version: 66.13
glider: 401
mission: 22
dive: 161
start: 7 29 117 13 7 55
data:
$ID,401
$MISSION,22
$DIVE,161
$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,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
$GPS1,290717,124410,5934.3760,-17052.2246,8,0.8,15,8.4,0.0,116.0,10,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.0
$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,-0.274303,0.226932
$KALMAN_X,23617.771484,-559.652832,163.527222,-48536.093750,105.791229
$KALMAN_Y,5068.006348,2176.549805,886.349915,27174.162109,-89.223816
$MHEAD_RNG_PITCHd_Wd,301.2,3843,-10.5,-9.091,-14.32,7202
$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,-438.4,2408,1883,2394,4092,0.0,0.0,0,18,5.78,0.00,-2.10,0.000,20482,0.024,0.000,1843,1884,2622,2622,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.31,49.52
$GC,20,-1.61,-438.4,1843,1883,2621,4094,0.2,0.0,1,31,0.00,2.45,-3.55,0.000,16900,0.000,1.304,1843,1035,3018,3018,4095,0,0,0,0,0,0,26.25,24.96,26.27,10.36,49.52
$GC,50,-1.61,-438.4,1842,1035,3018,4095,2.5,-9.2,6,56,0.00,2.17,0.00,0.000,1030,0.000,0.031,1843,1909,3019,3019,4094,0,0,0,0,0,0,25.98,25.92,25.99,10.44,49.80
$GC,87,-1.61,-438.4,1842,1909,3019,4094,7.1,-12.5,12,92,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1909,3019,3019,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.44,49.48
$GC,123,-1.61,-438.4,1842,1908,3020,4094,12.2,-14.3,18,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1909,3021,3021,4095,0,0,0,0,0,0,26.22,26.25,26.24,10.45,49.68
$GC,159,-1.61,-438.4,1842,1908,3021,4095,17.3,-14.1,24,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1909,3021,3021,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.45,49.68
$GC,195,-1.61,-438.4,1842,1910,3022,4095,21.0,-10.0,30,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1911,3022,3022,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.40,49.52
$GC,231,-1.61,-438.4,1842,1911,3023,4095,24.7,-10.7,36,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1911,3023,3023,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.38,48.30
$GC,267,-1.61,-438.4,1842,1911,3023,4095,28.7,-11.4,42,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1911,3023,3023,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.37,47.83
$GC,303,-1.61,-438.4,1842,1912,3024,4095,32.4,-10.4,48,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1912,3024,3024,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.36,47.00
$GC,339,-1.61,-438.4,1842,1912,3025,4095,36.2,-10.7,54,345,0.00,2.25,0.00,0.000,260,0.000,0.057,1842,2756,3025,3025,4095,0,0,0,0,0,0,26.38,26.06,26.39,10.35,47.40
$GC,364,-1.61,-438.4,1842,2756,3025,4095,38.9,-10.8,58,371,0.00,2.15,0.00,0.000,1030,0.000,0.031,1842,1902,3026,3026,4094,0,0,0,0,0,0,26.20,26.13,26.22,10.35,46.53
$GC,402,-1.61,-438.4,1842,1902,3026,4094,42.9,-11.1,64,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1902,3026,3026,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.35,45.82
$GC,437,-1.61,-438.4,1842,1902,3027,4095,47.0,-11.5,70,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1902,3027,3027,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,45.58
$GC,473,-1.61,-438.4,1842,1902,3028,4094,51.1,-11.4,76,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1902,3028,3028,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.34,45.47
$GC,510,-1.61,-438.4,1843,1902,3029,4095,55.6,-13.0,82,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1902,3029,3029,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.33,45.58
$GC,545,-1.61,-438.4,1842,1902,3029,4095,59.9,-12.0,88,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1902,3029,3029,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.33,46.06
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,555,begin apogee
$GC,560,-0.45,0.0,1842,2042,3030,4095,61.2,-11.7,90,594,3.95,0.00,25.55,1.289,10244,0.060,0.000,2205,2042,2499,2499,4095,0,0,0,0,0,0,26.20,25.40,24.53,10.32,46.10
$STATE,595,end apogee,CONTROL_FINISHED_OK
$STATE,595,begin climb
$GC,597,1.61,438.4,2205,2042,2500,4095,63.4,0.0,96,636,7.05,0.00,25.15,1.268,11270,0.040,0.000,2864,2042,1990,1990,4095,0,0,0,0,0,0,25.61,25.76,24.03,10.21,45.19
$GC,667,1.61,438.4,2863,2042,1990,4095,58.8,10.1,108,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2042,1989,1989,4094,0,0,0,0,0,0,25.49,25.51,25.51,10.10,44.32
$GC,702,1.61,438.4,2863,2042,1988,4094,54.4,12.4,114,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2042,1989,1989,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.10,44.40
$GC,738,1.61,438.4,2863,2041,1987,4094,50.4,11.5,120,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2042,1987,1987,4095,0,0,0,0,0,0,25.76,25.77,25.77,10.09,44.72
$GC,775,1.61,438.4,2863,2041,1987,4095,46.5,11.0,126,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,1986,1986,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.09,44.76
$GC,811,1.61,438.4,2863,2042,1984,4094,41.7,14.0,132,817,0.00,2.42,0.00,0.000,516,0.000,0.068,2864,1155,1985,1985,4094,0,0,0,0,0,0,25.92,25.58,25.93,10.08,45.82
$GC,848,1.61,438.4,2863,1155,1985,4094,36.9,12.3,138,854,0.00,2.05,0.00,0.000,1030,0.000,0.029,2864,1980,1984,1984,4094,0,0,0,0,0,0,25.80,25.75,25.82,10.08,45.11
$GC,886,1.61,438.4,2863,1980,1983,4094,32.2,12.6,144,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1980,1983,1983,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.08,45.98
$GC,922,1.61,438.4,2863,1979,1982,4094,27.6,12.3,150,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1980,1982,1982,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.07,45.47
$GC,958,1.61,438.4,2863,1980,1982,4094,23.4,12.0,156,965,0.00,2.45,0.00,0.000,260,0.000,0.060,2864,2882,1981,1981,4094,0,0,0,0,0,0,26.13,25.80,26.13,10.07,45.90
$GC,1001,1.61,438.4,2863,2882,1980,4094,18.2,12.5,163,1007,0.00,2.25,0.00,0.000,1030,0.000,0.031,2864,2001,1980,1980,4094,0,0,0,0,0,0,25.98,25.89,26.00,10.07,46.69
$GC,1039,1.66,468.1,2863,2001,1979,4094,14.6,8.7,169,1050,0.00,2.30,3.05,0.319,8708,0.000,0.070,2864,1156,1952,1952,4094,0,0,0,0,0,0,26.20,25.84,25.20,10.10,46.18
$GC,1107,1.66,468.1,2863,1155,1951,4094,8.5,9.6,180,1113,0.00,2.10,0.00,0.000,1030,0.000,0.031,2864,2001,1951,1951,4094,0,0,0,0,0,0,26.06,25.98,26.08,10.14,48.14
$GC,1145,1.66,468.1,2863,2001,1950,4094,4.7,10.1,186,1151,0.00,2.38,0.00,0.000,260,0.000,0.062,2864,2881,1950,1950,4095,0,0,0,0,0,0,26.27,25.95,26.28,10.15,49.13
$STATE,1168,end climb,FINISH_DEPTH_REACHED
$STATE,1169,begin subsurface finish
$FINISH1,1.8,1.025600,0
$GC,1176,0.00,0.0,2863,2019,1949,4094,1.8,10.8,190,1193,5.50,0.00,-4.90,0.000,20486,0.072,0.000,2370,2019,2504,2504,4094,0,0,0,0,0,0,25.98,25.61,26.03,10.16,49.13
$FINISH2,0.1
$STATE,1194,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1194,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,290717,111853
$TT8_MAMPS,0.024717,0.073402
$HUMID,50.55
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.03,4.050
$10V_AH,10.53,5.605
$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,22.275,29.350,53.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.274,324.692,162.985,289.744,42.085,33.423,385.801,0.000,288.188,0.000,0.542,0.000
$DEVICE_MAMPS,71.910,1304.325,1289.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330900
$DATA_FILE_SIZE,14323,193
$CAP_FILE_SIZE,37478,0
$CFSIZE,1024409600,1011580928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,124410,5934.376,-17052.225,8,0.8,15,8.4,0.0,116.0,10,4.9