version: 66.13
glider: 401
mission: 22
dive: 164
start: 7 29 117 14 22 9
data:
$ID,401
$MISSION,22
$DIVE,164
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,290717,135839,5934.3818,-17052.9102,9,0.8,18,8.4,0.5,268.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-5.1
$GPS2,290717,135839,5934.3818,-17052.9102,9,0.8,18,8.4,0.5,268.0,11,4.8
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.182838,0.305481
$KALMAN_X,23926.388672,-559.295715,100.601036,-49430.917969,-3.289215
$KALMAN_Y,4449.785645,2056.018799,703.937317,28107.251953,-147.938965
$MHEAD_RNG_PITCHd_Wd,320.7,3365,-10.5,-9.091,-14.32,7203
$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,-438.5,2369,1911,2503,4092,0.0,0.0,0,21,5.50,0.00,-4.80,0.000,20486,0.034,0.000,1844,1911,3017,3017,4095,0,0,0,0,0,0,26.07,25.18,26.09,10.31,50.63
$GC,23,-1.61,-438.5,1844,1911,3017,4095,0.0,0.0,1,32,0.00,2.42,0.00,0.000,516,0.000,0.074,1844,1037,3017,3017,4095,0,0,0,0,0,0,26.24,25.94,26.25,10.42,50.74
$GC,61,-1.61,-438.5,1843,1037,3018,4095,2.9,-9.4,6,70,0.00,2.17,0.00,0.000,1030,0.000,0.032,1844,1901,3018,3018,4095,0,0,0,0,0,0,26.08,26.06,26.10,10.43,51.33
$GC,107,-1.61,-438.5,1843,1901,3018,4095,8.1,-12.5,12,114,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1902,3018,3018,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.44,50.70
$GC,150,-1.61,-438.5,1844,1901,3019,4095,14.2,-13.5,18,159,0.00,2.33,0.00,0.000,260,0.000,0.062,1844,2755,3020,3020,4095,0,0,0,0,0,0,26.35,26.02,26.36,10.44,50.74
$GC,169,-1.61,-438.5,1843,2755,3020,4095,16.9,-14.4,20,178,0.00,2.17,0.00,0.000,1030,0.000,0.033,1844,1910,3020,3020,4095,0,0,0,0,0,0,26.16,26.07,26.15,10.43,50.94
$GC,215,-1.61,-438.5,1843,1910,3020,4095,21.7,-10.2,26,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,3021,3021,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.38,50.00
$GC,258,-1.61,-438.5,1843,1910,3021,4094,26.1,-9.8,32,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,3021,3021,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.38,48.89
$GC,303,-1.61,-438.5,1843,1910,3022,4094,30.9,-10.7,38,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,3023,3023,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,48.03
$GC,347,-1.61,-438.5,1843,1910,3023,4095,35.9,-11.2,44,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,3023,3023,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.35,46.85
$GC,392,-1.61,-438.5,1843,1910,3024,4094,40.7,-11.0,50,401,0.00,2.30,0.00,0.000,260,0.000,0.058,1844,2754,3024,3024,4094,0,0,0,0,0,0,26.47,26.15,26.48,10.34,46.33
$GC,419,-1.61,-438.5,1843,2754,3025,4094,43.5,-10.9,53,428,0.00,2.12,0.00,0.000,1030,0.000,0.031,1844,1920,3025,3025,4095,0,0,0,0,0,0,26.25,26.20,26.27,10.33,46.49
$GC,465,-1.61,-438.5,1843,1919,3026,4095,48.4,-10.6,59,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1920,3026,3026,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.33,45.90
$GC,509,-1.61,-438.5,1843,1920,3026,4094,53.7,-12.2,65,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1920,3027,3027,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.33,46.25
$GC,553,-1.61,-438.5,1843,1919,3028,4095,58.7,-11.3,71,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1920,3028,3028,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.33,46.33
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,573,-0.45,0.0,1843,2049,3028,4094,60.5,-10.7,73,610,3.95,0.05,25.45,1.287,10244,0.060,0.059,2205,2010,2502,2502,4095,0,0,0,0,0,0,26.25,25.24,24.58,10.32,45.39
$STATE,611,end apogee,CONTROL_FINISHED_OK
$STATE,611,begin climb
$GC,613,1.61,438.5,2205,2011,2503,4095,63.1,0.0,77,649,7.05,0.00,25.40,1.268,11270,0.038,0.000,2865,2011,1989,1989,4094,0,0,0,0,0,0,25.67,25.83,24.07,10.20,45.07
$GC,687,1.61,438.5,2864,2011,1988,4094,57.9,10.8,86,696,0.00,2.35,0.00,0.000,260,0.000,0.057,2864,2846,1987,1987,4094,0,0,0,0,0,0,25.54,25.24,25.55,10.09,44.52
$GC,738,1.61,438.5,2864,2846,1987,4094,51.6,12.2,93,748,0.00,2.17,0.00,0.000,1030,0.000,0.030,2865,2020,1986,1986,4094,0,0,0,0,0,0,25.52,25.47,25.54,10.09,44.48
$GC,784,1.61,438.5,2864,2020,1986,4094,46.2,12.0,99,793,0.00,2.38,0.00,0.000,516,0.000,0.068,2865,1157,1985,1985,4094,0,0,0,0,0,0,25.84,25.52,25.86,10.09,44.56
$GC,857,1.61,438.5,2864,1157,1983,4094,38.1,11.2,109,865,0.00,2.05,0.00,0.000,1030,0.000,0.030,2865,1972,1983,1983,4095,0,0,0,0,0,0,25.79,25.75,25.81,10.08,45.47
$GC,902,1.61,438.5,2864,1972,1982,4095,32.6,11.8,115,911,0.00,2.50,0.00,0.000,260,0.000,0.063,2865,2878,1982,1982,4094,0,0,0,0,0,0,26.04,25.72,26.06,10.08,45.27
$GC,973,1.61,438.5,2864,2878,1981,4094,23.7,12.7,125,982,0.00,2.25,0.00,0.000,1030,0.000,0.032,2865,2010,1980,1980,4094,0,0,0,0,0,0,25.95,25.86,25.92,10.07,46.06
$GC,1019,1.61,438.5,2864,2010,1979,4094,18.4,11.5,131,1028,0.00,2.35,0.00,0.000,516,0.000,0.070,2865,1156,1979,1979,4094,0,0,0,0,0,0,26.17,25.83,26.19,10.06,45.66
$GC,1116,1.61,438.5,2864,1155,1977,4094,9.3,9.3,145,1125,0.00,2.12,0.00,0.000,1030,0.000,0.031,2865,1999,1977,1977,4094,0,0,0,0,0,0,26.05,26.01,26.06,10.14,48.38
$GC,1161,1.61,438.5,2864,1999,1976,4094,5.0,9.9,151,1170,0.00,2.40,0.00,0.000,260,0.000,0.064,2865,2874,1976,1976,4094,0,0,0,0,0,0,26.29,25.96,26.30,10.15,49.29
$STATE,1191,end climb,FINISH_DEPTH_REACHED
$STATE,1191,begin subsurface finish
$FINISH1,1.5,1.024246,94
$GC,1199,0.14,94.3,2864,2014,1975,4095,1.5,10.9,155,1218,4.70,0.00,-3.80,0.000,20742,0.028,0.000,2410,2014,2395,2395,4094,0,0,0,0,0,0,26.08,25.23,26.13,10.17,49.68
$FINISH2,0.3
$STATE,1219,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1219,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,123917
$TT8_MAMPS,0.026215,0.244174
$HUMID,50.15
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,24.07,4.125
$10V_AH,10.25,5.690
$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,21.200,38.550,50.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.366,0.355,139.499,650.211,43.247,33.421,404.447,0.000,380.012,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,74.205,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.475,426.511,337.666,500.479,647.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330964
$DATA_FILE_SIZE,14305,157
$CAP_FILE_SIZE,33272,0
$CFSIZE,1024409600,1011433472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,135839,5934.382,-17052.910,9,0.8,18,8.4,0.5,268.0,11,4.8