version: 66.13
glider: 401
mission: 22
dive: 152
start: 7 29 117 9 14 17
data:
$ID,401
$MISSION,22
$DIVE,152
$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,44
$R_STBD_OVSHOOT,44
$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
$GPS1,290717,084733,5933.1875,-17053.1738,9,0.8,14,8.4,0.0,61.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.2
$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,-0.284159,0.214468
$KALMAN_X,20225.636719,-1025.201172,-200.947968,-45212.265625,179.265610
$KALMAN_Y,5021.525391,1994.193237,942.023132,25151.007812,153.073181
$MHEAD_RNG_PITCHd_Wd,298.6,5093,-10.5,-9.091,-14.32,7202
$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,-438.4,2362,1873,2506,4092,0.0,0.0,0,20,5.35,0.00,-4.75,0.000,20486,0.028,0.000,1844,1873,3016,3016,4094,0,0,0,0,0,0,26.12,25.22,26.15,10.31,51.41
$GC,22,-1.61,-438.4,1844,1873,3016,4094,0.0,0.0,1,31,0.00,2.25,0.00,0.000,516,0.000,0.076,1844,1062,3016,3016,4095,0,0,0,0,0,0,26.29,25.96,26.31,10.43,52.16
$GC,86,-1.61,-438.4,1843,1061,3017,4095,4.0,-10.5,10,96,0.00,2.05,0.00,0.000,1030,0.000,0.031,1844,1886,3017,3017,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.44,51.92
$GC,131,-1.61,-438.4,1843,1888,3017,4095,8.2,-9.4,16,141,0.00,2.35,0.00,0.000,260,0.000,0.055,1844,2762,3017,3017,4095,0,0,0,0,0,0,26.39,26.07,26.40,10.44,50.82
$GC,248,-1.61,-438.4,1843,2762,3020,4095,19.9,-9.3,33,258,0.00,2.08,0.00,0.000,1030,0.000,0.030,1844,1945,3020,3020,4094,0,0,0,0,0,0,26.22,26.19,26.25,10.41,50.31
$GC,296,-1.61,-438.8,1843,1945,3020,4094,23.8,-9.0,39,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1945,3021,3021,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,50.03
$GC,342,-1.61,-438.8,1843,1945,3021,4095,27.7,-8.4,45,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1945,3021,3021,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.37,48.26
$GC,388,-1.61,-438.8,1843,1945,3022,4094,31.3,-7.9,51,398,0.00,2.45,0.00,0.000,516,0.000,0.071,1844,1042,3022,3022,4094,0,0,0,0,0,0,26.51,26.16,26.52,10.36,47.44
$GC,446,-1.61,-438.8,1843,1042,3023,4094,37.0,-10.0,59,456,0.00,2.15,0.00,0.000,1030,0.000,0.031,1844,1913,3023,3023,4095,0,0,0,0,0,0,26.32,26.30,26.34,10.35,46.96
$GC,493,-1.61,-438.8,1843,1914,3023,4095,41.3,-9.3,65,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,3024,3024,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.34,46.33
$GC,539,-1.61,-438.8,1843,1914,3025,4094,45.9,-9.9,71,547,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1914,3025,3025,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.33,46.88
$GC,583,-1.61,-438.8,1843,1914,3025,4095,51.1,-11.5,77,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1914,3026,3026,4095,0,0,0,0,0,0,26.57,26.59,26.58,10.33,46.22
$GC,627,-1.61,-438.8,1843,1914,3027,4095,55.8,-11.3,83,636,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,3027,3027,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.33,46.53
$STATE,670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,670,begin apogee
$GC,675,-0.45,0.0,1844,2040,3027,4095,60.4,-10.0,89,711,3.92,0.00,25.45,1.284,10244,0.060,0.000,2204,2041,2499,2499,4095,0,0,0,0,0,0,26.32,25.30,24.65,10.32,45.74
$STATE,712,end apogee,CONTROL_FINISHED_OK
$STATE,712,begin climb
$GC,714,1.61,438.8,2204,2040,2499,4095,62.6,0.0,93,750,7.03,0.00,25.12,1.264,11270,0.038,0.000,2862,2040,1988,1988,4095,0,0,0,0,0,0,25.72,25.88,24.12,10.21,45.39
$GC,788,1.61,438.8,2862,2040,1987,4095,57.5,10.8,102,796,0.00,2.28,0.00,0.000,260,0.000,0.061,2863,2851,1986,1986,4094,0,0,0,0,0,0,25.58,25.27,25.59,10.10,44.44
$GC,845,1.61,438.8,2862,2850,1985,4094,50.5,12.4,110,855,0.00,2.17,0.00,0.000,1030,0.000,0.031,2863,2019,1985,1985,4094,0,0,0,0,0,0,25.56,25.53,25.59,10.09,45.07
$GC,892,1.61,438.8,2862,2018,1984,4094,45.0,11.7,116,901,0.00,2.40,0.00,0.000,516,0.000,0.070,2863,1155,1984,1984,4094,0,0,0,0,0,0,25.89,25.53,25.89,10.09,45.35
$GC,963,1.61,438.8,2862,1155,1982,4094,36.4,11.8,126,972,0.00,2.08,0.00,0.000,1030,0.000,0.030,2863,1973,1982,1982,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.08,45.43
$GC,1009,1.61,438.8,2862,1974,1981,4094,31.5,11.4,132,1019,0.00,2.50,0.00,0.000,260,0.000,0.062,2863,2882,1981,1981,4094,0,0,0,0,0,0,26.07,25.75,26.08,10.08,45.31
$GC,1056,1.61,438.8,2862,2882,1980,4094,25.7,12.3,138,1064,0.00,2.28,0.00,0.000,1030,0.000,0.032,2862,2004,1979,1979,4094,0,0,0,0,0,0,25.90,25.85,25.92,10.08,45.74
$GC,1102,1.61,438.8,2862,2004,1978,4094,20.2,11.8,144,1111,0.00,2.33,0.00,0.000,516,0.000,0.071,2863,1157,1978,1978,4094,0,0,0,0,0,0,26.17,25.84,26.18,10.07,46.57
$GC,1199,1.76,533.2,2862,1156,1976,4094,11.1,7.7,158,1218,0.35,2.08,6.07,0.566,11270,0.037,0.031,2899,1994,1878,1878,4094,0,0,0,0,0,0,26.01,26.03,25.26,10.13,47.83
$GC,1255,1.76,535.0,2899,1994,1877,4094,6.5,9.1,165,1264,0.00,2.33,0.00,0.000,516,0.000,0.070,2900,1150,1877,1877,4094,0,0,0,0,0,0,26.22,25.89,26.24,10.14,48.77
$STATE,1305,end climb,FINISH_DEPTH_REACHED
$STATE,1305,begin subsurface finish
$FINISH1,1.6,1.024240,95
$GC,1314,0.14,94.8,2899,2017,1875,4094,1.6,9.2,172,1332,5.12,0.00,-4.57,0.000,20486,0.034,0.000,2408,2022,2394,2394,4094,0,0,0,0,0,0,26.05,25.55,26.10,10.15,49.84
$FINISH2,0.2
$STATE,1333,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1333,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,072842
$TT8_MAMPS,0.026215,0.244923
$HUMID,49.84
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.12,3.815
$10V_AH,10.25,5.390
$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,21.775,36.550,56.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,486.080,0.000,134.981,725.501,42.736,33.421,407.807,0.000,419.538,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,75.735,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.438,472.601,374.300,554.786,723.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330964
$DATA_FILE_SIZE,17994,174
$CAP_FILE_SIZE,33433,0
$CFSIZE,1024409600,1012006912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,084733,5933.188,-17053.174,9,0.8,14,8.4,0.0,61.1,10,4.9