version: 66.13
glider: 401
mission: 22
dive: 151
start: 7 29 117 8 48 39
data:
$ID,401
$MISSION,22
$DIVE,151
$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,26
$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
$GPS1,290717,084124,5933.1626,-17053.2383,34,0.7,39,8.4,0.7,84.6,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-41.6
$GPS2,290717,084733,5933.1875,-17053.1738,9,0.8,14,8.4,0.0,61.1,10,4.9
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.302088,0.188814
$KALMAN_X,20029.070312,-1111.309082,-286.754791,-44848.449219,214.214844
$KALMAN_Y,5119.135254,2004.962769,979.220886,24972.259766,165.670593
$MHEAD_RNG_PITCHd_Wd,293.6,5093,-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,6,begin dive
$GC,8,-1.61,-438.8,239,1893,1973,4092,0.0,0.0,0,17,7.30,0.00,0.00,0.000,2049,0.112,0.000,838,1890,1973,1973,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.24,49.33
$GC,19,-1.61,-438.8,838,1890,1973,4094,0.9,0.0,1,47,11.02,2.47,-9.73,0.000,18948,0.062,1.310,1835,1031,3017,3017,4094,0,0,0,0,0,0,25.90,24.85,25.94,10.25,49.52
$GC,85,-1.61,-438.8,1835,1031,3017,4094,0.7,-2.6,12,91,0.00,2.17,0.00,0.000,1030,0.000,0.030,1835,1905,3017,3017,4095,0,0,0,0,0,0,25.94,25.88,25.95,10.48,49.44
$GC,122,-1.61,-438.8,1834,1905,3017,4095,5.1,-12.7,18,127,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3017,3017,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.47,48.70
$GC,158,-1.61,-438.8,1835,1905,3019,4094,9.8,-13.1,24,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3018,3018,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.48,48.38
$GC,194,-1.61,-438.8,1835,1905,3019,4095,14.9,-14.1,30,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3019,3019,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.48,48.14
$GC,230,-1.61,-438.8,1835,1907,3020,4095,19.2,-11.1,36,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1908,3020,3020,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.46,48.42
$GC,266,-1.61,-438.8,1835,1908,3020,4095,21.9,-7.5,42,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,3020,3020,4095,0,0,0,0,0,0,26.28,26.30,26.29,10.42,47.63
$GC,303,-1.61,-438.8,1835,1909,3021,4095,25.0,-8.5,48,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,3021,3021,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.40,47.59
$GC,339,-1.61,-438.8,1835,1909,3022,4094,28.3,-9.2,54,345,0.00,2.38,0.00,0.000,516,0.000,0.069,1835,1033,3022,3022,4094,0,0,0,0,0,0,26.34,25.99,26.34,10.39,46.85
$GC,401,-1.61,-438.8,1835,1032,3023,4094,34.1,-9.5,64,407,0.00,2.15,0.00,0.000,1030,0.000,0.029,1835,1916,3023,3023,4095,0,0,0,0,0,0,26.20,26.15,26.22,10.38,45.70
$GC,440,-1.61,-438.8,1835,1919,3023,4095,37.6,-8.9,70,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1920,3023,3023,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.37,45.86
$GC,476,-1.61,-438.8,1835,1919,3024,4095,41.1,-9.3,76,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1920,3024,3024,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.36,45.19
$GC,512,-1.61,-438.8,1835,1920,3025,4095,44.6,-10.0,82,518,0.00,2.40,0.00,0.000,516,0.000,0.070,1835,1032,3025,3025,4094,0,0,0,0,0,0,26.44,26.08,26.45,10.36,44.72
$GC,561,-1.61,-438.8,1835,1032,3025,4094,49.8,-10.8,90,567,0.00,2.10,0.00,0.000,1030,0.000,0.030,1836,1900,3026,3026,4094,0,0,0,0,0,0,26.28,26.23,26.29,10.36,44.84
$GC,598,-1.61,-438.8,1835,1903,3026,4094,53.2,-9.3,96,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1904,3026,3026,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.35,44.64
$GC,634,-1.61,-438.8,1835,1904,3027,4095,56.9,-10.4,102,640,0.00,2.22,0.00,0.000,260,0.000,0.055,1835,2751,3027,3027,4094,0,0,0,0,0,0,26.48,26.17,26.50,10.35,44.44
$STATE,669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,669,begin apogee
$GC,675,-0.45,0.0,1835,2004,3028,4095,60.5,-9.4,108,708,4.03,0.00,25.45,1.284,10244,0.059,0.000,2207,2004,2500,2500,4094,0,0,0,0,0,0,26.21,25.41,24.54,10.34,45.51
$STATE,709,end apogee,CONTROL_FINISHED_OK
$STATE,709,begin climb
$GC,711,1.61,438.8,2206,2003,2500,4094,62.7,0.0,114,749,7.00,0.00,25.23,1.271,11270,0.039,0.000,2861,2004,1988,1988,4095,0,0,0,0,0,0,25.61,25.77,24.03,10.23,45.43
$GC,780,1.61,438.8,2860,2004,1987,4095,59.4,9.4,126,786,0.00,2.33,0.00,0.000,516,0.000,0.067,2861,1158,1987,1987,4094,0,0,0,0,0,0,25.50,25.18,25.51,10.13,43.93
$GC,843,1.72,507.2,2861,1158,1986,4094,53.8,8.1,136,855,0.25,2.03,5.40,0.822,11270,0.045,0.028,2890,1978,1908,1908,4095,0,0,0,0,0,0,25.52,25.52,24.46,10.12,44.68
$GC,886,1.72,507.2,2889,1977,1907,4095,49.8,9.1,143,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1977,1908,1908,4094,0,0,0,0,0,0,25.76,25.78,25.77,10.09,45.11
$GC,922,1.72,507.2,2889,1977,1907,4094,46.5,9.5,149,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1978,1907,1907,4095,0,0,0,0,0,0,25.85,25.86,25.86,10.09,44.88
$GC,958,1.72,507.2,2889,1977,1907,4095,43.0,9.6,155,964,0.00,2.28,0.00,0.000,516,0.000,0.068,2890,1157,1906,1906,4094,0,0,0,0,0,0,25.92,25.59,25.94,10.08,44.92
$GC,1043,1.72,507.2,2889,1156,1904,4094,34.4,10.0,169,1049,0.00,2.00,0.00,0.000,1030,0.000,0.029,2890,1976,1905,1905,4094,0,0,0,0,0,0,25.88,25.82,25.90,10.09,45.66
$GC,1080,1.72,507.2,2889,1976,1903,4094,30.9,9.5,175,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1976,1903,1903,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.08,45.74
$GC,1116,1.72,507.2,2889,1976,1902,4094,27.1,10.1,181,1123,0.00,2.42,0.00,0.000,260,0.000,0.060,2890,2874,1902,1902,4095,0,0,0,0,0,0,26.14,25.82,26.15,10.07,46.10
$GC,1177,1.72,507.2,2889,2874,1901,4095,20.8,10.3,191,1184,0.00,2.30,0.00,0.000,1030,0.000,0.032,2890,1977,1901,1901,4094,0,0,0,0,0,0,26.01,25.93,26.03,10.07,46.49
$GC,1215,1.73,519.0,2889,1977,1901,4094,17.4,8.9,197,1221,0.00,0.00,2.17,0.097,8710,0.000,0.000,2889,1977,1894,1894,4094,0,0,0,0,0,0,26.23,25.86,25.23,10.06,46.57
$GC,1252,1.85,600.3,2889,1976,1893,4094,14.4,7.9,203,1264,0.43,0.00,5.93,0.588,10246,0.043,0.000,2935,1976,1799,1799,4094,0,0,0,0,0,0,26.03,25.66,25.22,10.10,46.77
$GC,1295,1.92,645.8,2934,1976,1798,4094,10.7,8.4,210,1302,0.17,0.00,4.07,0.436,10246,0.058,0.000,2960,1976,1746,1746,4094,0,0,0,0,0,0,26.00,25.82,25.25,10.11,48.38
$GC,1333,1.99,688.7,2959,1975,1745,4094,7.5,8.5,216,1340,0.10,0.00,4.03,0.414,10246,0.075,0.000,2978,1976,1695,1695,4094,0,0,0,0,0,0,26.01,25.82,25.27,10.11,49.29
$GC,1371,1.99,688.7,2977,1976,1694,4094,4.1,9.1,222,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1976,1694,1694,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.11,50.11
$STATE,1393,end climb,FINISH_DEPTH_REACHED
$STATE,1393,begin subsurface finish
$FINISH1,1.5,1.025600,0
$GC,1399,0.00,0.0,2977,2032,1693,4094,1.5,10.8,226,1416,6.70,0.00,-7.30,0.000,20998,0.063,0.000,2363,2037,2506,2506,4095,0,0,0,0,0,0,26.00,25.15,26.05,10.12,50.03
$FINISH2,0.1
$STATE,1417,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1417,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,072842
$TT8_MAMPS,0.025466,0.073402
$HUMID,50.90
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.03,3.795
$10V_AH,10.57,5.352
$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,37.000,31.250,72.275,0.000,0.000,23.498,18.196,224.618,0.000,0.000,15.277,511.204,404.368,179.616,625.173,88.962,33.478,435.932,0.000,340.731,0.000,0.542,0.000
$DEVICE_MAMPS,111.690,1309.680,1284.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329452
$DATA_FILE_SIZE,17769,229
$CAP_FILE_SIZE,48326,0
$CFSIZE,1024409600,1012056064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290717,084733,5933.188,-17053.174,9,0.8,14,8.4,0.0,61.1,10,4.9