version: 66.13
glider: 401
mission: 22
dive: 281
start: 7 31 117 15 37 25
data:
$ID,401
$MISSION,22
$DIVE,281
$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,20
$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
$GPS1,310717,151349,5946.8076,-17126.1289,9,0.9,12,8.2,0.0,212.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.8
$GPS2,310717,151349,5946.8076,-17126.1289,9,0.9,12,8.2,0.0,212.4,9,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.296831,0.164802
$KALMAN_X,36905.699219,-1675.049927,-428.833252,-92219.015625,1.661804
$KALMAN_Y,15490.849609,1591.083252,127.590370,41117.601562,-102.306419
$MHEAD_RNG_PITCHd_Wd,290.8,76106,-11.3,-9.091,-14.99,6423
$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,7,-1.61,-390.0,2409,1912,2400,4091,0.0,0.0,0,18,5.82,0.00,-2.05,0.000,20482,0.026,0.000,1845,1913,2622,2622,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.33,50.15
$GC,20,-1.61,-390.0,1845,1912,2623,4094,0.1,0.0,1,32,0.00,2.55,-3.08,0.000,16900,0.000,1.300,1845,1034,2961,2961,4095,0,0,0,0,0,0,26.25,24.94,26.27,10.38,49.76
$GC,88,-1.61,-390.0,1844,1034,2962,4095,5.3,-12.3,12,94,0.00,2.17,0.00,0.000,1030,0.000,0.031,1845,1906,2962,2962,4094,0,0,0,0,0,0,26.01,25.94,26.03,10.46,49.92
$GC,126,-1.61,-390.0,1844,1906,2963,4094,10.1,-12.3,18,132,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1906,2963,2963,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.46,50.15
$GC,162,-1.61,-390.0,1844,1906,2963,4094,15.0,-13.2,24,169,0.00,2.28,0.00,0.000,260,0.000,0.058,1845,2758,2964,2964,4094,0,0,0,0,0,0,26.27,25.94,26.27,10.46,49.96
$GC,207,-1.61,-390.0,1844,2757,2964,4094,20.3,-11.9,31,213,0.00,2.15,0.00,0.000,1030,0.000,0.031,1845,1911,2965,2965,4095,0,0,0,0,0,0,26.11,26.03,26.13,10.46,49.56
$GC,245,-1.61,-390.0,1844,1911,2966,4095,24.6,-10.6,37,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,2966,2966,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.43,49.44
$GC,281,-1.61,-390.0,1844,1911,2966,4094,28.6,-10.6,43,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,2966,2966,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.41,48.81
$GC,318,-1.61,-390.0,1844,1911,2967,4095,32.6,-10.7,49,324,0.00,2.35,0.00,0.000,516,0.000,0.067,1845,1035,2967,2967,4095,0,0,0,0,0,0,26.38,26.03,26.39,10.38,48.42
$GC,355,-1.61,-390.0,1844,1035,2968,4095,36.8,-11.5,55,361,0.00,2.17,0.00,0.000,1030,0.000,0.030,1845,1917,2968,2968,4095,0,0,0,0,0,0,26.21,26.14,26.23,10.38,48.07
$GC,392,-1.61,-390.0,1844,1917,2969,4095,40.9,-10.8,61,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1917,2969,2969,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.37,46.73
$GC,428,-1.61,-390.0,1844,1917,2969,4095,44.8,-10.7,67,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1917,2969,2969,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.36,46.29
$GC,464,-1.61,-390.0,1844,1917,2970,4094,48.7,-10.8,73,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1917,2970,2970,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.35,46.37
$GC,500,-1.61,-390.0,1844,1917,2971,4095,52.7,-10.9,79,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1917,2971,2971,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.34,46.22
$GC,536,-1.61,-390.0,1844,1917,2972,4095,56.7,-10.7,85,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1917,2971,2971,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.34,45.86
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,576,-0.45,0.0,1845,2038,2972,4095,60.6,-10.9,91,609,3.90,0.00,23.02,1.270,10244,0.059,0.000,2204,2039,2500,2500,4095,0,0,0,0,0,0,26.22,25.27,24.60,10.33,45.86
$STATE,610,end apogee,CONTROL_FINISHED_OK
$STATE,610,begin climb
$GC,612,1.61,390.0,2204,2038,2500,4095,62.6,0.0,97,645,6.97,0.00,22.58,1.248,11270,0.035,0.000,2862,2039,2045,2045,4094,0,0,0,0,0,0,25.70,25.86,24.14,10.23,45.31
$GC,676,1.61,390.0,2862,2039,2044,4094,57.5,11.2,108,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2043,2043,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.13,44.84
$GC,712,1.61,390.0,2862,2039,2043,4094,53.1,12.3,114,718,0.00,2.47,0.00,0.000,516,0.000,0.067,2862,1155,2043,2043,4094,0,0,0,0,0,0,25.73,25.41,25.75,10.13,44.32
$GC,767,1.61,390.0,2862,1154,2041,4094,46.5,11.9,123,773,0.00,2.10,0.00,0.000,1030,0.000,0.028,2863,1997,2041,2041,4094,0,0,0,0,0,0,25.71,25.64,25.72,10.13,44.80
$GC,804,1.61,390.0,2862,1997,2041,4094,42.3,11.4,129,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2041,2041,4094,0,0,0,0,0,0,25.95,25.97,25.96,10.12,45.15
$GC,840,1.61,390.0,2862,1996,2040,4094,38.0,11.6,135,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1997,2040,2040,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.11,45.15
$GC,876,1.61,390.0,2862,1997,2039,4094,33.7,11.8,141,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2039,2039,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.11,45.19
$GC,912,1.61,390.0,2862,1997,2038,4094,29.5,11.3,147,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1997,2038,2038,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.10,45.43
$GC,948,1.61,390.0,2862,1997,2037,4094,25.5,11.2,153,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2037,2037,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,45.39
$GC,984,1.61,390.0,2862,1997,2036,4094,21.6,10.7,159,990,0.00,2.30,0.00,0.000,516,0.000,0.067,2863,1154,2036,2036,4094,0,0,0,0,0,0,26.20,25.86,26.21,10.13,46.65
$GC,1015,1.61,390.0,2862,1154,2035,4094,18.0,11.4,164,1021,0.00,2.12,0.00,0.000,1030,0.000,0.029,2862,2011,2035,2035,4094,0,0,0,0,0,0,26.04,25.98,26.06,10.15,47.04
$GC,1052,1.61,390.4,2862,2010,2034,4094,14.5,9.1,170,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2011,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.17,48.22
$GC,1088,1.61,390.4,2862,2010,2033,4094,10.9,10.2,176,1095,0.00,2.35,0.00,0.000,260,0.000,0.060,2862,2882,2033,2033,4094,0,0,0,0,0,0,26.28,25.96,26.29,10.20,48.89
$GC,1143,1.61,390.4,2862,2882,2032,4094,4.9,10.8,185,1149,0.00,2.20,0.00,0.000,1030,0.000,0.031,2862,2016,2032,2032,4094,0,0,0,0,0,0,26.13,26.06,26.15,10.22,50.19
$STATE,1172,end climb,FINISH_DEPTH_REACHED
$STATE,1173,begin subsurface finish
$FINISH1,1.7,1.025600,0
$GC,1178,0.00,0.0,2862,2016,2031,4094,1.7,10.9,190,1195,5.47,2.40,-3.78,0.000,20996,0.071,1.307,2369,1157,2508,2508,4095,0,0,0,0,0,0,26.03,24.98,26.10,10.21,50.07
$FINISH2,0.4
$STATE,1196,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1196,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,135321
$TT8_MAMPS,0.025466,0.085386
$HUMID,51.18
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.14,6.835
$10V_AH,10.52,8.593
$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,22.175,31.725,45.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.077,339.968,147.598,289.333,41.239,33.428,365.154,0.000,288.128,0.000,0.542,0.000
$DEVICE_MAMPS,71.145,1306.620,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330808
$DATA_FILE_SIZE,14350,193
$CAP_FILE_SIZE,36061,0
$CFSIZE,1024409600,1005682688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,151349,5946.808,-17126.129,9,0.9,12,8.2,0.0,212.4,9,4.9