version: 66.13
glider: 401
mission: 22
dive: 166
start: 7 29 117 15 13 28
data:
$ID,401
$MISSION,22
$DIVE,166
$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,400
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,290717,150550,5934.5459,-17053.8496,9,0.8,36,8.4,0.2,208.2,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-38.6
$GPS2,290717,151221,5934.5034,-17053.9102,3,0.8,15,8.4,0.0,206.7,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.145388,0.306910
$KALMAN_X,23724.212891,-652.835388,-22.466381,-49942.714844,-102.747101
$KALMAN_Y,3982.430908,2025.200073,653.960449,28875.242188,-194.141113
$MHEAD_RNG_PITCHd_Wd,326.3,38146,-11.3,-9.091,-14.99,6428
$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,-390.0,238,1884,1802,4092,0.0,0.0,0,21,11.15,0.00,0.00,0.000,2049,0.099,0.000,1173,1885,1802,1802,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.20,49.92
$GC,23,-1.61,-390.0,1173,1885,1803,4094,0.8,0.0,1,50,7.22,2.38,-10.70,0.000,18948,0.052,1.304,1837,1049,2960,2960,4095,0,0,0,0,0,0,25.86,24.82,25.94,10.21,49.68
$GC,79,-1.61,-390.0,1836,1049,2960,4095,2.2,-7.0,8,88,0.00,2.15,0.00,0.000,1030,0.000,0.028,1836,1904,2961,2961,4094,0,0,0,0,0,0,25.84,25.82,25.84,10.46,49.72
$GC,125,-1.61,-390.0,1836,1904,2961,4094,7.6,-12.7,14,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1904,2962,2962,4095,0,0,0,0,0,0,26.10,26.11,26.11,10.46,48.97
$GC,170,-1.61,-390.0,1836,1904,2962,4095,13.9,-13.8,20,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1904,2963,2963,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.47,49.60
$GC,214,-1.61,-390.0,1836,1907,2964,4095,19.3,-11.5,26,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1907,2964,2964,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.43,48.22
$GC,258,-1.61,-390.0,1836,1907,2964,4094,24.0,-10.6,32,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1908,2964,2964,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.40,47.67
$GC,303,-1.61,-390.0,1836,1907,2965,4094,28.8,-11.1,38,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1908,2965,2965,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.38,46.45
$GC,346,-1.61,-390.0,1836,1907,2966,4094,33.6,-10.6,44,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1908,2966,2966,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.37,45.66
$GC,391,-1.61,-390.0,1836,1907,2967,4094,38.3,-10.8,50,400,0.00,2.30,0.00,0.000,260,0.000,0.056,1837,2759,2967,2967,4094,0,0,0,0,0,0,26.34,26.01,26.35,10.36,45.39
$GC,423,-1.61,-390.0,1836,2758,2968,4094,41.8,-10.9,54,431,0.00,2.12,0.00,0.000,1030,0.000,0.031,1837,1926,2968,2968,4095,0,0,0,0,0,0,26.15,26.08,26.17,10.36,44.99
$GC,467,-1.61,-390.0,1836,1926,2969,4095,46.9,-11.8,60,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1926,2969,2969,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.35,45.19
$GC,512,-1.61,-390.0,1836,1926,2969,4094,52.4,-12.4,66,521,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1926,2970,2970,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.34,44.17
$GC,558,-1.61,-390.0,1836,1926,2970,4094,57.4,-10.1,72,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1925,2970,2970,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,44.84
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,586,-0.45,0.0,1837,2036,2971,4094,60.3,-10.6,75,622,4.05,0.00,22.88,1.273,10244,0.060,0.000,2207,2036,2503,2503,4095,0,0,0,0,0,0,26.15,25.22,24.57,10.33,44.29
$STATE,623,end apogee,CONTROL_FINISHED_OK
$STATE,623,begin climb
$GC,625,1.61,390.0,2206,2036,2503,4095,62.8,0.0,79,661,6.97,0.00,22.88,1.257,11270,0.037,0.000,2862,2036,2044,2044,4094,0,0,0,0,0,0,25.65,25.82,24.11,10.23,44.64
$GC,698,1.61,390.0,2861,2038,2043,4094,57.5,12.3,88,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2038,2043,2043,4094,0,0,0,0,0,0,25.57,25.59,25.58,10.13,43.26
$GC,742,1.61,390.0,2861,2038,2041,4094,52.0,11.4,94,751,0.00,2.30,0.00,0.000,260,0.000,0.059,2862,2861,2042,2042,4094,0,0,0,0,0,0,25.72,25.42,25.74,10.12,43.77
$GC,793,1.61,390.0,2861,2861,2040,4094,46.0,11.8,101,803,0.00,2.25,0.00,0.000,1030,0.000,0.031,2862,2001,2041,2041,4094,0,0,0,0,0,0,25.63,25.60,25.66,10.11,44.05
$GC,840,1.61,390.0,2861,2001,2039,4094,40.6,11.5,107,849,0.00,2.35,0.00,0.000,516,0.000,0.070,2862,1153,2039,2039,4094,0,0,0,0,0,0,25.94,25.61,25.96,10.11,44.13
$GC,911,1.61,390.0,2861,1152,2037,4094,32.0,11.5,117,921,0.00,2.05,0.00,0.000,1030,0.000,0.028,2862,1971,2037,2037,4094,0,0,0,0,0,0,25.83,25.82,25.86,10.11,44.32
$GC,958,1.61,390.0,2861,1971,2036,4094,26.4,12.0,123,967,0.00,2.50,0.00,0.000,260,0.000,0.060,2862,2881,2036,2036,4094,0,0,0,0,0,0,26.10,25.78,26.12,10.10,45.27
$GC,1029,1.61,390.0,2861,2881,2034,4094,17.4,11.9,133,1038,0.00,2.28,0.00,0.000,1030,0.000,0.031,2862,2000,2034,2034,4095,0,0,0,0,0,0,25.96,25.89,25.98,10.10,45.07
$GC,1076,1.70,450.0,2861,2000,2033,4095,13.2,8.1,139,1087,0.17,2.30,4.38,0.474,10756,0.054,0.067,2886,1154,1974,1974,4094,0,0,0,0,0,0,26.01,25.84,25.22,10.15,45.90
$GC,1190,1.70,450.0,2885,1154,1971,4094,2.0,10.8,155,1199,0.00,2.08,0.00,0.000,1030,0.000,0.031,2886,1978,1970,1970,4094,0,0,0,0,0,0,26.05,26.01,26.07,10.18,48.85
$STATE,1207,end climb,FINISH_DEPTH_REACHED
$STATE,1207,begin subsurface finish
$FINISH1,0.1,1.014386,0
$GC,1213,0.00,0.0,2886,2044,1970,4094,0.1,9.9,157,1232,5.22,2.30,-4.78,0.000,20740,0.027,1.300,2376,2863,2501,2501,4095,0,0,0,0,0,0,26.06,24.98,26.11,10.19,48.77
$FINISH2,0.1
$STATE,1233,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1233,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,135346
$TT8_MAMPS,0.026215,0.241178
$HUMID,49.52
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,24.11,4.183
$10V_AH,10.25,5.741
$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,34.800,29.675,50.125,0.000,0.000,22.430,16.584,244.976,0.000,0.000,18.106,453.026,0.949,142.590,957.401,95.627,33.451,417.559,0.000,386.319,0.000,0.543,0.000
$DEVICE_MAMPS,98.685,1303.560,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.723,431.936,341.961,506.442,657.707,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,14366,159
$CAP_FILE_SIZE,37710,0
$CFSIZE,1024409600,1011335168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,151221,5934.503,-17053.910,3,0.8,15,8.4,0.0,206.7,10,4.8