version: 66.13
glider: 401
mission: 22
dive: 134
start: 7 29 117 1 39 2
data:
$ID,401
$MISSION,22
$DIVE,134
$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,25
$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
$GPS1,290717,011546,5929.0269,-17050.8770,5,0.8,16,8.4,0.6,182.4,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.9
$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,-0.135418,0.329661
$KALMAN_X,20768.312500,-980.107117,-97.159279,-43726.839844,65.914215
$KALMAN_Y,5685.770996,1557.675903,598.978394,17558.417969,-108.144226
$MHEAD_RNG_PITCHd_Wd,329.3,13061,-10.5,-9.091,-14.31,7221
$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,-438.8,2368,1915,2507,4092,0.0,0.0,0,19,5.45,0.00,-4.03,0.000,20482,0.031,0.000,1842,1915,2937,2937,4094,0,0,0,0,0,0,26.07,28.83,26.11,10.32,50.70
$GC,21,-1.61,-438.8,1842,1915,2937,4094,0.1,0.0,1,31,0.00,2.50,-0.68,0.000,16900,0.000,1.301,1842,1040,3016,3016,4095,0,0,0,0,0,0,26.27,24.97,26.20,10.41,50.82
$GC,93,-1.61,-438.8,1841,1040,3017,4095,8.2,-12.9,11,102,0.00,2.17,0.00,0.000,1030,0.000,0.031,1842,1898,3017,3017,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.43,50.66
$GC,140,-1.61,-438.8,1841,1899,3018,4094,14.3,-13.3,17,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3019,3019,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.44,50.82
$GC,184,-1.61,-438.8,1842,1905,3019,4095,19.9,-10.6,23,192,0.00,2.42,0.00,0.000,516,0.000,0.072,1842,1031,3019,3019,4095,0,0,0,0,0,0,26.26,25.91,26.27,10.40,50.15
$GC,222,-1.61,-438.8,1841,1031,3020,4095,23.8,-10.9,28,231,0.00,2.22,0.00,0.000,1030,0.000,0.032,1842,1916,3020,3020,4095,0,0,0,0,0,0,26.07,26.03,26.09,10.38,49.76
$GC,269,-1.61,-438.8,1841,1916,3021,4095,28.7,-10.7,34,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1916,3021,3021,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.37,48.18
$GC,314,-1.61,-438.8,1842,1917,3022,4095,34.2,-11.8,40,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1917,3022,3022,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.35,47.48
$GC,360,-1.61,-438.8,1841,1917,3023,4095,39.7,-12.2,46,370,0.00,2.25,0.00,0.000,260,0.000,0.059,1842,2747,3023,3023,4095,0,0,0,0,0,0,26.38,26.06,26.39,10.34,46.77
$GC,392,-1.61,-438.8,1841,2747,3024,4095,43.4,-11.1,50,402,0.00,2.12,0.00,0.000,1030,0.000,0.033,1842,1922,3025,3025,4095,0,0,0,0,0,0,26.16,26.12,26.18,10.34,47.04
$GC,437,-1.61,-438.8,1842,1922,3024,4095,48.2,-10.8,56,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1923,3025,3025,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.33,46.02
$GC,482,-1.61,-438.8,1841,1922,3026,4094,53.0,-10.7,62,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1923,3026,3026,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.33,46.29
$GC,526,-1.61,-438.8,1841,1922,3026,4095,58.1,-11.4,68,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1922,3026,3026,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.33,45.74
$STATE,550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,550,begin apogee
$GC,555,-0.45,0.0,1842,2043,3027,4095,60.7,-11.3,71,591,4.00,0.00,25.60,1.288,10244,0.061,0.000,2205,2044,2499,2499,4094,0,0,0,0,0,0,26.19,25.39,24.52,10.32,45.78
$STATE,592,end apogee,CONTROL_FINISHED_OK
$STATE,592,begin climb
$GC,594,1.61,438.8,2206,2043,2498,4094,63.4,0.0,75,630,7.05,0.00,25.33,1.267,11270,0.038,0.000,2862,2044,1987,1987,4094,0,0,0,0,0,0,25.60,25.76,24.02,10.20,45.62
$GC,668,1.61,438.8,2862,2043,1986,4094,58.2,11.2,84,677,0.00,2.53,0.00,0.000,516,0.000,0.065,2862,1154,1986,1986,4094,0,0,0,0,0,0,25.51,25.17,25.52,10.09,44.68
$GC,714,1.61,438.8,2862,1153,1985,4094,52.4,13.0,90,724,0.00,2.08,0.00,0.000,1030,0.000,0.028,2862,1964,1985,1985,4094,0,0,0,0,0,0,25.49,25.45,25.51,10.09,44.64
$GC,761,1.61,438.8,2861,1966,1984,4094,46.9,11.3,96,770,0.00,2.45,0.00,0.000,260,0.000,0.058,2862,2847,1984,1984,4094,0,0,0,0,0,0,25.82,25.50,25.83,10.09,44.92
$GC,832,1.61,438.8,2862,2846,1982,4094,38.3,11.5,106,842,0.00,2.20,0.00,0.000,1030,0.000,0.031,2862,2003,1982,1982,4094,0,0,0,0,0,0,25.74,25.70,25.75,10.08,45.47
$GC,879,1.61,438.8,2861,2003,1981,4094,33.0,11.9,112,887,0.00,2.35,0.00,0.000,516,0.000,0.070,2862,1154,1981,1981,4094,0,0,0,0,0,0,26.03,25.69,26.04,10.07,45.19
$GC,949,1.61,438.8,2862,1154,1979,4094,24.2,12.1,122,959,0.00,2.00,0.00,0.000,1030,0.000,0.030,2862,1952,1978,1978,4094,0,0,0,0,0,0,25.91,25.88,25.96,10.07,46.29
$GC,996,1.61,438.8,2862,1951,1978,4094,18.9,11.7,128,1005,0.00,2.47,0.00,0.000,260,0.000,0.059,2862,2855,1977,1977,4094,0,0,0,0,0,0,26.17,25.84,26.17,10.07,45.90
$GC,1021,1.61,438.8,2862,2855,1977,4094,16.1,10.4,131,1031,0.00,2.30,0.00,0.000,1030,0.000,0.033,2862,1971,1977,1977,4094,0,0,0,0,0,0,25.96,25.92,25.98,10.08,45.66
$GC,1068,1.74,522.8,2862,1971,1977,4094,12.3,7.9,137,1080,0.30,2.25,5.55,0.543,10756,0.045,0.070,2895,1150,1889,1889,4094,0,0,0,0,0,0,26.00,25.82,25.23,10.12,46.65
$STATE,1166,end climb,FINISH_DEPTH_REACHED
$STATE,1166,begin subsurface finish
$FINISH1,1.8,1.024262,93
$GC,1175,0.14,93.3,2895,1990,1886,4094,1.8,10.8,151,1194,5.18,0.00,-4.65,0.000,20486,0.044,0.000,2406,1997,2398,2398,4094,0,0,0,0,0,0,26.03,25.53,26.08,10.15,49.72
$FINISH2,0.1
$STATE,1195,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1195,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,280717,235246
$TT8_MAMPS,0.026215,0.260652
$HUMID,50.23
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.02,3.355
$10V_AH,10.26,4.941
$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,21.975,38.600,56.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,438.171,0.000,133.474,638.600,41.761,33.424,389.765,0.000,370.709,0.000,0.541,0.000
$DEVICE_MAMPS,61.200,1301.265,1288.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.764,415.589,329.201,487.811,636.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331032
$DATA_FILE_SIZE,14284,153
$CAP_FILE_SIZE,31697,0
$CFSIZE,1024409600,1012924416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,011546,5929.027,-17050.877,5,0.8,16,8.4,0.6,182.4,11,4.8