version: 66.13
glider: 401
mission: 22
dive: 158
start: 7 29 117 11 47 28
data:
$ID,401
$MISSION,22
$DIVE,158
$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,20
$R_STBD_OVSHOOT,30
$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
$GPS1,290717,112402,5934.2261,-17052.1523,6,0.8,31,8.4,0.8,84.1,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-0.7
$GPS2,290717,112402,5934.2261,-17052.1523,6,0.8,31,8.4,0.8,84.1,9,4.7
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.312336,0.171073
$KALMAN_X,22745.994141,-662.409973,116.478622,-47445.648438,177.850647
$KALMAN_Y,5324.535645,2223.227783,1014.595520,26464.847656,-16.428650
$MHEAD_RNG_PITCHd_Wd,290.3,4076,-10.5,-9.091,-14.32,7208
$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,-438.8,2368,1904,2507,4092,0.0,0.0,0,21,5.45,0.00,-4.75,0.000,20486,0.030,0.000,1842,1908,3016,3016,4095,0,0,0,0,0,0,26.08,25.18,26.10,10.32,50.63
$GC,23,-1.61,-438.8,1842,1907,3016,4095,0.0,0.0,1,32,0.00,2.42,0.00,0.000,516,0.000,0.073,1842,1033,3016,3016,4095,0,0,0,0,0,0,26.23,25.91,26.25,10.42,50.66
$GC,61,-1.61,-438.8,1841,1033,3016,4095,0.9,-2.1,6,71,0.00,2.17,0.00,0.000,1030,0.000,0.032,1842,1897,3017,3017,4094,0,0,0,0,0,0,26.06,26.06,26.09,10.42,50.98
$GC,108,-1.61,-438.8,1841,1897,3018,4094,6.6,-12.7,12,117,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,3017,3017,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.43,50.55
$GC,152,-1.61,-438.8,1841,1897,3018,4095,13.0,-14.3,18,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,3019,3019,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.44,50.90
$GC,196,-1.61,-438.8,1841,1898,3020,4095,18.8,-13.0,24,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1898,3019,3019,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.41,49.72
$GC,240,-1.61,-438.8,1841,1898,3021,4095,23.3,-9.5,30,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1898,3020,3020,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,48.93
$GC,283,-1.61,-438.8,1841,1898,3021,4094,28.1,-11.3,36,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1899,3021,3021,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.36,48.18
$GC,328,-1.61,-438.8,1841,1898,3022,4094,33.3,-11.3,42,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1899,3023,3023,4093,0,0,0,0,0,0,26.44,26.46,26.46,10.35,47.12
$GC,372,-1.61,-438.8,1841,1898,3022,4093,38.5,-11.5,48,382,0.00,2.33,0.00,0.000,260,0.000,0.058,1842,2761,3023,3023,4095,0,0,0,0,0,0,26.46,26.13,26.48,10.34,47.08
$GC,411,-1.61,-438.8,1841,2761,3024,4095,42.9,-11.0,53,420,0.00,2.22,0.00,0.000,1030,0.000,0.031,1842,1887,3024,3024,4094,0,0,0,0,0,0,26.25,26.21,26.27,10.34,46.10
$GC,457,-1.61,-438.8,1841,1887,3025,4094,48.1,-12.1,59,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1887,3025,3025,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.33,46.06
$GC,503,-1.61,-438.8,1841,1887,3026,4095,53.4,-11.5,65,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1887,3026,3026,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.33,45.51
$GC,549,-1.61,-438.8,1841,1887,3027,4095,58.1,-10.4,71,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1887,3027,3027,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.32,45.43
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,566,begin apogee
$GC,571,-0.45,0.0,1841,2035,3028,4095,60.1,-10.3,73,606,3.97,0.00,25.58,1.285,10244,0.060,0.000,2205,2035,2499,2499,4094,0,0,0,0,0,0,26.25,25.50,24.59,10.32,46.37
$STATE,607,end apogee,CONTROL_FINISHED_OK
$STATE,608,begin climb
$GC,609,1.61,438.8,2205,2035,2499,4094,62.3,0.0,77,646,7.03,0.00,25.25,1.262,11270,0.037,0.000,2865,2036,1988,1988,4094,0,0,0,0,0,0,25.66,25.82,24.08,10.20,45.58
$GC,683,1.61,438.8,2864,2035,1986,4094,57.8,10.2,86,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2035,1986,1986,4095,0,0,0,0,0,0,25.54,25.56,25.56,10.09,44.40
$GC,729,1.61,438.8,2864,2035,1985,4095,52.8,10.6,92,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2035,1985,1985,4094,0,0,0,0,0,0,25.72,25.72,25.72,10.09,44.48
$GC,775,1.61,438.8,2864,2035,1985,4094,48.2,9.7,98,784,0.00,2.47,0.00,0.000,516,0.000,0.068,2864,1155,1984,1984,4094,0,0,0,0,0,0,25.83,25.51,25.84,10.08,44.92
$GC,813,1.61,438.8,2864,1155,1984,4094,43.6,11.2,103,823,0.00,2.15,0.00,0.000,1030,0.000,0.030,2864,1998,1983,1983,4094,0,0,0,0,0,0,25.68,25.67,25.72,10.08,45.31
$GC,860,1.61,438.8,2864,2001,1983,4094,38.8,11.0,109,869,0.00,2.42,0.00,0.000,260,0.000,0.061,2864,2876,1982,1982,4094,0,0,0,0,0,0,25.99,25.68,26.00,10.08,45.51
$GC,911,1.61,438.8,2864,2875,1981,4094,32.3,13.4,116,920,0.00,2.22,0.00,0.000,1030,0.000,0.030,2864,2012,1981,1981,4094,0,0,0,0,0,0,25.84,25.80,25.91,10.07,45.11
$GC,956,1.61,438.8,2864,2012,1980,4094,26.3,13.6,122,966,0.00,2.35,0.00,0.000,516,0.000,0.070,2864,1159,1979,1979,4094,0,0,0,0,0,0,26.11,25.77,26.13,10.07,45.15
$GC,1034,1.61,438.8,2863,1159,1978,4094,16.8,12.1,133,1044,0.00,2.05,0.00,0.000,1030,0.000,0.031,2864,1977,1977,1977,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.07,45.62
$GC,1080,1.63,453.0,2864,1977,1977,4094,12.7,8.9,139,1090,0.00,0.00,0.47,0.003,8198,0.000,0.000,2864,1978,1976,1976,4095,0,0,0,0,0,0,26.23,26.23,26.24,10.11,46.33
$GC,1125,1.63,453.0,2864,1979,1976,4095,8.5,9.5,145,1135,0.00,2.45,0.70,0.003,8452,0.000,0.060,2864,2877,1975,1975,4094,0,0,0,0,0,0,26.27,25.94,26.27,10.14,47.75
$GC,1184,1.63,453.0,2864,2877,1974,4094,2.2,11.1,153,1193,0.00,2.30,0.00,0.000,1030,0.000,0.034,2865,1992,1974,1974,4094,0,0,0,0,0,0,26.07,26.02,26.10,10.16,48.58
$STATE,1201,end climb,FINISH_DEPTH_REACHED
$STATE,1201,begin subsurface finish
$FINISH1,0.2,1.024245,94
$GC,1207,0.14,94.4,2863,1990,1973,4094,0.2,10.8,155,1225,4.70,2.40,-3.78,0.000,20996,0.029,1.316,2409,1149,2391,2391,4094,0,0,0,0,0,0,26.09,25.01,26.14,10.17,49.29
$FINISH2,0.1
$STATE,1226,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1226,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,100229
$TT8_MAMPS,0.026215,0.248668
$HUMID,50.23
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,24.08,3.968
$10V_AH,10.25,5.540
$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,21.150,32.225,52.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,441.206,0.000,142.086,656.192,44.165,33.421,416.012,0.000,379.812,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,1315.800,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.306,426.475,337.668,500.802,653.138,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330928
$DATA_FILE_SIZE,14275,157
$CAP_FILE_SIZE,33003,0
$CFSIZE,1024409600,1011728384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,112402,5934.226,-17052.152,6,0.8,31,8.4,0.8,84.1,9,4.7