version: 66.13
glider: 401
mission: 22
dive: 154
start: 7 29 117 10 8 29
data:
$ID,401
$MISSION,22
$DIVE,154
$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,18
$R_STBD_OVSHOOT,53
$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
$GPS1,290717,100102,5933.8394,-17052.5527,4,0.7,15,8.4,0.0,62.4,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-40.3
$GPS2,290717,100723,5933.8462,-17052.4688,5,0.8,17,8.4,0.5,85.3,10,4.8
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.329241,0.135943
$KALMAN_X,21359.226562,-928.344727,-102.875481,-45881.316406,274.610413
$KALMAN_Y,5281.856934,2192.178955,1115.490967,25716.640625,21.494873
$MHEAD_RNG_PITCHd_Wd,284.0,4387,-10.5,-9.091,-14.32,7212
$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,-438.8,238,1901,1902,4092,0.0,0.0,0,20,9.93,0.00,0.00,0.000,2049,0.108,0.000,1057,1895,1902,1902,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.22,50.00
$GC,22,-1.61,-438.8,1057,1899,1902,4094,0.8,0.0,1,50,8.45,2.50,-10.30,0.000,18948,0.047,1.310,1838,1030,3011,3011,4095,0,0,0,0,0,0,25.89,24.84,25.95,10.23,50.90
$GC,66,-1.61,-438.8,1837,1029,3011,4095,-0.1,0.7,6,75,0.00,2.12,0.00,0.000,1030,0.000,0.029,1838,1874,3011,3011,4095,0,0,0,0,0,0,25.82,25.77,25.84,10.47,50.27
$GC,112,-1.61,-438.8,1837,1873,3012,4095,4.1,-11.2,12,122,0.00,2.42,0.00,0.000,260,0.000,0.059,1838,2761,3012,3012,4095,0,0,0,0,0,0,26.08,25.77,26.10,10.47,49.48
$GC,159,-1.61,-438.8,1838,2761,3013,4095,10.0,-12.8,18,168,0.00,2.15,0.00,0.000,1030,0.000,0.031,1838,1929,3013,3013,4094,0,0,0,0,0,0,25.91,25.92,25.94,10.47,48.97
$GC,205,-1.61,-438.8,1837,1928,3014,4094,16.4,-14.0,24,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3015,3015,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.47,48.66
$GC,251,-1.61,-438.8,1838,1928,3015,4095,21.3,-10.2,30,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3015,3015,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.42,48.18
$GC,297,-1.61,-438.8,1837,1929,3016,4095,26.0,-10.5,36,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3016,3016,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.39,47.20
$GC,343,-1.61,-438.8,1837,1929,3017,4094,31.1,-11.3,42,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3017,3017,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.38,46.25
$GC,386,-1.61,-438.8,1837,1929,3018,4094,35.7,-10.4,48,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3018,3018,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.38,45.70
$GC,430,-1.61,-438.8,1837,1929,3019,4095,40.9,-12.1,54,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3019,3019,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.36,45.15
$GC,475,-1.61,-438.8,1838,1929,3019,4095,45.9,-10.8,60,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3020,3020,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.35,44.64
$GC,519,-1.61,-438.8,1837,1929,3021,4094,50.8,-10.9,66,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3021,3021,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.35,45.19
$GC,564,-1.61,-438.8,1837,1928,3021,4094,56.1,-12.4,72,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3022,3022,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.34,44.68
$STATE,599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,599,begin apogee
$GC,604,-0.45,0.0,1838,2042,3023,4095,60.4,-11.6,77,640,4.00,0.00,25.40,1.282,10244,0.059,0.000,2204,2042,2499,2499,4095,0,0,0,0,0,0,26.17,25.16,24.51,10.33,45.07
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,643,1.61,438.8,2204,2042,2499,4095,63.0,0.0,81,679,7.05,0.00,25.27,1.265,11270,0.038,0.000,2862,2042,1987,1987,4095,0,0,0,0,0,0,25.59,25.75,24.01,10.22,44.36
$GC,716,1.61,438.8,2861,2042,1986,4095,58.3,10.4,90,726,0.00,2.33,0.00,0.000,260,0.000,0.060,2861,2869,1986,1986,4094,0,0,0,0,0,0,25.50,25.20,25.51,10.11,43.69
$GC,763,1.61,438.8,2861,2869,1985,4094,52.6,13.7,96,772,0.00,2.28,0.00,0.000,1030,0.000,0.030,2862,2002,1985,1985,4095,0,0,0,0,0,0,25.48,25.44,25.49,10.11,43.54
$GC,809,1.61,438.8,2861,2002,1984,4095,47.3,11.0,102,819,0.00,2.35,0.00,0.000,516,0.000,0.067,2862,1154,1984,1984,4094,0,0,0,0,0,0,25.81,25.48,25.82,10.10,43.62
$GC,856,1.61,438.8,2861,1153,1983,4094,41.2,12.8,108,865,0.00,2.03,0.00,0.000,1030,0.000,0.028,2862,1960,1983,1983,4095,0,0,0,0,0,0,25.70,25.71,25.73,10.10,43.97
$GC,902,1.61,438.8,2861,1962,1981,4095,35.8,12.2,114,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1962,1981,1981,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.10,44.60
$GC,948,1.61,438.8,2861,1962,1980,4094,30.5,11.5,120,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1962,1980,1980,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.09,44.40
$GC,994,1.61,438.8,2861,1962,1978,4094,25.1,11.7,126,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1962,1979,1979,4095,0,0,0,0,0,0,26.10,26.12,26.12,10.08,44.84
$GC,1040,1.61,438.8,2861,1962,1978,4095,19.8,11.3,132,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1963,1978,1978,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.08,44.60
$GC,1086,1.61,438.8,2861,1962,1977,4094,14.8,9.9,138,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1963,1977,1977,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.10,45.43
$GC,1132,1.77,546.2,2861,1963,1976,4094,11.2,7.6,144,1143,0.43,0.00,6.70,0.593,10246,0.042,0.000,2906,1963,1861,1861,4094,0,0,0,0,0,0,26.01,25.79,25.22,10.13,46.45
$GC,1180,1.81,569.7,2905,1963,1860,4094,7.3,8.8,150,1191,0.10,2.17,2.92,0.267,10756,0.083,0.068,2923,1155,1836,1836,4094,0,0,0,0,0,0,25.98,25.70,25.29,10.12,47.91
$STATE,1238,end climb,FINISH_DEPTH_REACHED
$STATE,1238,begin subsurface finish
$FINISH1,1.7,1.024240,95
$GC,1246,0.14,94.8,2922,2009,1834,4094,1.7,9.1,158,1265,5.57,2.47,-5.03,0.000,20996,0.057,1.315,2409,1154,2392,2392,4094,0,0,0,0,0,0,26.01,24.91,26.06,10.15,48.70
$FINISH2,0.1
$STATE,1266,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1266,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,084250
$TT8_MAMPS,0.026215,0.236684
$HUMID,49.80
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.01,3.872
$10V_AH,10.25,5.442
$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,35.525,25.325,60.300,0.000,0.000,23.367,20.987,233.076,0.000,0.000,19.041,467.026,0.371,152.144,963.088,88.681,33.450,439.703,0.000,388.195,0.000,0.542,0.000
$DEVICE_MAMPS,107.865,1315.035,1282.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.119,434.651,344.120,509.449,663.525,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329432
$DATA_FILE_SIZE,14374,160
$CAP_FILE_SIZE,38656,0
$CFSIZE,1024409600,1011924992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290717,100723,5933.846,-17052.469,5,0.8,17,8.4,0.5,85.3,10,4.8