,0.00,0.000,1030,0.000,0.032,2864,2006,1986,1986,4094,0,0,0,0,0,0,25.51,25.44,25.51,10.08,44.88
$GC,737,1.61,438.8,2863,2006,1985,4094,47.7,11.1,93,746,0.00,2.40,0.00,0.000,516,0.000,0.070,2864,1148,1985,1985,4094,0,0,0,0,0,0,25.82,25.50,25.84,10.07,44.44
$GC,821,1.61,438.8,2863,1147,1983,4094,37.8,11.1,105,830,0.00,2.12,0.00,0.000,1030,0.000,0.030,2863,1985,1982,1982,4094,0,0,0,0,0,0,25.76,25.75,25.79,10.07,45.23
$GC,866,1.61,438.8,2863,1985,1981,4094,32.6,11.3,111,876,0.00,2.45,0.00,0.000,260,0.000,0.060,2864,2876,1981,1981,4094,0,0,0,0,0,0,26.05,25.73,26.06,10.06,45.15
$GC,931,1.61,438.8,2863,2875,1979,4094,24.6,12.5,120,940,0.00,2.33,0.00,0.000,1030,0.000,0.033,2864,1983,1979,1979,4094,0,0,0,0,0,0,25.89,25.86,25.92,10.06,45.94
$GC,978,1.61,438.8,2863,1982,1978,4094,19.4,10.9,126,987,0.00,2.30,0.00,0.000,516,0.000,0.071,2863,1148,1978,1978,4094,0,0,0,0,0,0,26.17,25.84,26.19,10.06,45.51
$GC,1029,1.61,438.8,2863,1147,1977,4094,13.9,9.7,133,1038,0.00,2.12,0.00,0.000,1030,0.000,0.031,2864,1991,1977,1977,4094,0,0,0,0,0,0,26.00,25.96,26.03,10.11,47.36
$GC,1074,1.61,438.8,2863,1991,1976,4094,9.7,9.5,139,1084,0.00,2.42,0.00,0.000,260,0.000,0.062,2864,2878,1976,1976,4094,0,0,0,0,0,0,26.25,25.97,26.27,10.13,48.26
$STATE,1150,end climb,SURFACE_DEPTH_REACHED
$STATE,1150,begin surface coast
$FINISH,1.0,1.024244
$STATE,1158,end surface coast,CONTROL_FINISHED_OK
$STATE,1159,begin surface
$SM_CCo,1257,0.00,0.000,0,0,1973,453.34
$SM_GC,1.13,27.62,2.58,0.00,0.026,0.033,0.000,239,1893,1973,-6.61,0.73,453.34,0,0,0,0,0,0,26.10,26.04,26.13
$IRIDIUM_FIX,5955.74,-17228.01,290717,072544
$TT8_MAMPS,0.024717,0.250915
$HUMID,50.51
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.04,3.757
$10V_AH,10.26,5.335
$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,43.925,38.675,50.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.924,60.181,154.662,628.372,42.530,33.413,401.062,0.000,366.044,0.000,0.540,0.000
$DEVICE_MAMPS,58.905,71.145,1298.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.553,410.120,324.811,481.358,625.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,14377,151
$CAP_FILE_SIZE,31987,0
$CFSIZE,1024409600,1012137984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,084124,5933.163,-17053.238,34,0.7,39,8.4,0.7,84.6,11,4.9