version: 66.13
glider: 401
mission: 22
dive: 162
start: 7 29 117 13 29 47
data:
$ID,401
$MISSION,22
$DIVE,162
$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,41
$R_STBD_OVSHOOT,28
$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,0.22
$_SM_ANGLEo,-3.0
$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,-0.282148,0.217406
$KALMAN_X,23932.017578,-544.849854,160.948380,-48862.300781,176.026215
$KALMAN_Y,4865.793457,2152.163086,842.680176,27444.285156,-125.798828
$MHEAD_RNG_PITCHd_Wd,299.2,3843,-10.5,-9.091,-14.32,7211
$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,-438.8,2370,1878,2504,4092,0.0,0.0,0,21,5.43,0.00,-4.78,0.000,20486,0.027,0.000,1849,1879,3018,3018,4095,0,0,0,0,0,0,26.06,25.20,26.09,10.31,50.86
$GC,23,-1.61,-438.8,1849,1878,3017,4095,0.1,0.0,1,31,0.00,2.28,0.00,0.000,516,0.000,0.076,1849,1058,3017,3017,4094,0,0,0,0,0,0,26.26,25.92,26.27,10.42,50.86
$GC,61,-1.61,-438.8,1848,1058,3017,4094,2.5,-8.7,6,70,0.00,2.12,0.00,0.000,1030,0.000,0.033,1849,1904,3017,3017,4094,0,0,0,0,0,0,26.10,26.07,26.15,10.42,51.29
$GC,107,-1.61,-438.8,1848,1905,3018,4094,8.1,-12.9,12,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1905,3018,3018,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.43,50.98
$GC,151,-1.61,-438.8,1848,1905,3019,4094,14.3,-13.6,18,161,0.00,2.30,0.00,0.000,260,0.000,0.061,1848,2751,3019,3019,4094,0,0,0,0,0,0,26.36,26.03,26.38,10.43,50.66
$GC,178,-1.61,-438.8,1848,2751,3020,4094,17.3,-12.5,21,188,0.00,2.12,0.00,0.000,1030,0.000,0.031,1849,1922,3020,3020,4094,0,0,0,0,0,0,26.15,26.10,26.17,10.42,50.70
$GC,225,-1.61,-438.8,1848,1922,3021,4094,21.4,-9.0,27,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1922,3021,3021,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.38,49.72
$GC,271,-1.61,-438.8,1848,1922,3022,4095,25.9,-9.9,33,281,0.00,2.40,0.00,0.000,516,0.000,0.070,1849,1040,3022,3022,4095,0,0,0,0,0,0,26.43,26.08,26.44,10.37,48.70
$GC,303,-1.61,-438.8,1848,1040,3022,4095,29.7,-11.2,37,313,0.00,2.15,0.00,0.000,1030,0.000,0.031,1849,1897,3023,3023,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.36,48.66
$GC,349,-1.61,-438.8,1848,1897,3023,4095,34.6,-10.4,43,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1897,3023,3023,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.35,47.28
$GC,393,-1.61,-438.8,1848,1897,3024,4095,39.5,-11.3,49,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1901,3024,3024,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.34,46.73
$GC,437,-1.61,-438.8,1848,1901,3025,4095,44.5,-11.6,55,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1901,3025,3025,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.33,46.41
$GC,481,-1.61,-438.8,1848,1901,3026,4094,49.4,-11.2,61,489,0.00,2.33,0.00,0.000,260,0.000,0.059,1848,2764,3026,3026,4094,0,0,0,0,0,0,26.51,26.18,26.53,10.33,46.29
$GC,507,-1.61,-438.8,1848,2764,3026,4094,52.3,-11.5,64,516,0.00,2.17,0.00,0.000,1030,0.000,0.032,1848,1912,3026,3026,4095,0,0,0,0,0,0,26.29,26.25,26.32,10.32,45.74
$GC,554,-1.61,-438.8,1847,1912,3028,4095,57.7,-11.7,70,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1911,3028,3028,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.32,46.29
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,582,-0.45,0.0,1848,2048,3028,4094,60.6,-11.1,73,617,3.90,0.00,25.58,1.285,10244,0.060,0.000,2205,2049,2499,2499,4094,0,0,0,0,0,0,26.26,25.25,24.58,10.31,45.74
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,619,begin climb
$GC,620,1.61,438.8,2205,2048,2499,4094,62.7,0.0,77,657,7.00,0.00,25.27,1.261,11270,0.037,0.000,2862,2048,1988,1988,4094,0,0,0,0,0,0,25.66,25.82,24.08,10.20,45.51
$GC,694,1.61,438.8,2861,2048,1986,4094,57.7,10.7,86,704,0.00,2.28,0.00,0.000,260,0.000,0.060,2861,2856,1986,1986,4094,0,0,0,0,0,0,25.55,25.23,25.56,10.09,44.29
$GC,765,1.61,438.8,2861,2856,1985,4094,49.6,11.1,96,774,0.00,2.20,0.00,0.000,1030,0.000,0.031,2862,2020,1985,1985,4094,0,0,0,0,0,0,25.58,25.53,25.60,10.08,44.92
$GC,811,1.61,438.8,2861,2019,1984,4094,44.5,11.2,102,821,0.00,2.40,0.00,0.000,516,0.000,0.068,2861,1153,1983,1983,4095,0,0,0,0,0,0,25.89,25.59,25.90,10.08,44.88
$GC,869,1.61,438.8,2861,1154,1982,4095,37.5,12.4,110,879,0.00,2.10,0.00,0.000,1030,0.000,0.030,2862,1984,1982,1982,4094,0,0,0,0,0,0,25.78,25.75,25.81,10.07,45.43
$GC,916,1.61,438.8,2861,1984,1981,4094,32.1,11.8,116,926,0.00,2.47,0.00,0.000,260,0.000,0.063,2862,2878,1981,1981,4094,0,0,0,0,0,0,26.06,25.73,26.06,10.07,45.23
$GC,974,1.61,438.8,2861,2878,1979,4094,24.5,12.1,124,983,0.00,2.28,0.00,0.000,1030,0.000,0.032,2862,2003,1979,1979,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.07,46.45
$GC,1020,1.61,438.8,2861,2002,1978,4094,19.2,11.8,130,1029,0.00,2.33,0.00,0.000,516,0.000,0.070,2862,1156,1978,1978,4094,0,0,0,0,0,0,26.17,25.83,26.18,10.06,46.37
$GC,1099,1.62,444.5,2861,1155,1976,4094,11.0,9.0,141,1109,0.00,2.10,0.00,0.000,1030,0.000,0.031,2862,1989,1975,1975,4094,0,0,0,0,0,0,26.02,25.99,26.05,10.13,47.40
$GC,1146,1.62,444.5,2861,1989,1975,4094,6.7,9.5,147,1155,0.00,2.45,0.00,0.000,260,0.000,0.064,2862,2881,1975,1975,4094,0,0,0,0,0,0,26.27,25.94,26.29,10.15,49.05
$STATE,1191,end climb,SURFACE_DEPTH_REACHED
$STATE,1191,begin surface coast
$FINISH,0.2,1.024246
$STATE,1205,end surface coast,CONTROL_FINISHED_OK
$STATE,1205,begin surface
$SM_CCo,1304,0.00,0.000,0,0,1973,453.34
$SM_GC,1.03,27.52,2.58,0.00,0.024,0.035,0.000,240,1904,1973,-6.61,1.09,453.34,0,0,0,0,0,0,26.09,26.03,26.13
$IRIDIUM_FIX,5957.10,-16911.74,290717,111853
$TT8_MAMPS,0.025466,0.237433
$HUMID,50.39
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,24.08,4.069
$10V_AH,10.26,5.640
$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,43.850,41.625,50.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,452.863,61.247,158.644,645.569,45.325,33.415,418.649,0.000,375.067,0.000,0.539,0.000
$DEVICE_MAMPS,59.670,75.735,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.251,421.067,333.331,494.230,642.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330900
$DATA_FILE_SIZE,14267,155
$CAP_FILE_SIZE,34653,0
$CFSIZE,1024409600,1011531776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,135219,5934.425,-17052.904,4,0.8,15,8.4,0.0,93.1,11,4.7