version: 66.13
glider: 401
mission: 22
dive: 148
start: 7 29 117 7 34 3
data:
$ID,401
$MISSION,22
$DIVE,148
$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,34
$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
$GPS1,290717,072420,5932.0586,-17053.7168,7,0.7,20,8.4,0.5,62.8,12,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-42.0
$GPS2,290717,073257,5932.1016,-17053.6992,6,0.8,31,8.4,0.3,266.1,10,5.0
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.168013,0.313897
$KALMAN_X,19221.125000,-1215.497192,-403.651489,-44309.839844,82.425903
$KALMAN_Y,4733.314941,1782.773926,774.822205,23772.957031,171.849854
$MHEAD_RNG_PITCHd_Wd,323.4,6849,-10.5,-9.091,-14.32,7203
$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,-438.5,238,1883,1973,4092,0.0,0.0,0,20,10.70,0.00,0.00,0.000,2049,0.108,0.000,1122,1881,1972,1972,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.25,49.80
$GC,22,-1.61,-438.5,1121,1881,1973,4094,0.9,0.0,1,50,7.78,2.42,-9.73,0.000,18948,0.054,1.309,1837,1047,3011,3011,4094,0,0,0,0,0,0,25.91,24.86,25.97,10.26,49.33
$GC,66,-1.61,-438.8,1836,1047,3011,4094,0.3,0.2,6,76,0.00,2.15,-0.05,0.000,17414,0.000,0.030,1837,1919,3021,3021,4094,0,0,0,0,0,0,25.83,25.81,24.95,10.48,50.11
$GC,113,-1.61,-438.8,1836,1918,3022,4094,5.6,-12.4,12,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1918,3023,3023,4095,0,0,0,0,0,0,25.96,25.97,25.97,10.48,49.09
$GC,159,-1.61,-438.8,1836,1918,3023,4095,11.8,-13.6,18,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1918,3023,3023,4095,0,0,0,0,0,0,26.03,26.05,26.05,10.49,48.85
$GC,203,-1.61,-438.8,1836,1918,3024,4095,17.5,-12.0,24,212,0.00,2.25,0.00,0.000,260,0.000,0.057,1837,2741,3025,3025,4095,0,0,0,0,0,0,26.10,25.79,26.11,10.47,48.62
$GC,242,-1.61,-438.8,1836,2741,3025,4095,21.4,-10.0,29,251,0.00,2.12,0.00,0.000,1030,0.000,0.031,1837,1916,3025,3025,4094,0,0,0,0,0,0,25.91,25.87,25.94,10.43,47.63
$GC,288,-1.61,-438.8,1836,1916,3026,4094,26.3,-10.6,35,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1916,3026,3026,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.40,46.53
$GC,334,-1.61,-438.8,1836,1916,3027,4095,31.4,-11.2,41,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1916,3027,3027,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.39,45.19
$GC,380,-1.61,-438.8,1836,1916,3028,4095,36.6,-11.1,47,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1916,3028,3028,4095,0,0,0,0,0,0,26.27,26.28,26.29,10.38,44.56
$GC,426,-1.61,-438.8,1837,1916,3029,4095,41.9,-11.5,53,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1916,3029,3029,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.38,44.29
$GC,472,-1.61,-438.8,1836,1916,3030,4095,47.3,-12.0,59,481,0.00,2.25,0.00,0.000,260,0.000,0.057,1836,2739,3030,3030,4095,0,0,0,0,0,0,26.34,26.01,26.35,10.37,43.89
$GC,497,-1.61,-438.8,1837,2739,3030,4095,50.5,-11.6,62,507,0.00,2.15,0.00,0.000,1030,0.000,0.031,1837,1899,3030,3030,4094,0,0,0,0,0,0,26.12,26.08,26.17,10.36,44.17
$GC,544,-1.61,-438.8,1836,1898,3031,4094,55.7,-11.5,68,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1899,3031,3031,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.35,43.73
$STATE,580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,580,begin apogee
$GC,586,-0.45,0.0,1837,2025,3032,4095,60.4,-11.6,73,621,4.03,0.00,25.83,1.283,10244,0.060,0.000,2204,2025,2500,2500,4094,0,0,0,0,0,0,26.12,25.32,24.45,10.35,43.89
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,624,1.61,438.8,2203,2025,2500,4094,63.0,0.0,77,661,7.07,0.00,25.38,1.260,11270,0.038,0.000,2864,2025,1988,1988,4094,0,0,0,0,0,0,25.53,25.70,23.98,10.24,44.32
$GC,698,1.61,438.8,2863,2025,1987,4094,57.9,10.5,86,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2025,1986,1986,4094,0,0,0,0,0,0,25.48,25.49,25.48,10.12,42.79
$GC,744,1.61,438.8,2863,2025,1985,4094,52.8,11.6,92,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2025,1985,1985,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.12,43.18
$GC,789,1.61,438.8,2863,2025,1984,4094,47.5,11.4,98,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2025,1984,1984,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.11,43.81
$GC,835,1.61,438.8,2863,2025,1984,4094,42.3,10.6,104,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2025,1983,1983,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.10,43.97
$GC,881,1.61,438.8,2863,2025,1982,4094,37.2,10.8,110,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2025,1982,1982,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.10,43.77
$GC,927,1.61,438.8,2863,2025,1981,4094,32.0,11.6,116,936,0.00,2.42,0.00,0.000,516,0.000,0.067,2864,1153,1981,1981,4094,0,0,0,0,0,0,26.05,25.71,26.06,10.09,43.93
$GC,973,1.61,438.8,2864,1153,1979,4094,26.5,11.9,122,983,0.00,2.08,0.00,0.000,1030,0.000,0.029,2864,1978,1979,1979,4094,0,0,0,0,0,0,25.91,25.86,25.91,10.10,44.21
$GC,1020,1.61,438.8,2863,1978,1978,4094,21.3,10.7,128,1030,0.00,2.50,0.00,0.000,260,0.000,0.061,2864,2889,1978,1978,4094,0,0,0,0,0,0,26.15,25.84,26.16,10.09,45.03
$GC,1111,1.61,438.8,2863,2888,1976,4094,11.4,9.7,141,1120,0.00,2.28,0.00,0.000,1030,0.000,0.031,2864,2007,1976,1976,4094,0,0,0,0,0,0,26.01,25.96,26.03,10.15,45.74
$GC,1157,1.61,439.2,2863,2007,1975,4094,7.2,9.1,147,1167,0.00,2.35,0.00,0.000,516,0.000,0.071,2864,1149,1975,1975,4094,0,0,0,0,0,0,26.27,25.94,26.28,10.17,47.48
$STATE,1207,end climb,FINISH_DEPTH_REACHED
$STATE,1207,begin subsurface finish
$FINISH1,1.8,1.024246,94
$GC,1215,0.14,94.3,2864,2032,1973,4094,1.8,9.6,154,1234,5.07,0.00,-3.72,0.000,20998,0.076,0.000,2414,2037,2397,2397,4094,0,0,0,0,0,0,26.00,25.59,26.09,10.19,49.25
$FINISH2,0.4
$STATE,1235,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1235,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,072544
$TT8_MAMPS,0.025466,0.23968
$HUMID,48.58
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.98,3.717
$10V_AH,10.26,5.290
$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,34.650,27.475,51.200,0.000,0.000,51.485,41.508,245.672,0.000,0.000,32.205,455.470,45.344,147.442,1038.843,89.537,33.451,431.294,0.000,379.495,0.000,0.542,0.000
$DEVICE_MAMPS,107.865,1308.915,1282.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.304,423.707,335.544,497.155,650.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14371,156
$CAP_FILE_SIZE,38809,0
$CFSIZE,1024409600,1012219904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290717,073257,5932.102,-17053.699,6,0.8,31,8.4,0.3,266.1,10,5.0