version: 66.13
glider: 401
mission: 22
dive: 145
start: 7 29 117 6 17 48
data:
$ID,401
$MISSION,22
$DIVE,145
$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,23
$R_STBD_OVSHOOT,51
$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
$GPS1,290717,061013,5930.9824,-17053.7305,4,0.8,15,8.4,0.0,56.2,11,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-39.3
$GPS2,290717,061641,5930.9956,-17053.7617,5,0.8,19,8.4,0.0,244.4,11,4.7
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.043066,0.352412
$KALMAN_X,19072.154297,-1222.513306,-419.685699,-44189.070312,-41.822113
$KALMAN_Y,4384.847656,1608.228516,598.558533,22429.068359,94.674866
$MHEAD_RNG_PITCHd_Wd,344.6,8844,-10.6,-9.091,-14.36,7155
$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,8,-1.61,-435.5,231,1894,1973,4092,0.0,0.0,0,17,7.55,0.00,0.00,0.000,2049,0.113,0.000,847,1888,1973,1973,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.24,49.25
$GC,19,-1.61,-435.5,847,1890,1973,4094,0.9,0.0,1,47,10.88,2.47,-9.68,0.000,18948,0.059,1.313,1837,1038,3015,3015,4094,0,0,0,0,0,0,25.89,24.83,25.92,10.25,49.29
$GC,109,-1.61,-435.5,1836,1038,3016,4094,5.3,-12.8,16,115,0.00,2.10,0.00,0.000,1030,0.000,0.031,1837,1883,3016,3016,4095,0,0,0,0,0,0,25.94,25.87,25.96,10.47,48.70
$GC,147,-1.61,-435.5,1836,1886,3017,4095,10.5,-13.4,22,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1886,3017,3017,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.48,48.38
$GC,183,-1.61,-435.5,1836,1886,3018,4094,15.5,-13.5,28,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1886,3018,3018,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.48,48.70
$GC,219,-1.61,-435.5,1836,1886,3018,4094,19.5,-9.6,34,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1886,3018,3018,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.45,48.66
$GC,255,-1.61,-435.5,1836,1886,3019,4095,23.3,-10.6,40,261,0.00,2.30,0.00,0.000,260,0.000,0.056,1837,2756,3019,3019,4094,0,0,0,0,0,0,26.27,25.95,26.28,10.42,47.55
$GC,286,-1.61,-435.5,1836,2755,3019,4094,26.6,-10.3,45,292,0.00,2.20,0.00,0.000,1030,0.000,0.031,1837,1890,3019,3019,4095,0,0,0,0,0,0,26.10,26.01,26.12,10.40,47.44
$GC,323,-1.61,-435.5,1836,1889,3020,4095,30.8,-11.6,51,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1890,3020,3020,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.39,46.45
$GC,359,-1.61,-435.5,1836,1889,3021,4095,34.9,-11.4,57,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1889,3021,3021,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.38,45.94
$GC,395,-1.61,-435.5,1836,1889,3022,4095,38.9,-10.7,63,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1890,3022,3022,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.38,45.11
$GC,431,-1.61,-435.5,1836,1890,3023,4095,43.1,-11.6,69,437,0.00,2.33,0.00,0.000,260,0.000,0.057,1837,2755,3023,3023,4095,0,0,0,0,0,0,26.39,26.06,26.39,10.38,45.47
$GC,468,-1.61,-435.5,1836,2755,3023,4095,47.6,-11.7,75,474,0.00,2.15,0.00,0.000,1030,0.000,0.030,1837,1897,3023,3023,4095,0,0,0,0,0,0,26.21,26.13,26.23,10.36,45.27
$GC,505,-1.61,-435.5,1836,1897,3024,4095,51.8,-11.3,81,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1897,3024,3024,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.36,44.88
$GC,541,-1.61,-435.5,1836,1897,3025,4094,56.0,-11.5,87,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1897,3025,3025,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.35,44.68
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,581,-0.45,0.0,1837,2030,3026,4095,60.3,-11.9,93,614,3.97,0.00,25.30,1.281,10244,0.057,0.000,2206,2030,2500,2500,4094,0,0,0,0,0,0,26.17,25.38,24.51,10.35,45.11
$STATE,615,end apogee,CONTROL_FINISHED_OK
$STATE,615,begin climb
$GC,617,1.61,435.5,2205,2030,2500,4094,62.5,0.0,99,656,7.05,2.40,25.08,1.254,10756,0.042,0.063,2863,1153,1992,1992,4094,0,0,0,0,0,0,25.58,25.44,24.02,10.23,44.68
$GC,681,1.61,435.5,2862,1153,1991,4094,58.2,10.5,110,687,0.00,2.17,0.00,0.000,1030,0.000,0.028,2862,2006,1991,1991,4094,0,0,0,0,0,0,25.29,25.22,25.30,10.12,43.62
$GC,718,1.61,435.5,2862,2006,1990,4094,54.4,10.1,116,724,0.00,2.42,0.00,0.000,260,0.000,0.060,2862,2881,1990,1990,4094,0,0,0,0,0,0,25.61,25.31,25.63,10.12,43.66
$GC,785,1.61,435.5,2862,2881,1989,4094,46.4,12.9,127,791,0.00,2.22,0.00,0.000,1030,0.000,0.031,2862,2019,1988,1988,4094,0,0,0,0,0,0,25.63,25.56,25.65,10.11,44.01
$GC,822,1.61,435.5,2862,2018,1988,4094,42.1,11.5,133,828,0.00,2.38,0.00,0.000,516,0.000,0.068,2862,1150,1987,1987,4094,0,0,0,0,0,0,25.89,25.56,25.90,10.10,44.48
$GC,884,1.61,435.5,2862,1150,1986,4094,35.1,11.5,143,890,0.00,2.15,0.00,0.000,1030,0.000,0.029,2863,2007,1986,1986,4094,0,0,0,0,0,0,25.82,25.75,25.84,10.10,45.35
$GC,923,1.61,435.5,2862,2007,1985,4094,30.6,11.6,149,929,0.00,2.38,0.00,0.000,260,0.000,0.060,2862,2881,1985,1985,4094,0,0,0,0,0,0,26.06,25.73,26.06,10.10,45.07
$GC,984,1.61,435.5,2862,2880,1983,4094,22.9,12.2,159,990,0.00,2.22,0.00,0.000,1030,0.000,0.031,2862,2002,1983,1983,4094,0,0,0,0,0,0,25.94,25.86,25.96,10.09,46.06
$GC,1021,1.61,435.5,2862,2001,1983,4094,18.7,11.3,165,1027,0.00,2.30,0.00,0.000,516,0.000,0.069,2862,1153,1982,1982,4094,0,0,0,0,0,0,26.16,25.82,26.17,10.08,45.74
$GC,1099,1.61,435.5,2862,1153,1980,4094,10.5,9.2,178,1105,0.00,2.10,0.00,0.000,1030,0.000,0.030,2862,1997,1980,1980,4094,0,0,0,0,0,0,26.06,25.98,26.07,10.16,47.63
$GC,1136,1.61,435.5,2862,1998,1979,4094,7.0,9.4,184,1142,0.00,2.38,0.00,0.000,260,0.000,0.060,2862,2881,1979,1979,4095,0,0,0,0,0,0,26.26,25.94,26.27,10.17,48.54
$STATE,1184,end climb,FINISH_DEPTH_REACHED
$STATE,1184,begin subsurface finish
$FINISH1,1.7,1.025600,0
$GC,1191,0.00,0.0,2862,2014,1977,4094,1.7,11.2,192,1208,5.53,0.00,-4.60,0.000,20998,0.076,0.000,2368,2014,2503,2503,4095,0,0,0,0,0,0,26.01,25.62,26.05,10.18,49.40
$FINISH2,0.3
$STATE,1209,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1209,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,045924
$TT8_MAMPS,0.025466,0.072653
$HUMID,50.47
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,24.02,3.640
$10V_AH,10.57,5.203
$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,34.975,41.350,50.375,0.000,0.000,22.189,17.367,240.392,0.000,0.000,20.921,441.098,349.283,155.382,591.317,83.308,33.478,375.918,0.000,292.596,0.000,0.542,0.000
$DEVICE_MAMPS,113.220,1312.740,1281.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329432
$DATA_FILE_SIZE,14331,195
$CAP_FILE_SIZE,40658,0
$CFSIZE,1024409600,1012367360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290717,061641,5930.996,-17053.762,5,0.8,19,8.4,0.0,244.4,11,4.7