version: 66.13
glider: 401
mission: 22
dive: 133
start: 7 29 117 1 16 52
data:
$ID,401
$MISSION,22
$DIVE,133
$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,32
$R_STBD_OVSHOOT,61
$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
$GPS1,290717,010936,5929.0581,-17050.8984,7,0.8,16,8.4,0.3,213.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-42.7
$GPS2,290717,011546,5929.0269,-17050.8770,5,0.8,16,8.4,0.6,182.4,11,4.8
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.154347,0.321298
$KALMAN_X,20678.681641,-1032.573975,-137.637421,-43541.062500,105.708832
$KALMAN_Y,5885.416504,1628.003906,693.446716,17186.738281,-140.067322
$MHEAD_RNG_PITCHd_Wd,325.9,13061,-10.5,-9.091,-14.31,7224
$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,-438.8,231,1882,1919,4092,0.0,0.0,0,16,7.18,0.00,0.00,0.000,2049,0.109,0.000,821,1881,1919,1919,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.23,49.80
$GC,18,-1.61,-438.8,821,1880,1919,4094,0.9,0.0,1,47,11.12,2.35,-10.23,0.000,18948,0.057,1.306,1836,1047,3016,3016,4095,0,0,0,0,0,0,25.90,24.84,25.94,10.24,49.17
$GC,158,-1.61,-438.8,1835,1047,3018,4095,9.1,-14.3,24,164,0.00,2.03,0.00,0.000,1030,0.000,0.030,1836,1873,3017,3017,4094,0,0,0,0,0,0,26.01,25.94,26.03,10.48,48.81
$GC,196,-1.61,-438.8,1835,1873,3018,4094,14.6,-13.4,30,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1873,3018,3018,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.48,49.01
$GC,232,-1.61,-438.8,1835,1875,3019,4094,19.3,-12.1,36,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1875,3019,3019,4095,0,0,0,0,0,0,26.26,26.28,26.27,10.44,48.14
$GC,269,-1.61,-438.8,1835,1876,3019,4095,23.3,-10.7,42,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1876,3020,3020,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.39,47.59
$GC,305,-1.61,-438.8,1835,1876,3021,4095,27.1,-10.5,48,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1876,3021,3021,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.39,46.81
$GC,341,-1.61,-438.8,1835,1876,3021,4094,31.6,-12.3,54,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1876,3021,3021,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.38,46.49
$GC,377,-1.61,-438.8,1835,1876,3022,4095,35.9,-11.7,60,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1876,3022,3022,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.38,45.58
$GC,413,-1.61,-438.8,1836,1876,3023,4094,40.1,-11.8,66,419,0.00,2.33,0.00,0.000,260,0.000,0.054,1836,2760,3023,3023,4095,0,0,0,0,0,0,26.39,26.06,26.40,10.37,45.82
$GC,449,-1.61,-438.8,1836,2760,3023,4095,44.2,-10.5,72,455,0.00,2.10,0.00,0.000,1030,0.000,0.030,1836,1926,3023,3023,4095,0,0,0,0,0,0,26.21,26.13,26.23,10.36,45.70
$GC,487,-1.61,-438.8,1836,1926,3024,4095,48.4,-11.6,78,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1926,3024,3024,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.36,44.80
$GC,523,-1.61,-438.8,1836,1926,3025,4095,52.9,-12.3,84,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1926,3025,3025,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.36,45.55
$GC,559,-1.61,-438.8,1836,1926,3026,4095,57.3,-12.1,90,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1926,3026,3026,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.35,44.56
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,586,-0.45,0.0,1836,2042,3026,4094,60.3,-12.2,94,620,4.03,0.00,25.27,1.273,10244,0.060,0.000,2206,2042,2500,2500,4094,0,0,0,0,0,0,26.18,25.39,24.53,10.35,44.80
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,623,1.61,438.8,2206,2042,2500,4094,62.5,0.0,100,661,7.03,0.00,25.23,1.253,11270,0.039,0.000,2861,2042,1988,1988,4094,0,0,0,0,0,0,25.60,25.76,24.04,10.23,45.19
$GC,692,1.61,438.8,2860,2042,1987,4094,57.0,11.0,112,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2043,1987,1987,4094,0,0,0,0,0,0,25.48,25.50,25.50,10.11,43.62
$GC,728,1.61,438.8,2860,2042,1986,4094,52.8,11.9,118,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,1986,1986,4094,0,0,0,0,0,0,25.65,25.66,25.65,10.11,43.46
$GC,764,1.61,438.8,2860,2042,1985,4094,48.8,11.5,124,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,1985,1985,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.11,44.21
$GC,800,1.61,438.8,2860,2042,1985,4094,44.6,11.9,130,806,0.00,2.42,0.00,0.000,516,0.000,0.065,2861,1157,1985,1985,4094,0,0,0,0,0,0,25.84,25.52,25.86,10.10,44.09
$GC,837,1.61,438.8,2860,1156,1983,4094,40.1,12.7,136,843,0.00,2.05,0.00,0.000,1030,0.000,0.028,2861,1976,1983,1983,4095,0,0,0,0,0,0,25.74,25.67,25.76,10.10,44.17
$GC,874,1.61,438.8,2860,1976,1983,4095,35.7,12.1,142,880,0.00,2.47,0.00,0.000,260,0.000,0.059,2861,2882,1983,1983,4094,0,0,0,0,0,0,25.98,25.66,25.99,10.10,44.48
$GC,935,1.61,438.8,2860,2882,1981,4094,28.1,12.1,152,941,0.00,2.22,0.00,0.000,1030,0.000,0.031,2861,2006,1981,1981,4095,0,0,0,0,0,0,25.88,25.80,25.90,10.09,45.90
$GC,972,1.61,438.8,2860,2006,1980,4095,23.8,11.5,158,978,0.00,2.33,0.00,0.000,516,0.000,0.070,2861,1153,1980,1980,4094,0,0,0,0,0,0,26.11,25.77,26.12,10.09,45.11
$GC,1075,1.73,519.1,2861,1153,1977,4094,13.2,8.0,175,1089,0.32,2.08,5.43,0.548,11270,0.043,0.029,2895,1991,1894,1894,4094,0,0,0,0,0,0,25.98,25.98,25.21,10.13,46.10
$GC,1120,1.73,519.1,2895,1991,1893,4094,8.8,9.9,182,1126,0.00,2.42,0.00,0.000,260,0.000,0.062,2895,2882,1893,1893,4094,0,0,0,0,0,0,26.19,25.86,26.20,10.14,47.59
$GC,1163,1.73,519.1,2895,2882,1891,4094,4.2,10.7,189,1169,0.00,2.28,0.00,0.000,1030,0.000,0.031,2896,1992,1891,1891,4094,0,0,0,0,0,0,26.03,25.96,26.06,10.15,48.77
$STATE,1186,end climb,FINISH_DEPTH_REACHED
$STATE,1186,begin subsurface finish
$FINISH1,1.4,1.025600,0
$GC,1191,0.00,0.0,2895,1991,1891,4094,1.4,11.2,193,1208,5.85,2.40,-5.38,0.000,20996,0.067,1.308,2369,1150,2506,2506,4094,0,0,0,0,0,0,25.95,24.94,26.01,10.16,49.17
$FINISH2,0.1
$STATE,1209,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1210,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,280717,235246
$TT8_MAMPS,0.025466,0.085386
$HUMID,49.80
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.04,3.334
$10V_AH,10.57,4.906
$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,35.525,29.700,55.925,0.000,0.000,23.160,17.656,225.771,0.000,0.000,17.908,438.024,348.418,156.757,577.491,81.562,33.451,379.687,0.000,293.979,0.000,0.541,0.000
$DEVICE_MAMPS,109.395,1308.150,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,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,329448
$DATA_FILE_SIZE,14342,196
$CAP_FILE_SIZE,39899,0
$CFSIZE,1024409600,1012957184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,593.56,0x236164,2,24
$GPS,290717,011546,5929.027,-17050.877,5,0.8,16,8.4,0.6,182.4,11,4.8