version: 66.13
glider: 401
mission: 22
dive: 159
start: 7 29 117 12 9 56
data:
$ID,401
$MISSION,22
$DIVE,159
$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,15
$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,0.12
$_SM_ANGLEo,-2.6
$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,-0.318040,0.160168
$KALMAN_X,23079.097656,-631.948547,132.998749,-47825.460938,239.558807
$KALMAN_Y,5168.291992,2214.750000,982.509827,26661.705078,-50.444153
$MHEAD_RNG_PITCHd_Wd,288.3,4076,-10.5,-9.091,-14.32,7207
$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,-438.7,2408,1907,2391,4092,0.0,0.0,0,18,5.88,0.00,-1.75,0.000,20482,0.030,0.000,1844,1908,2579,2579,4094,0,0,0,0,0,0,26.04,28.83,26.09,10.28,51.06
$GC,20,-1.61,-438.7,1843,1908,2577,4094,0.1,0.0,1,32,0.00,2.50,-4.10,0.000,16900,0.000,1.304,1844,1030,3016,3016,4094,0,0,0,0,0,0,26.25,24.94,26.25,10.33,50.27
$GC,63,-1.61,-438.8,1843,1030,3016,4094,1.2,-4.8,8,69,0.00,2.17,0.00,0.000,1030,0.000,0.032,1844,1903,3016,3016,4095,0,0,0,0,0,0,26.00,25.94,26.01,10.42,51.37
$GC,100,-1.61,-438.8,1843,1903,3017,4095,5.4,-12.3,14,105,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1904,3017,3017,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.43,50.19
$GC,136,-1.61,-438.8,1843,1904,3018,4095,10.4,-14.2,20,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1904,3018,3018,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.43,50.27
$GC,172,-1.61,-438.8,1843,1904,3018,4094,15.4,-14.4,26,178,0.00,2.30,0.00,0.000,260,0.000,0.060,1844,2755,3019,3019,4094,0,0,0,0,0,0,26.27,25.94,26.28,10.44,49.96
$GC,190,-1.61,-438.8,1843,2755,3019,4094,17.9,-13.5,29,197,0.00,2.20,0.00,0.000,1030,0.000,0.032,1844,1892,3019,3019,4094,0,0,0,0,0,0,26.09,26.01,26.11,10.42,50.00
$GC,227,-1.61,-438.8,1843,1892,3019,4094,21.9,-10.3,35,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1892,3020,3020,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.38,49.56
$GC,263,-1.61,-438.8,1844,1892,3020,4094,25.8,-11.1,41,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1892,3021,3021,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.37,48.70
$GC,299,-1.61,-438.8,1843,1892,3021,4095,29.7,-11.5,47,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1892,3021,3021,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.35,48.14
$GC,335,-1.61,-438.8,1843,1892,3022,4095,33.8,-11.3,53,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1892,3022,3022,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.35,47.24
$GC,372,-1.61,-438.8,1843,1892,3023,4095,38.1,-12.2,59,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1892,3024,3024,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.34,47.12
$GC,408,-1.61,-438.8,1843,1892,3023,4095,42.4,-11.6,65,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1892,3023,3023,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.34,46.81
$GC,444,-1.61,-438.8,1843,1892,3024,4095,46.4,-11.4,71,450,0.00,2.33,0.00,0.000,260,0.000,0.055,1844,2758,3025,3025,4094,0,0,0,0,0,0,26.44,26.11,26.44,10.33,46.25
$GC,487,-1.61,-438.8,1843,2758,3025,4094,51.1,-10.7,78,493,0.00,2.17,0.00,0.000,1030,0.000,0.031,1844,1896,3025,3025,4095,0,0,0,0,0,0,26.26,26.18,26.28,10.32,46.37
$GC,524,-1.61,-438.8,1843,1896,3026,4095,55.0,-10.8,84,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1896,3026,3026,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.32,46.14
$GC,559,-1.61,-438.8,1843,1896,3027,4095,59.2,-11.8,90,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1896,3027,3027,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.32,46.22
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,574,-0.45,0.0,1843,2035,3027,4095,60.6,-11.5,92,608,3.92,0.00,25.42,1.287,10244,0.060,0.000,2204,2035,2500,2500,4094,0,0,0,0,0,0,26.20,25.40,24.53,10.31,46.77
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,609,begin climb
$GC,611,1.61,438.8,2204,2035,2500,4094,62.6,0.0,98,650,7.03,0.00,25.15,1.266,11270,0.037,0.000,2863,2035,1987,1987,4094,0,0,0,0,0,0,25.61,25.77,24.03,10.20,45.82
$GC,681,1.61,438.8,2862,2035,1986,4094,57.1,11.4,110,687,0.00,2.30,0.00,0.000,260,0.000,0.059,2863,2860,1986,1986,4094,0,0,0,0,0,0,25.49,25.19,25.51,10.09,45.58
$GC,724,1.61,438.8,2862,2860,1985,4094,51.9,11.9,117,730,0.00,2.20,0.00,0.000,1030,0.000,0.031,2863,2018,1985,1985,4094,0,0,0,0,0,0,25.49,25.41,25.51,10.08,44.72
$GC,761,1.61,438.8,2862,2017,1984,4094,47.9,11.0,123,767,0.00,2.38,0.00,0.000,516,0.000,0.069,2863,1150,1984,1984,4095,0,0,0,0,0,0,25.77,25.44,25.78,10.08,44.84
$GC,823,1.61,438.8,2862,1150,1982,4095,40.8,12.2,133,829,0.00,2.08,0.00,0.000,1030,0.000,0.030,2863,1978,1983,1983,4094,0,0,0,0,0,0,25.73,25.67,25.75,10.08,46.18
$GC,862,1.61,438.8,2862,1978,1981,4094,36.0,12.2,139,868,0.00,2.47,0.00,0.000,260,0.000,0.063,2863,2881,1982,1982,4095,0,0,0,0,0,0,25.97,25.65,25.98,10.07,45.86
$GC,922,1.61,438.8,2862,2880,1980,4095,28.2,12.7,149,928,0.00,2.28,0.00,0.000,1030,0.000,0.032,2863,1998,1980,1980,4094,0,0,0,0,0,0,25.87,25.79,25.89,10.07,45.98
$GC,959,1.61,438.8,2862,1998,1979,4094,23.8,11.2,155,965,0.00,2.28,0.00,0.000,516,0.000,0.070,2863,1153,1979,1979,4094,0,0,0,0,0,0,26.10,25.76,26.11,10.06,46.10
$GC,1020,1.61,438.8,2862,1153,1977,4094,16.7,12.0,165,1026,0.00,2.10,0.00,0.000,1030,0.000,0.031,2863,1995,1977,1977,4094,0,0,0,0,0,0,25.98,25.91,26.01,10.06,46.81
$GC,1058,1.71,505.4,2862,1995,1976,4094,13.3,8.1,171,1070,0.22,0.00,4.75,0.513,10246,0.049,0.000,2890,1996,1910,1910,4094,0,0,0,0,0,0,25.98,25.79,25.19,10.10,46.53
$GC,1101,1.71,505.4,2890,1996,1908,4094,9.2,10.0,178,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1997,1908,1908,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.12,48.70
$GC,1136,1.71,505.4,2890,1996,1908,4094,5.1,11.8,184,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1997,1907,1907,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.13,49.64
$STATE,1171,end climb,SURFACE_DEPTH_REACHED
$STATE,1171,begin surface coast
$FINISH,0.1,0.959929
$STATE,1190,end surface coast,CONTROL_FINISHED_OK
$STATE,1190,begin surface
$SM_CCo,1287,0.00,0.000,0,0,1906,510.87
$SM_GC,1.15,27.98,0.28,0.00,0.023,0.060,0.000,230,1889,1906,-6.65,0.87,510.87,0,0,0,0,0,0,25.94,26.03,26.04
$IRIDIUM_FIX,5955.74,-17228.01,290717,100229
$TT8_MAMPS,0.025466,0.074151
$HUMID,51.02
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,24.03,3.988
$10V_AH,10.52,5.551
$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,45.025,34.250,55.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.577,400.713,175.810,289.180,41.930,33.414,391.874,0.000,288.086,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,1304.325,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330928
$DATA_FILE_SIZE,14266,193
$CAP_FILE_SIZE,38533,0
$CFSIZE,1024409600,1011679232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,123258,5934.429,-17052.295,4,0.9,61,8.4,0.8,262.6,10,5.0