version: 66.13
glider: 401
mission: 22
dive: 153
start: 7 29 117 9 38 31
data:
$ID,401
$MISSION,22
$DIVE,153
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,290717,084733,5933.1875,-17053.1738,9,0.8,14,8.4,0.0,61.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.0
$GPS2,290717,084733,5933.1875,-17053.1738,9,0.8,14,8.4,0.0,61.1,10,4.9
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.287354,0.210742
$KALMAN_X,20506.613281,-990.615479,-167.496368,-45560.460938,236.211777
$KALMAN_Y,4724.815430,2038.292114,970.394958,25374.328125,40.480286
$MHEAD_RNG_PITCHd_Wd,297.9,5093,-10.5,-9.091,-14.31,7219
$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,-438.8,2407,1891,2393,4092,0.0,0.0,0,18,5.85,0.00,-1.98,0.000,20482,0.030,0.000,1845,1892,2605,2605,4095,0,0,0,0,0,0,26.03,28.83,26.07,10.29,51.06
$GC,20,-1.61,-438.8,1845,1891,2605,4095,0.1,0.0,1,26,0.00,0.00,-3.88,0.000,16902,0.000,0.000,1845,1891,3017,3017,4094,0,0,0,0,0,0,26.22,25.18,26.24,10.34,50.47
$GC,57,-1.61,-438.8,1844,1891,3018,4094,2.4,-9.1,7,62,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1891,3018,3018,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.42,50.59
$GC,93,-1.61,-438.8,1845,1892,3019,4095,6.6,-11.8,13,98,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1892,3019,3019,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.43,50.74
$GC,129,-1.61,-438.8,1844,1891,3019,4095,11.5,-13.8,19,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1892,3021,3021,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.43,50.66
$GC,165,-1.61,-438.8,1844,1891,3021,4095,16.4,-13.6,25,171,0.00,2.35,0.00,0.000,260,0.000,0.059,1845,2765,3021,3021,4094,0,0,0,0,0,0,26.34,26.01,26.34,10.43,50.23
$GC,208,-1.61,-438.8,1844,2765,3022,4094,21.0,-10.0,32,214,0.00,2.20,0.00,0.000,1030,0.000,0.032,1845,1899,3022,3022,4095,0,0,0,0,0,0,26.17,26.08,26.19,10.38,50.63
$GC,245,-1.61,-438.8,1844,1899,3023,4095,24.8,-10.4,38,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,3023,3023,4094,0,0,0,0,0,0,26.38,26.40,26.39,10.37,49.44
$GC,281,-1.61,-438.8,1844,1899,3023,4094,28.7,-10.6,44,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1899,3023,3023,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.36,48.46
$GC,317,-1.61,-438.8,1844,1899,3024,4095,32.6,-10.8,50,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,3024,3024,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.35,47.99
$GC,353,-1.61,-438.8,1844,1899,3025,4094,36.6,-11.1,56,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1899,3025,3025,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.34,47.71
$GC,389,-1.61,-438.8,1844,1899,3025,4094,40.6,-10.9,62,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,3025,3025,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.33,46.85
$GC,425,-1.61,-438.8,1844,1899,3026,4095,44.6,-11.2,68,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1899,3026,3026,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.33,46.45
$GC,461,-1.61,-438.8,1844,1899,3026,4095,48.5,-11.2,74,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1899,3027,3027,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.33,46.69
$GC,497,-1.61,-438.8,1844,1899,3028,4094,52.3,-11.1,80,503,0.00,2.33,0.00,0.000,260,0.000,0.059,1845,2764,3028,3028,4094,0,0,0,0,0,0,26.50,26.17,26.51,10.32,46.33
$GC,528,-1.61,-438.8,1844,2764,3028,4094,55.7,-11.2,85,534,0.00,2.17,0.00,0.000,1030,0.000,0.031,1845,1898,3029,3029,4095,0,0,0,0,0,0,26.32,26.24,26.34,10.32,46.53
$GC,565,-1.61,-438.8,1844,1898,3029,4095,59.7,-11.0,91,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1899,3029,3029,4095,0,0,0,0,0,0,26.52,26.54,26.53,10.31,46.18
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1844,2047,3029,4095,61.0,-11.3,93,614,3.92,0.00,25.52,1.290,10244,0.060,0.000,2206,2047,2500,2500,4094,0,0,0,0,0,0,26.24,25.44,24.56,10.31,46.06
$STATE,615,end apogee,CONTROL_FINISHED_OK
$STATE,615,begin climb
$GC,616,1.61,438.8,2206,2047,2500,4094,62.9,0.0,99,655,7.00,0.00,25.30,1.268,11270,0.038,0.000,2861,2047,1987,1987,4095,0,0,0,0,0,0,25.64,25.79,24.06,10.20,45.86
$GC,686,1.61,438.8,2860,2046,1986,4095,57.9,10.5,111,692,0.00,2.28,0.00,0.000,260,0.000,0.062,2861,2862,1986,1986,4094,0,0,0,0,0,0,25.51,25.20,25.52,10.09,45.70
$GC,735,1.61,438.8,2860,2861,1985,4094,51.7,12.8,119,741,0.00,2.22,0.00,0.000,1030,0.000,0.031,2861,2010,1985,1985,4094,0,0,0,0,0,0,25.52,25.44,25.54,10.09,45.27
$GC,772,1.61,438.8,2861,2009,1984,4094,47.5,11.0,125,778,0.00,2.35,0.00,0.000,516,0.000,0.069,2861,1154,1984,1984,4094,0,0,0,0,0,0,25.80,25.46,25.81,10.08,45.58
$GC,845,1.61,438.8,2861,1154,1982,4094,39.2,11.5,137,851,0.00,2.05,0.00,0.000,1030,0.000,0.029,2861,1973,1982,1982,4094,0,0,0,0,0,0,25.77,25.71,25.79,10.07,46.02
$GC,882,1.61,438.8,2861,1972,1982,4094,34.9,11.8,143,888,0.00,2.50,0.00,0.000,260,0.000,0.063,2861,2882,1981,1981,4094,0,0,0,0,0,0,26.01,25.68,26.01,10.07,46.22
$GC,931,1.61,438.8,2861,2882,1980,4094,28.9,12.0,151,937,0.00,2.30,0.00,0.000,1030,0.000,0.033,2861,1990,1980,1980,4094,0,0,0,0,0,0,25.88,25.80,25.90,10.07,45.98
$GC,968,1.61,438.8,2861,1990,1979,4094,24.6,11.2,157,974,0.00,2.28,0.00,0.000,516,0.000,0.071,2861,1150,1979,1979,4094,0,0,0,0,0,0,26.11,25.77,26.13,10.06,46.53
$GC,1029,1.61,438.8,2861,1150,1977,4094,17.4,12.1,167,1035,0.00,2.05,0.00,0.000,1030,0.000,0.030,2861,1978,1977,1977,4094,0,0,0,0,0,0,26.00,25.93,26.01,10.06,46.77
$GC,1066,1.72,510.0,2860,1977,1977,4094,14.1,8.1,173,1079,0.22,2.42,4.90,0.527,10500,0.048,0.061,2889,2879,1906,1906,4094,0,0,0,0,0,0,26.00,25.64,25.20,10.09,46.73
$GC,1135,1.72,510.0,2889,2879,1905,4094,7.3,10.6,184,1141,0.00,2.28,0.00,0.000,1030,0.000,0.033,2889,1990,1904,1904,4094,0,0,0,0,0,0,26.02,25.94,26.04,10.13,48.93
$GC,1174,1.72,510.0,2889,1990,1903,4094,3.4,9.9,190,1180,0.00,2.25,0.00,0.000,516,0.000,0.070,2889,1152,1903,1903,4094,0,0,0,0,0,0,26.25,25.90,26.25,10.14,49.72
$STATE,1184,end climb,SURFACE_DEPTH_REACHED
$STATE,1185,begin surface coast
$FINISH,0.0,0.959928
$STATE,1204,end surface coast,CONTROL_FINISHED_OK
$STATE,1204,begin surface
$SM_CCo,1302,0.00,0.000,0,0,1902,514.30
$SM_GC,1.07,27.92,1.90,0.00,0.024,0.032,0.000,239,1925,1902,-6.61,-1.50,514.30,0,0,0,0,0,0,26.06,26.07,26.09
$IRIDIUM_FIX,5955.74,-17228.01,290717,072842
$TT8_MAMPS,0.025466,0.073402
$HUMID,51.41
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.06,3.834
$10V_AH,10.53,5.401
$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,44.925,36.600,55.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,445.839,409.009,173.221,291.842,41.844,33.411,389.003,0.000,290.966,0.000,0.540,0.000
$DEVICE_MAMPS,59.670,71.145,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330964
$DATA_FILE_SIZE,14196,195
$CAP_FILE_SIZE,38595,0
$CFSIZE,1024409600,1011974144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,100102,5933.839,-17052.553,4,0.7,15,8.4,0.0,62.4,11,4.7