version: 66.13
glider: 401
mission: 22
dive: 155
start: 7 29 117 10 31 37
data:
$ID,401
$MISSION,22
$DIVE,155
$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,22
$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
$GPS1,290717,100723,5933.8462,-17052.4688,5,0.8,17,8.4,0.5,85.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-3.0
$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,-0.320256,0.156019
$KALMAN_X,21591.416016,-833.307129,-19.359150,-46283.621094,224.070374
$KALMAN_Y,5233.079590,2175.923096,1054.062012,25860.990234,41.524902
$MHEAD_RNG_PITCHd_Wd,287.6,4387,-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,5,begin dive
$GC,8,-1.61,-438.8,2408,1923,2392,4092,0.0,0.0,0,18,5.82,0.00,-1.70,0.000,20482,0.026,0.000,1846,1924,2575,2575,4094,0,0,0,0,0,0,26.01,28.83,26.06,10.29,49.96
$GC,20,-1.61,-438.8,1845,1923,2575,4094,0.2,0.0,1,32,0.00,2.53,-4.15,0.000,16900,0.000,1.303,1845,1034,3018,3018,4095,0,0,0,0,0,0,26.21,24.93,26.22,10.33,50.03
$GC,75,-1.61,-438.8,1845,1034,3018,4095,0.1,-0.2,10,81,0.00,2.20,0.00,0.000,1030,0.000,0.035,1845,1911,3018,3018,4094,0,0,0,0,0,0,25.98,25.93,26.01,10.43,50.15
$GC,112,-1.61,-438.8,1845,1918,3018,4094,1.6,-6.5,16,117,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1919,3018,3018,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.44,49.92
$GC,148,-1.61,-438.8,1845,1918,3019,4094,5.7,-11.7,22,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3019,3019,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.44,49.40
$GC,184,-1.61,-438.8,1844,1918,3020,4095,10.5,-13.5,28,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3020,3020,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.45,49.56
$GC,220,-1.61,-438.8,1845,1919,3021,4095,15.6,-13.8,34,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1919,3021,3021,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.45,49.60
$GC,256,-1.61,-438.8,1845,1918,3022,4094,19.9,-10.9,40,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3022,3022,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.41,49.60
$GC,292,-1.61,-438.8,1844,1918,3022,4094,23.7,-10.3,46,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3022,3022,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.38,48.66
$GC,328,-1.61,-438.8,1845,1918,3023,4095,27.6,-10.9,52,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3023,3023,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,48.14
$GC,364,-1.61,-438.8,1845,1918,3024,4095,31.8,-11.5,58,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1919,3023,3023,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.36,47.12
$GC,400,-1.61,-438.8,1844,1918,3025,4095,35.6,-10.3,64,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3025,3025,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.36,46.69
$GC,436,-1.61,-438.8,1844,1918,3025,4095,39.7,-11.0,70,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3026,3026,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.35,46.18
$GC,472,-1.61,-438.8,1844,1918,3025,4094,43.6,-10.9,76,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3026,3026,4094,0,0,0,0,0,0,26.45,26.46,26.45,10.34,46.06
$GC,509,-1.61,-438.8,1844,1918,3027,4094,47.7,-10.7,82,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3027,3027,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.33,46.06
$GC,545,-1.61,-438.8,1844,1918,3028,4095,51.7,-11.3,88,551,0.00,2.25,0.00,0.000,260,0.000,0.059,1845,2759,3029,3029,4095,0,0,0,0,0,0,26.47,26.15,26.48,10.33,46.06
$GC,570,-1.61,-438.8,1845,2758,3028,4095,54.3,-10.3,92,576,0.00,2.15,0.00,0.000,1030,0.000,0.031,1845,1905,3028,3028,4094,0,0,0,0,0,0,26.29,26.21,26.31,10.33,45.62
$GC,607,-1.61,-438.8,1845,1906,3029,4094,58.5,-12.1,98,612,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1905,3029,3029,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.33,45.74
$STATE,623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,628,-0.45,0.0,1845,2038,3029,4094,60.6,-11.8,101,661,3.92,0.00,25.52,1.281,10244,0.059,0.000,2206,2038,2500,2500,4094,0,0,0,0,0,0,26.22,25.41,24.56,10.33,45.94
$STATE,662,end apogee,CONTROL_FINISHED_OK
$STATE,662,begin climb
$GC,664,1.61,438.8,2206,2038,2499,4094,62.5,0.0,107,703,7.00,0.00,25.25,1.257,11270,0.039,0.000,2860,2039,1987,1987,4095,0,0,0,0,0,0,25.61,25.77,24.05,10.21,45.23
$GC,734,1.61,438.8,2860,2038,1987,4095,57.3,11.0,119,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2038,1986,1986,4094,0,0,0,0,0,0,25.51,25.52,25.51,10.09,44.29
$GC,770,1.61,438.8,2860,2038,1985,4094,53.2,11.5,125,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2039,1984,1984,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.09,44.40
$GC,806,1.61,438.8,2860,2038,1985,4094,48.8,12.8,131,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,1985,1985,4094,0,0,0,0,0,0,25.77,25.78,25.77,10.09,44.64
$GC,842,1.61,438.8,2860,2038,1984,4094,44.7,11.6,137,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,1984,1984,4094,0,0,0,0,0,0,25.85,25.86,25.86,10.08,44.76
$GC,878,1.61,438.8,2860,2038,1983,4094,40.3,12.5,143,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2039,1983,1983,4095,0,0,0,0,0,0,25.92,25.94,25.94,10.08,44.95
$GC,914,1.61,438.8,2860,2038,1982,4095,35.8,12.3,149,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,1982,1982,4095,0,0,0,0,0,0,25.98,26.00,25.99,10.09,45.51
$GC,950,1.61,438.8,2860,2038,1981,4095,31.6,11.1,155,956,0.00,2.42,0.00,0.000,516,0.000,0.066,2860,1156,1981,1981,4094,0,0,0,0,0,0,26.03,25.70,26.05,10.08,45.86
$GC,1013,1.61,438.8,2860,1155,1979,4094,24.7,11.3,165,1019,0.00,2.08,0.00,0.000,1030,0.000,0.030,2860,1986,1979,1979,4094,0,0,0,0,0,0,25.93,25.86,25.95,10.07,45.74
$GC,1051,1.61,438.8,2860,1986,1978,4094,20.3,11.6,171,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1987,1978,1978,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.07,46.25
$GC,1087,1.61,438.8,2860,1986,1978,4094,16.1,11.0,177,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1986,1977,1977,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.08,45.86
$GC,1124,1.64,456.4,2860,1987,1977,4094,12.9,8.8,183,1130,0.00,0.00,2.33,0.142,8198,0.000,0.000,2860,1988,1967,1967,4094,0,0,0,0,0,0,26.22,25.85,25.26,10.12,46.61
$GC,1161,1.64,459.1,2860,1989,1966,4094,9.6,9.1,189,1167,0.00,2.40,0.00,0.000,260,0.000,0.060,2861,2882,1966,1966,4094,0,0,0,0,0,0,26.25,25.91,26.25,10.14,48.07
$GC,1210,1.64,459.1,2860,2882,1965,4094,4.6,10.7,197,1216,0.00,2.25,0.00,0.000,1030,0.000,0.032,2860,1999,1965,1965,4094,0,0,0,0,0,0,26.09,26.00,26.10,10.15,48.66
$STATE,1239,end climb,FINISH_DEPTH_REACHED
$STATE,1239,begin subsurface finish
$FINISH1,1.8,1.025600,0
$GC,1245,0.00,0.0,2860,1998,1964,4094,1.8,9.5,202,1262,5.45,2.35,-4.20,0.000,20996,0.068,1.308,2368,1154,2508,2508,4094,0,0,0,0,0,0,26.01,24.98,26.06,10.16,49.33
$FINISH2,0.7
$STATE,1263,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1263,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,084250
$TT8_MAMPS,0.025466,0.080892
$HUMID,51.06
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,24.05,3.893
$10V_AH,10.53,5.453
$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,22.200,22.800,53.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,453.349,355.523,159.934,307.674,43.113,33.420,391.679,0.000,304.993,0.000,0.541,0.000
$DEVICE_MAMPS,68.085,1308.150,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330992
$DATA_FILE_SIZE,14214,205
$CAP_FILE_SIZE,38138,0
$CFSIZE,1024409600,1011875840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,100723,5933.846,-17052.469,5,0.8,17,8.4,0.5,85.3,10,4.8