version: 66.13
glider: 401
mission: 22
dive: 282
start: 7 31 117 15 59 23
data:
$ID,401
$MISSION,22
$DIVE,282
$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,22
$R_STBD_OVSHOOT,27
$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,0.88
$_SM_ANGLEo,0.0
$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,-0.296822,0.164637
$KALMAN_X,37253.371094,-1677.849487,-434.716400,-92557.406250,98.816681
$KALMAN_Y,15364.437500,1546.444336,96.514481,41319.328125,-130.776688
$MHEAD_RNG_PITCHd_Wd,290.8,76106,-11.3,-9.091,-14.99,6419
$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,-389.7,2369,1923,2508,4092,0.0,0.0,0,19,5.45,0.00,-2.78,0.000,20486,0.030,0.000,1841,1924,2961,2961,4094,0,0,0,0,0,0,26.12,25.20,26.15,10.34,51.14
$GC,21,-1.61,-389.7,1840,1924,2961,4094,2.0,0.0,1,30,0.00,2.28,0.00,0.000,260,0.000,0.059,1841,2755,2961,2961,4095,0,0,0,0,0,0,26.27,25.98,26.28,10.44,51.45
$GC,151,-1.61,-389.7,1840,2755,2964,4095,18.2,-12.7,20,159,0.00,2.20,0.00,0.000,1030,0.000,0.032,1841,1900,2964,2964,4094,0,0,0,0,0,0,26.15,26.11,26.18,10.44,50.74
$GC,195,-1.61,-389.7,1840,1899,2964,4094,23.7,-12.2,26,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1900,2965,2965,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.42,50.51
$GC,240,-1.61,-389.7,1840,1900,2966,4095,28.6,-11.3,32,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,2966,2966,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.39,50.43
$GC,286,-1.61,-389.7,1840,1900,2966,4094,33.5,-10.7,38,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1900,2967,2967,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.38,48.54
$GC,331,-1.61,-389.7,1840,1900,2968,4094,38.4,-10.7,44,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,2968,2968,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.36,47.44
$GC,377,-1.61,-389.7,1840,1899,2968,4095,43.3,-10.6,50,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1900,2969,2969,4095,0,0,0,0,0,0,26.50,26.52,26.51,10.35,47.12
$GC,420,-1.61,-389.7,1840,1900,2969,4095,48.2,-10.9,56,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,2969,2969,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.34,46.37
$GC,464,-1.61,-389.7,1840,1899,2970,4094,52.8,-10.6,62,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,2970,2970,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.33,45.70
$GC,508,-1.61,-389.7,1840,1899,2971,4094,57.5,-10.8,68,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1900,2971,2971,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.32,46.45
$STATE,533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,533,begin apogee
$GC,538,-0.45,0.0,1840,2047,2972,4094,60.2,-10.8,71,573,4.00,0.05,23.00,1.278,10244,0.060,0.060,2206,2009,2500,2500,4094,0,0,0,0,0,0,26.27,25.32,24.64,10.33,45.47
$STATE,574,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,576,1.61,389.7,2206,2009,2500,4094,62.7,0.0,75,611,6.97,0.00,22.55,1.253,11270,0.036,0.000,2863,2009,2046,2046,4094,0,0,0,0,0,0,25.76,25.93,24.18,10.22,45.43
$GC,649,1.61,389.7,2862,2009,2045,4094,57.7,10.6,84,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2009,2044,2044,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.12,43.93
$GC,695,1.61,389.7,2862,2009,2044,4094,52.0,12.5,90,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2009,2043,2043,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.11,44.05
$GC,740,1.61,389.7,2861,2009,2043,4094,46.5,12.0,96,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2009,2042,2042,4094,0,0,0,0,0,0,25.92,25.94,25.93,10.11,44.44
$GC,784,1.61,389.7,2862,2009,2041,4094,41.3,11.2,102,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2009,2041,2041,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.11,44.68
$GC,828,1.61,389.7,2862,2009,2040,4094,36.2,11.4,108,837,0.00,2.33,0.00,0.000,516,0.000,0.067,2863,1165,2041,2041,4094,0,0,0,0,0,0,26.06,25.73,26.08,10.10,44.88
$GC,875,1.61,389.7,2862,1164,2039,4094,31.1,11.2,114,884,0.00,2.08,0.00,0.000,1030,0.000,0.029,2863,1989,2039,2039,4094,0,0,0,0,0,0,25.91,25.87,25.94,10.10,45.27
$GC,921,1.61,389.7,2862,1988,2038,4094,25.7,11.6,120,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,2038,2038,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.11,45.82
$GC,967,1.61,389.7,2862,1989,2037,4094,20.6,10.8,126,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1990,2037,2037,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.13,46.29
$GC,1013,1.61,389.7,2862,1990,2036,4094,16.0,9.6,132,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1990,2036,2036,4095,0,0,0,0,0,0,26.27,26.28,26.27,10.17,47.91
$GC,1059,1.61,389.7,2862,1991,2035,4095,11.7,9.8,138,1068,0.00,2.40,0.00,0.000,260,0.000,0.059,2863,2874,2034,2034,4094,0,0,0,0,0,0,26.30,25.98,26.31,10.19,48.97
$GC,1117,1.61,389.7,2862,2874,2033,4094,5.2,11.2,146,1126,0.00,2.25,0.00,0.000,1030,0.000,0.031,2863,1996,2033,2033,4094,0,0,0,0,0,0,26.11,26.09,26.14,10.21,48.97
$STATE,1147,end climb,SURFACE_DEPTH_REACHED
$STATE,1147,begin surface coast
$FINISH,0.1,1.024276
$STATE,1168,end surface coast,CONTROL_FINISHED_OK
$STATE,1168,begin surface
$SM_CCo,1265,0.00,0.000,0,0,2031,403.54
$SM_GC,1.14,27.55,0.25,0.00,0.024,0.069,0.000,239,1895,2031,-6.61,0.91,403.54,0,0,0,0,0,0,26.15,26.13,26.20
$IRIDIUM_FIX,5955.74,-17228.01,310717,135321
$TT8_MAMPS,0.025466,0.244923
$HUMID,50.51
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.18,6.852
$10V_AH,10.22,8.627
$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,43.975,16.025,45.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.288,60.543,149.083,635.202,43.457,33.420,395.098,0.000,370.099,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,68.850,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.761,415.636,328.895,487.600,632.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330808
$DATA_FILE_SIZE,14375,153
$CAP_FILE_SIZE,30753,0
$CFSIZE,1024409600,1005649920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,162113,5946.900,-17127.295,3,0.7,12,8.2,0.0,229.9,11,4.9