version: 66.13
glider: 401
mission: 22
dive: 136
start: 7 29 117 2 30 14
data:
$ID,401
$MISSION,22
$DIVE,136
$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,13
$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
$GPS1,290717,022332,5929.2456,-17051.5488,8,0.8,43,8.4,0.4,205.7,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-41.5
$GPS2,290717,022908,5929.2085,-17051.5664,8,0.9,17,8.4,1.3,112.7,9,4.7
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.042982,0.353646
$KALMAN_X,20572.105469,-1006.053162,-139.524231,-44104.210938,-36.131393
$KALMAN_Y,5167.207520,1574.093872,596.230286,18392.150391,-158.385132
$MHEAD_RNG_PITCHd_Wd,344.7,12543,-10.5,-9.091,-14.32,7214
$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,-438.8,239,1904,1918,4092,0.0,0.0,0,20,10.65,0.00,0.00,0.000,2049,0.106,0.000,1121,1905,1918,1918,4095,0,0,0,0,0,0,26.20,28.83,28.83,10.23,49.96
$GC,22,-1.61,-438.8,1120,1904,1918,4095,0.7,0.0,1,50,7.78,2.53,-10.25,0.000,18948,0.051,1.308,1836,1030,3014,3014,4094,0,0,0,0,0,0,25.91,24.87,25.98,10.24,50.03
$GC,137,-1.61,-438.8,1835,1029,3016,4094,10.5,-13.7,17,147,0.00,2.20,0.00,0.000,1030,0.000,0.031,1836,1901,3016,3016,4094,0,0,0,0,0,0,25.93,25.90,25.95,10.47,49.68
$GC,182,-1.61,-438.8,1835,1901,3017,4094,16.6,-13.9,23,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1901,3017,3017,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.47,49.01
$GC,226,-1.61,-438.8,1836,1903,3018,4094,21.3,-10.8,29,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1904,3018,3018,4095,0,0,0,0,0,0,26.23,26.25,26.24,10.42,48.38
$GC,269,-1.61,-438.8,1836,1903,3019,4095,26.1,-11.6,35,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1904,3019,3019,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.40,47.48
$GC,314,-1.61,-438.8,1835,1904,3020,4095,31.3,-11.9,41,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1904,3020,3020,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.38,46.96
$GC,358,-1.61,-438.8,1835,1905,3021,4095,36.8,-12.7,47,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1904,3021,3021,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.38,46.33
$GC,403,-1.61,-438.8,1836,1905,3022,4094,42.1,-11.4,53,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1904,3022,3022,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.37,45.62
$GC,447,-1.61,-438.8,1836,1904,3023,4094,47.3,-12.2,59,457,0.00,2.33,0.00,0.000,260,0.000,0.059,1836,2762,3023,3023,4094,0,0,0,0,0,0,26.39,26.06,26.40,10.36,45.07
$GC,474,-1.61,-438.8,1836,2762,3023,4094,50.4,-12.1,62,483,0.00,2.25,0.00,0.000,1030,0.000,0.032,1836,1884,3023,3023,4095,0,0,0,0,0,0,26.16,26.12,26.20,10.36,45.15
$GC,521,-1.61,-438.8,1836,1884,3024,4095,56.1,-12.2,68,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1884,3025,3025,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,45.19
$STATE,551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,551,begin apogee
$GC,556,-0.45,0.0,1836,2041,3025,4094,60.0,-11.9,72,591,4.00,0.00,25.48,1.280,10244,0.061,0.000,2204,2041,2500,2500,4094,0,0,0,0,0,0,26.15,25.37,24.50,10.34,44.13
$STATE,592,end apogee,CONTROL_FINISHED_OK
$STATE,592,begin climb
$GC,594,1.61,438.8,2204,2041,2500,4094,62.6,0.0,76,629,7.07,0.00,25.38,1.262,11270,0.040,0.000,2862,2041,1987,1987,4094,0,0,0,0,0,0,25.58,25.73,24.01,10.23,44.64
$GC,667,1.61,438.8,2861,2041,1986,4094,58.0,10.2,85,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2041,1986,1986,4094,0,0,0,0,0,0,25.49,25.51,25.50,10.12,43.89
$GC,713,1.61,438.8,2861,2041,1985,4094,52.9,11.1,91,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2041,1985,1985,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.11,43.38
$GC,756,1.61,438.8,2861,2040,1984,4094,47.5,12.2,97,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2041,1984,1984,4094,0,0,0,0,0,0,25.80,25.82,25.81,10.11,43.58
$GC,800,1.61,438.8,2861,2041,1983,4094,42.3,11.6,103,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2041,1983,1983,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.10,43.77
$GC,844,1.61,438.8,2861,2041,1982,4094,37.1,11.8,109,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2041,1982,1982,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.10,43.97
$GC,889,1.61,438.8,2861,2041,1981,4094,31.9,11.3,115,898,0.00,2.47,0.00,0.000,516,0.000,0.067,2862,1153,1980,1980,4095,0,0,0,0,0,0,26.04,25.70,26.05,10.10,44.32
$GC,940,1.61,438.8,2861,1153,1979,4095,25.6,12.1,122,950,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,1986,1979,1979,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.08,44.25
$GC,986,1.61,438.8,2861,1985,1978,4094,20.5,11.1,128,995,0.00,2.45,0.00,0.000,260,0.000,0.062,2862,2878,1978,1978,4094,0,0,0,0,0,0,26.15,25.84,26.17,10.08,44.56
$GC,1038,1.61,438.8,2861,2878,1977,4094,14.6,10.2,135,1047,0.00,2.22,0.00,0.000,1030,0.000,0.031,2862,2017,1976,1976,4094,0,0,0,0,0,0,25.98,25.93,25.98,10.12,46.10
$GC,1084,1.67,479.3,2861,2016,1976,4094,10.6,8.5,141,1095,0.10,2.33,3.45,0.363,10756,0.077,0.067,2879,1150,1939,1939,4094,0,0,0,0,0,0,26.04,25.72,25.28,10.15,47.08
$STATE,1175,end climb,FINISH_DEPTH_REACHED
$STATE,1175,begin subsurface finish
$FINISH1,1.3,1.024260,93
$GC,1184,0.14,93.4,2879,2033,1936,4094,1.3,10.1,154,1203,4.88,0.00,-4.15,0.000,20486,0.029,0.000,2410,2040,2395,2395,4095,0,0,0,0,0,0,26.05,25.60,26.10,10.17,48.89
$FINISH2,0.2
$STATE,1204,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1204,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,011100
$TT8_MAMPS,0.025466,0.249417
$HUMID,49.29
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,24.01,3.407
$10V_AH,10.26,4.991
$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,34.475,23.450,54.300,0.000,0.000,25.719,20.270,188.044,0.000,0.000,19.057,437.323,0.000,140.659,903.956,82.652,33.450,410.537,0.000,378.457,0.000,0.542,0.000
$DEVICE_MAMPS,106.335,1308.150,1279.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.588,423.723,335.646,496.837,648.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,14297,156
$CAP_FILE_SIZE,35301,0
$CFSIZE,1024409600,1012809728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290717,022908,5929.208,-17051.566,8,0.9,17,8.4,1.3,112.7,9,4.7