version: 66.13
glider: 401
mission: 22
dive: 273
start: 7 31 117 12 13 10
data:
$ID,401
$MISSION,22
$DIVE,273
$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,42
$R_STBD_OVSHOOT,20
$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
$GPS1,310717,112616,5947.4907,-17124.4434,5,1.0,50,8.2,0.3,93.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.6
$GPS2,310717,112616,5947.4907,-17124.4434,5,1.0,50,8.2,0.3,93.0,8,3.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.270529,-0.204827
$KALMAN_X,35731.687500,-1839.011841,-608.394348,-89102.523438,181.520935
$KALMAN_Y,15248.138672,1995.841431,475.158905,41867.300781,153.383881
$MHEAD_RNG_PITCHd_Wd,224.7,2877,-11.3,-9.091,-15.00,6415
$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,-389.4,2408,1898,2398,4092,0.0,0.0,0,18,5.68,0.00,-1.92,0.000,20482,0.028,0.000,1857,1898,2611,2611,4094,0,0,0,0,0,0,26.11,28.83,26.16,10.32,50.70
$GC,20,-1.61,-389.4,1855,1898,2610,4094,0.1,0.0,1,26,0.00,0.00,-3.12,0.000,16390,0.000,0.000,1856,1898,2958,2958,4094,0,0,0,0,0,0,26.31,25.25,26.32,10.38,50.70
$GC,57,-1.61,-390.0,1855,1898,2958,4094,2.1,-7.5,7,62,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,1898,2959,2959,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.44,50.47
$GC,93,-1.61,-390.0,1855,1898,2959,4095,5.9,-10.7,13,99,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1898,2959,2959,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.45,50.82
$GC,129,-1.61,-390.0,1855,1898,2960,4095,10.4,-12.4,19,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1898,2960,2960,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.45,50.74
$GC,166,-1.61,-390.0,1855,1898,2961,4095,15.1,-13.2,25,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1898,2961,2961,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.45,49.96
$GC,202,-1.61,-390.0,1855,1898,2962,4094,19.3,-11.8,31,208,0.00,2.35,0.00,0.000,260,0.000,0.055,1856,2774,2962,2962,4094,0,0,0,0,0,0,26.41,26.10,26.43,10.45,49.80
$GC,269,-1.61,-390.0,1855,2774,2963,4094,26.1,-9.8,42,275,0.00,2.15,0.00,0.000,1030,0.000,0.031,1856,1920,2963,2963,4095,0,0,0,0,0,0,26.26,26.18,26.28,10.41,49.44
$GC,307,-1.61,-390.0,1855,1919,2964,4095,29.8,-10.1,48,313,0.00,2.38,0.00,0.000,516,0.000,0.069,1856,1035,2964,2964,4094,0,0,0,0,0,0,26.47,26.12,26.48,10.39,49.21
$GC,394,-1.61,-390.0,1855,1034,2965,4094,39.1,-11.0,62,400,0.00,2.12,0.00,0.000,1030,0.000,0.030,1856,1899,2966,2966,4095,0,0,0,0,0,0,26.32,26.26,26.34,10.37,47.63
$GC,432,-1.61,-390.0,1855,1900,2966,4095,43.2,-10.6,68,438,0.00,2.28,0.00,0.000,260,0.000,0.057,1856,2764,2966,2966,4094,0,0,0,0,0,0,26.52,26.20,26.53,10.36,47.12
$GC,487,-1.61,-390.0,1855,2764,2967,4094,48.9,-10.0,77,493,0.00,2.20,0.00,0.000,1030,0.000,0.031,1855,1888,2968,2968,4095,0,0,0,0,0,0,26.35,26.27,26.37,10.35,46.81
$GC,524,-1.61,-390.0,1855,1888,2968,4095,52.6,-10.2,83,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1888,2968,2968,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.34,46.37
$GC,560,-1.61,-390.0,1855,1888,2969,4094,56.5,-11.1,89,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1888,2969,2969,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.34,45.78
$STATE,595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,595,begin apogee
$GC,600,-0.45,0.0,1855,2040,2969,4094,60.6,-11.3,95,632,3.80,0.00,22.75,1.274,10244,0.058,0.000,2207,2041,2500,2500,4095,0,0,0,0,0,0,26.29,25.34,24.67,10.33,45.70
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,635,1.61,390.0,2206,2040,2500,4095,62.6,0.0,101,669,6.93,0.00,22.52,1.248,11270,0.036,0.000,2861,2040,2045,2045,4094,0,0,0,0,0,0,25.76,25.93,24.20,10.23,45.27
$GC,700,1.61,390.0,2861,2040,2044,4094,57.6,11.2,112,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2044,2044,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.12,44.64
$GC,735,1.61,390.0,2861,2040,2043,4094,53.4,11.8,118,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2043,2043,4095,0,0,0,0,0,0,25.77,25.78,25.78,10.12,44.64
$GC,771,1.61,390.0,2861,2040,2042,4095,49.0,12.5,124,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2042,2042,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.12,44.84
$GC,807,1.61,390.0,2861,2040,2041,4094,44.7,12.4,130,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2041,2041,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.11,45.55
$GC,844,1.61,390.0,2861,2040,2041,4094,40.3,12.2,136,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2040,2040,4095,0,0,0,0,0,0,26.01,26.02,26.02,10.11,45.62
$GC,880,1.61,390.0,2861,2040,2039,4095,35.9,12.4,142,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2040,2040,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.11,45.51
$GC,916,1.61,390.0,2861,2040,2039,4094,31.7,11.4,148,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2038,2038,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.11,46.22
$GC,952,1.61,390.0,2861,2040,2038,4094,27.6,11.3,154,958,0.00,2.42,0.00,0.000,516,0.000,0.066,2861,1154,2037,2037,4094,0,0,0,0,0,0,26.15,25.82,26.17,10.11,46.14
$GC,1019,1.61,390.0,2861,1154,2036,4094,19.8,11.8,165,1025,0.00,2.08,0.00,0.000,1030,0.000,0.029,2861,1994,2035,2035,4094,0,0,0,0,0,0,26.04,25.98,26.06,10.13,47.16
$GC,1058,1.61,390.0,2861,1994,2035,4094,16.0,9.6,171,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1994,2035,2035,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.16,47.44
$GC,1094,1.61,390.0,2861,1994,2034,4094,12.5,9.3,177,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1994,2034,2034,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.18,48.58
$GC,1130,1.61,390.0,2861,1995,2033,4094,9.1,9.3,183,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1995,2034,2034,4095,0,0,0,0,0,0,26.31,26.33,26.32,10.19,50.03
$GC,1166,1.61,390.0,2861,1995,2032,4095,5.6,9.6,189,1172,0.00,2.35,0.00,0.000,260,0.000,0.057,2861,2882,2032,2032,4094,0,0,0,0,0,0,26.34,26.02,26.35,10.20,50.51
$STATE,1201,end climb,SURFACE_DEPTH_REACHED
$STATE,1201,begin surface coast
$FINISH,0.3,0.959929
$STATE,1214,end surface coast,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$SM_CCo,1313,0.00,0.000,0,0,2030,404.40
$SM_GC,1.12,27.58,2.58,0.00,0.025,0.034,0.000,238,1898,2030,-6.61,0.91,404.40,0,0,0,0,0,0,26.15,26.09,26.19
$IRIDIUM_FIX,5955.74,-17228.01,310717,100613
$TT8_MAMPS,0.025466,0.080892
$HUMID,51.33
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.20,6.648
$10V_AH,10.53,8.391
$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,43.975,23.425,45.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,451.222,426.722,160.152,294.523,41.558,33.421,373.375,0.000,293.838,0.000,0.541,0.000
$DEVICE_MAMPS,58.140,68.850,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330844
$DATA_FILE_SIZE,14334,197
$CAP_FILE_SIZE,36417,0
$CFSIZE,1024409600,1006075904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,123554,5947.366,-17124.689,5,0.8,17,8.2,0.8,94.6,11,4.8