version: 66.13
glider: 401
mission: 22
dive: 160
start: 7 29 117 12 45 17
data:
$ID,401
$MISSION,22
$DIVE,160
$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,27
$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
$GPS1,290717,123258,5934.4292,-17052.2949,4,0.9,61,8.4,0.8,262.6,10,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-43.5
$GPS2,290717,124410,5934.3760,-17052.2246,8,0.8,15,8.4,0.0,116.0,10,4.9
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.257009,0.246328
$KALMAN_X,23421.785156,-626.042542,129.865097,-48236.859375,124.579407
$KALMAN_Y,5172.339355,2246.615234,999.089905,26881.306641,-148.760925
$MHEAD_RNG_PITCHd_Wd,305.4,3843,-10.5,-9.091,-14.33,7202
$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,-438.4,230,1888,1905,4092,0.0,0.0,0,20,10.62,0.00,0.00,0.000,2049,0.105,0.000,1112,1885,1905,1905,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.25,48.85
$GC,22,-1.61,-438.4,1111,1885,1905,4094,0.8,0.0,1,50,7.80,2.42,-10.23,0.000,18948,0.046,1.305,1835,1046,3010,3010,4095,0,0,0,0,0,0,25.89,24.84,25.96,10.25,48.62
$GC,87,-1.61,-438.8,1835,1046,3010,4095,2.4,-8.9,9,96,0.00,2.15,0.00,0.000,1030,0.000,0.028,1835,1905,3011,3011,4094,0,0,0,0,0,0,25.86,25.82,25.87,10.49,48.30
$GC,134,-1.61,-438.8,1834,1904,3012,4094,8.6,-13.6,15,143,0.00,2.30,0.00,0.000,260,0.000,0.057,1835,2752,3012,3012,4094,0,0,0,0,0,0,26.11,25.79,26.12,10.49,47.95
$GC,152,-1.61,-438.8,1835,2752,3012,4094,11.3,-13.8,17,162,0.00,2.12,-0.03,0.000,17414,0.000,0.030,1835,1928,3025,3025,4094,0,0,0,0,0,0,25.95,25.86,25.47,10.49,47.67
$GC,198,-1.61,-438.8,1834,1927,3026,4094,17.6,-13.9,23,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1927,3026,3026,4095,0,0,0,0,0,0,26.06,26.06,26.06,10.48,48.18
$GC,243,-1.61,-438.8,1835,1928,3027,4095,22.1,-10.0,29,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1927,3027,3027,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.43,47.04
$GC,289,-1.61,-438.8,1835,1927,3028,4094,26.9,-10.6,35,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1927,3028,3028,4094,0,0,0,0,0,0,26.16,26.18,26.17,10.40,45.90
$GC,335,-1.61,-438.8,1835,1928,3029,4094,31.7,-10.1,41,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1927,3029,3029,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.39,45.47
$GC,381,-1.61,-438.8,1835,1927,3029,4094,36.4,-10.8,47,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1927,3029,3029,4095,0,0,0,0,0,0,26.25,26.27,26.26,10.38,44.13
$GC,427,-1.61,-438.8,1835,1927,3030,4095,41.8,-12.0,53,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1927,3030,3030,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.38,44.05
$GC,470,-1.61,-438.8,1835,1927,3031,4094,47.1,-11.5,59,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1928,3031,3031,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.37,44.40
$GC,513,-1.61,-438.8,1835,1927,3032,4094,51.8,-11.3,65,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1928,3032,3032,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.37,43.73
$GC,558,-1.61,-438.8,1835,1927,3033,4095,57.0,-11.9,71,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1928,3033,3033,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.36,43.46
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,593,-0.45,0.0,1835,2051,3034,4095,60.6,-11.5,75,628,4.05,0.10,25.85,1.278,10244,0.059,0.083,2204,2000,2500,2500,4095,0,0,0,0,0,0,26.12,25.32,24.44,10.36,43.46
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,630,begin climb
$GC,631,1.61,438.8,2204,2000,2500,4095,62.7,0.0,79,667,7.05,0.00,25.38,1.258,11270,0.038,0.000,2863,2000,1988,1988,4094,0,0,0,0,0,0,25.53,25.70,23.97,10.24,43.34
$GC,705,1.61,438.8,2862,2000,1987,4094,57.9,11.1,88,714,0.00,2.38,0.00,0.000,260,0.000,0.057,2863,2841,1986,1986,4094,0,0,0,0,0,0,25.47,25.18,25.48,10.12,42.36
$GC,756,1.61,438.8,2862,2841,1985,4094,51.2,12.3,95,766,0.00,2.15,0.00,0.000,1030,0.000,0.030,2863,2023,1986,1986,4094,0,0,0,0,0,0,25.47,25.44,25.49,10.11,43.62
$GC,802,1.61,438.8,2862,2022,1984,4094,46.1,10.9,101,810,0.00,2.40,0.00,0.000,516,0.000,0.067,2863,1157,1984,1984,4094,0,0,0,0,0,0,25.81,25.51,25.82,10.11,43.89
$GC,878,1.61,438.8,2862,1156,1982,4094,37.4,11.2,112,888,0.00,2.00,0.00,0.000,1030,0.000,0.028,2863,1953,1982,1982,4094,0,0,0,0,0,0,25.79,25.72,25.82,10.10,43.38
$GC,924,1.61,438.8,2862,1953,1981,4094,32.2,11.0,118,933,0.00,2.45,0.00,0.000,260,0.000,0.058,2863,2845,1981,1981,4094,0,0,0,0,0,0,26.03,25.71,26.04,10.10,43.85
$GC,989,1.61,438.8,2862,2844,1979,4094,24.2,12.7,127,998,0.00,2.20,0.00,0.000,1030,0.000,0.031,2863,1992,1979,1979,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.09,44.76
$GC,1035,1.61,438.8,2862,1991,1978,4094,18.8,11.5,133,1045,0.00,2.30,0.00,0.000,516,0.000,0.070,2863,1155,1978,1978,4094,0,0,0,0,0,0,26.16,25.82,26.17,10.09,44.44
$GC,1100,1.63,451.8,2862,1154,1976,4094,12.4,8.9,142,1110,0.00,1.98,0.20,0.002,9222,0.000,0.029,2863,1950,1976,1976,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.15,46.65
$GC,1146,1.63,451.8,2862,1952,1975,4094,8.2,9.2,148,1155,0.00,2.42,0.00,0.000,260,0.000,0.058,2862,2846,1975,1975,4095,0,0,0,0,0,0,26.25,25.94,26.27,10.17,47.87
$STATE,1209,end climb,FINISH_DEPTH_REACHED
$STATE,1209,begin subsurface finish
$FINISH1,1.3,1.024243,95
$GC,1217,0.14,94.5,2862,2019,1973,4094,1.3,11.2,157,1234,4.70,2.45,-3.78,0.000,20996,0.030,1.309,2408,1149,2394,2394,4094,0,0,0,0,0,0,26.08,24.98,26.13,10.19,48.62
$FINISH2,0.1
$STATE,1235,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1235,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,290717,111853
$TT8_MAMPS,0.025466,0.252413
$HUMID,49.21
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.97,4.030
$10V_AH,10.25,5.594
$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,34.225,34.200,51.425,0.000,0.000,96.758,98.145,232.158,0.000,0.000,16.601,453.226,133.930,143.875,1113.477,88.288,33.453,419.260,0.000,386.041,0.000,0.542,0.000
$DEVICE_MAMPS,104.805,1308.915,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.705,431.965,341.960,506.814,658.928,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329412
$DATA_FILE_SIZE,14196,159
$CAP_FILE_SIZE,39807,0
$CFSIZE,1024409600,1011630080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290717,124410,5934.376,-17052.225,8,0.8,15,8.4,0.0,116.0,10,4.9