version: 66.13
glider: 401
mission: 22
dive: 165
start: 7 29 117 14 44 28
data:
$ID,401
$MISSION,22
$DIVE,165
$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,22
$R_STBD_OVSHOOT,27
$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,0.10
$_SM_ANGLEo,-1.5
$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,-0.189311,0.301571
$KALMAN_X,24162.070312,-565.053711,78.603615,-49638.824219,60.162033
$KALMAN_Y,4163.391113,2020.805054,657.019043,28475.560547,-200.059326
$MHEAD_RNG_PITCHd_Wd,319.5,3365,-10.5,-9.091,-14.32,7205
$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,-438.6,2410,1900,2395,4092,0.0,0.0,0,18,5.75,0.00,-1.98,0.000,20482,0.031,0.000,1854,1900,2611,2611,4095,0,0,0,0,0,0,26.04,28.83,26.08,10.28,50.51
$GC,20,-1.61,-438.6,1854,1900,2611,4095,0.1,0.0,1,31,0.00,2.50,-3.60,0.000,16900,0.000,1.303,1854,1036,3018,3018,4094,0,0,0,0,0,0,26.22,24.94,26.24,10.34,50.31
$GC,56,-1.61,-438.6,1853,1036,3018,4094,3.0,-9.3,7,62,0.00,2.15,0.00,0.000,1030,0.000,0.031,1854,1905,3018,3018,4094,0,0,0,0,0,0,25.96,25.90,25.98,10.42,50.51
$GC,93,-1.61,-438.6,1853,1905,3019,4094,7.9,-13.3,13,98,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1905,3019,3019,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.42,50.82
$GC,129,-1.61,-438.6,1853,1905,3020,4094,12.6,-12.9,19,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1905,3020,3020,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.43,50.03
$GC,165,-1.61,-438.6,1853,1905,3021,4095,17.3,-12.8,25,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1906,3021,3021,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.43,50.03
$GC,201,-1.61,-438.6,1853,1907,3021,4095,20.9,-9.9,31,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1908,3021,3021,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.39,50.59
$GC,237,-1.61,-438.6,1854,1908,3022,4095,24.6,-10.5,37,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1908,3023,3023,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.37,49.96
$GC,273,-1.61,-438.6,1853,1909,3023,4094,28.3,-10.7,43,280,0.00,2.25,0.00,0.000,260,0.000,0.057,1854,2761,3023,3023,4095,0,0,0,0,0,0,26.33,26.01,26.34,10.36,48.42
$GC,292,-1.61,-438.6,1853,2761,3023,4095,30.2,-10.1,46,298,0.00,2.17,0.00,0.000,1030,0.000,0.031,1854,1903,3023,3023,4095,0,0,0,0,0,0,26.15,26.07,26.17,10.36,48.42
$GC,330,-1.61,-438.6,1853,1903,3024,4095,34.2,-10.8,52,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1903,3024,3024,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.35,47.44
$GC,366,-1.61,-438.6,1853,1903,3025,4094,38.2,-11.0,58,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1903,3025,3025,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.33,47.04
$GC,402,-1.61,-438.6,1853,1903,3026,4094,42.0,-10.6,64,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1903,3026,3026,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.33,47.48
$GC,438,-1.61,-438.6,1853,1903,3026,4095,45.9,-10.6,70,444,0.00,2.30,0.00,0.000,260,0.000,0.057,1854,2762,3026,3026,4095,0,0,0,0,0,0,26.42,26.09,26.43,10.33,46.65
$GC,456,-1.61,-438.6,1853,2763,3027,4095,47.8,-10.3,73,463,0.00,2.20,0.00,0.000,1030,0.000,0.032,1854,1895,3027,3027,4095,0,0,0,0,0,0,26.22,26.15,26.25,10.33,46.57
$GC,494,-1.61,-438.6,1853,1895,3027,4095,52.1,-11.7,79,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1894,3028,3028,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.32,46.10
$GC,530,-1.61,-438.6,1853,1895,3029,4094,56.2,-11.1,85,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1894,3028,3028,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.32,46.06
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,564,begin apogee
$GC,570,-0.45,0.0,1853,2044,3029,4094,60.2,-10.7,91,603,3.83,0.00,25.48,1.285,10244,0.058,0.000,2206,2044,2500,2500,4094,0,0,0,0,0,0,26.19,25.39,24.53,10.32,45.90
$STATE,604,end apogee,CONTROL_FINISHED_OK
$STATE,604,begin climb
$GC,606,1.61,438.6,2206,2044,2500,4094,62.0,0.0,97,645,7.05,2.45,25.15,1.258,10756,0.044,0.066,2861,1153,1989,1989,4094,0,0,0,0,0,0,25.58,25.45,24.03,10.20,46.06
$GC,652,1.83,585.2,2860,1153,1989,4094,59.8,7.0,105,671,0.68,2.15,9.85,1.067,11270,0.037,0.029,2929,1990,1817,1817,4095,0,0,0,0,0,0,25.13,25.10,24.01,10.09,45.23
$GC,702,1.83,585.2,2928,1989,1816,4095,53.9,12.8,113,708,0.00,2.50,0.00,0.000,260,0.000,0.061,2929,2884,1816,1816,4094,0,0,0,0,0,0,25.46,25.15,25.47,10.05,45.15
$GC,757,1.83,585.2,2929,2884,1814,4094,45.9,14.2,122,763,0.00,2.28,0.00,0.000,1030,0.000,0.031,2929,2011,1814,1814,4094,0,0,0,0,0,0,25.50,25.42,25.53,10.05,45.31
$GC,794,1.83,585.2,2929,2011,1813,4094,41.0,12.8,128,800,0.00,2.38,0.00,0.000,516,0.000,0.070,2930,1151,1813,1813,4094,0,0,0,0,0,0,25.78,25.45,25.79,10.04,45.31
$GC,857,1.83,585.2,2929,1151,1811,4094,32.8,13.7,138,863,0.00,2.15,0.00,0.000,1030,0.000,0.031,2929,1999,1811,1811,4094,0,0,0,0,0,0,25.73,25.66,25.75,10.04,45.43
$GC,895,1.83,585.2,2929,2000,1810,4094,27.7,13.5,144,901,0.00,2.42,0.00,0.000,260,0.000,0.064,2930,2886,1810,1810,4094,0,0,0,0,0,0,25.97,25.65,25.98,10.03,46.14
$GC,956,1.83,585.2,2929,2885,1807,4094,18.9,14.5,154,962,0.00,2.25,0.00,0.000,1030,0.000,0.032,2930,2002,1807,1807,4095,0,0,0,0,0,0,25.87,25.79,25.89,10.03,45.82
$GC,993,1.83,585.2,2929,2002,1807,4095,14.2,12.2,160,999,0.00,2.30,0.00,0.000,516,0.000,0.069,2929,1153,1807,1807,4094,0,0,0,0,0,0,26.10,25.76,26.11,10.06,47.12
$GC,1072,1.83,585.2,2929,1152,1804,4094,5.3,10.9,173,1078,0.00,2.00,0.00,0.000,1030,0.000,0.030,2929,1965,1804,1804,4095,0,0,0,0,0,0,26.01,25.94,26.03,10.11,49.25
$STATE,1102,end climb,SURFACE_DEPTH_REACHED
$STATE,1102,begin surface coast
$FINISH,0.0,0.959928
$STATE,1114,end surface coast,CONTROL_FINISHED_OK
$STATE,1114,begin surface
$SM_CCo,1212,0.00,0.000,0,0,1802,600.16
$SM_GC,0.95,28.35,0.17,0.00,0.024,0.075,0.000,239,1885,1802,-6.61,1.14,600.16,0,0,0,0,0,0,26.01,25.98,26.05
$IRIDIUM_FIX,5955.74,-17228.01,290717,123917
$TT8_MAMPS,0.025466,0.084637
$HUMID,50.82
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,24.01,4.148
$10V_AH,10.52,5.701
$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,45.650,37.200,60.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,415.128,372.861,174.002,269.594,40.044,33.415,378.848,0.000,269.692,0.000,0.542,0.000
$DEVICE_MAMPS,58.140,1302.795,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,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,330964
$DATA_FILE_SIZE,14232,180
$CAP_FILE_SIZE,36801,0
$CFSIZE,1024409600,1011384320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,150550,5934.546,-17053.850,9,0.8,36,8.4,0.2,208.2,10,4.3