version: 66.13
glider: 401
mission: 22
dive: 157
start: 7 29 117 11 25 8
data:
$ID,401
$MISSION,22
$DIVE,157
$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,25
$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
$GPS1,290717,111721,5934.2363,-17052.2402,4,0.7,21,8.4,0.3,96.4,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-42.2
$GPS2,290717,112402,5934.2261,-17052.1523,6,0.8,31,8.4,0.8,84.1,9,4.7
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.310421,0.174713
$KALMAN_X,22520.529297,-749.396240,53.379967,-47072.421875,216.826294
$KALMAN_Y,5380.975586,2265.152588,1105.074951,26264.466797,-57.438477
$MHEAD_RNG_PITCHd_Wd,291.0,4076,-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,6,begin dive
$GC,8,-1.61,-438.8,230,1894,1973,4092,0.0,0.0,0,17,7.30,0.00,0.00,0.000,2049,0.107,0.000,834,1895,1973,1973,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.24,49.60
$GC,19,-1.61,-438.8,833,1894,1973,4094,0.8,0.0,1,47,11.15,0.00,-9.73,0.000,18950,0.067,0.000,1835,1895,3015,3015,4094,0,0,0,0,0,0,25.91,25.49,25.95,10.24,49.68
$GC,78,-1.61,-438.8,1834,1894,3014,4094,0.4,-1.3,11,83,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1895,3015,3015,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.47,49.88
$GC,114,-1.61,-438.8,1834,1894,3017,4094,4.3,-11.3,17,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1894,3016,3016,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.47,48.85
$GC,150,-1.61,-438.8,1834,1894,3018,4095,9.7,-14.9,23,155,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1895,3017,3017,4095,0,0,0,0,0,0,26.20,26.21,26.20,10.48,48.62
$GC,186,-1.61,-438.8,1834,1894,3018,4095,15.0,-14.4,29,192,0.00,2.35,0.00,0.000,260,0.000,0.057,1835,2764,3018,3018,4095,0,0,0,0,0,0,26.23,25.91,26.24,10.47,48.30
$GC,210,-1.61,-438.8,1835,2764,3018,4095,18.7,-14.6,33,217,0.00,2.17,0.00,0.000,1030,0.000,0.031,1835,1905,3018,3018,4094,0,0,0,0,0,0,26.06,25.98,26.08,10.45,49.01
$GC,248,-1.61,-438.8,1834,1905,3019,4094,22.7,-10.5,39,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3019,3019,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.41,47.55
$GC,284,-1.61,-438.8,1834,1904,3020,4095,26.9,-11.9,45,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3020,3020,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.39,46.73
$GC,320,-1.61,-438.8,1834,1905,3021,4095,31.0,-10.8,51,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3020,3020,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.38,46.22
$GC,356,-1.61,-438.8,1834,1905,3022,4094,35.2,-11.6,57,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3022,3022,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.38,45.90
$GC,392,-1.61,-438.8,1834,1905,3022,4095,39.2,-10.9,63,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3023,3023,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.37,45.27
$GC,428,-1.61,-438.8,1834,1905,3023,4094,43.3,-11.2,69,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3023,3023,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.36,44.92
$GC,464,-1.61,-438.8,1834,1905,3024,4095,47.4,-12.2,75,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3024,3024,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.36,44.95
$GC,500,-1.61,-438.8,1835,1905,3024,4095,51.6,-11.4,81,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3025,3025,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.35,44.52
$GC,536,-1.61,-438.8,1834,1905,3025,4094,56.0,-13.5,87,541,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3025,3025,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.34,44.44
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,576,-0.45,0.0,1835,2050,3026,4095,60.2,-11.1,93,609,4.03,0.10,25.42,1.287,10244,0.059,0.084,2206,1997,2500,2500,4094,0,0,0,0,0,0,26.17,25.39,24.52,10.33,45.11
$STATE,610,end apogee,CONTROL_FINISHED_OK
$STATE,611,begin climb
$GC,612,1.61,438.8,2205,1997,2500,4094,62.5,0.0,99,650,7.00,0.00,25.33,1.265,11270,0.039,0.000,2861,1997,1987,1987,4094,0,0,0,0,0,0,25.60,25.75,24.01,10.23,44.40
$GC,681,1.61,438.8,2861,1996,1986,4094,57.8,10.3,111,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,1986,1986,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.11,43.89
$GC,717,1.61,438.8,2861,1997,1985,4094,54.2,10.2,117,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,1985,1985,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.10,43.54
$GC,753,1.61,438.8,2861,1996,1985,4094,50.2,11.1,123,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,1985,1985,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.10,44.52
$GC,789,1.61,438.8,2860,1996,1983,4094,45.8,12.0,129,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,1983,1983,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.10,44.76
$GC,826,1.61,438.8,2861,1996,1983,4094,42.2,9.8,135,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,1983,1983,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.10,44.99
$GC,861,1.61,438.8,2861,1996,1981,4094,38.0,11.1,141,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,1982,1982,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.09,44.76
$GC,898,1.61,438.8,2860,1996,1981,4094,33.3,12.6,147,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,1981,1981,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.09,45.11
$GC,934,1.61,438.8,2861,1996,1980,4094,29.3,11.0,153,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,1980,1980,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.08,44.72
$GC,970,1.61,438.8,2860,1996,1978,4094,25.2,10.9,159,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1997,1979,1979,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.08,44.99
$GC,1006,1.61,438.8,2861,1996,1978,4094,21.2,10.8,165,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1997,1978,1978,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.07,45.47
$GC,1042,1.61,438.8,2861,1996,1977,4094,17.1,11.1,171,1048,0.00,2.20,0.00,0.000,516,0.000,0.062,2861,1167,1977,1977,4095,0,0,0,0,0,0,26.19,25.86,26.20,10.08,45.62
$GC,1079,1.77,540.4,2861,1167,1976,4095,13.9,7.6,177,1092,0.43,2.03,6.47,0.607,11270,0.041,0.029,2906,1990,1869,1869,4094,0,0,0,0,0,0,25.98,25.98,25.19,10.11,46.25
$GC,1123,1.77,540.4,2904,1990,1868,4094,10.1,9.3,184,1129,0.00,2.38,0.00,0.000,260,0.000,0.060,2905,2877,1868,1868,4095,0,0,0,0,0,0,26.17,25.85,26.19,10.12,47.83
$GC,1172,1.77,540.4,2904,2877,1866,4095,4.4,12.2,192,1178,0.00,2.15,0.00,0.000,1030,0.000,0.031,2905,2033,1866,1866,4094,0,0,0,0,0,0,26.03,25.95,26.05,10.15,49.05
$STATE,1195,end climb,FINISH_DEPTH_REACHED
$STATE,1195,begin subsurface finish
$FINISH1,1.6,1.025600,0
$GC,1200,0.00,0.0,2905,2033,1865,4094,1.6,11.2,196,1218,5.95,2.53,-5.65,0.000,20996,0.070,1.312,2369,1155,2507,2507,4094,0,0,0,0,0,0,25.96,24.91,25.99,10.15,48.93
$FINISH2,0.2
$STATE,1219,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1219,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,100229
$TT8_MAMPS,0.025466,0.084637
$HUMID,49.64
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.01,3.948
$10V_AH,10.56,5.505
$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,35.850,16.200,57.225,0.000,0.000,24.485,27.466,229.758,0.000,0.000,32.226,441.429,332.054,169.947,611.236,88.366,33.475,404.830,0.000,298.377,0.000,0.542,0.000
$DEVICE_MAMPS,107.100,1311.975,1287.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329440
$DATA_FILE_SIZE,14278,199
$CAP_FILE_SIZE,42362,0
$CFSIZE,1024409600,1011777536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290717,112402,5934.226,-17052.152,6,0.8,31,8.4,0.8,84.1,9,4.7