version: 66.13
glider: 401
mission: 22
dive: 283
start: 7 31 117 16 30 43
data:
$ID,401
$MISSION,22
$DIVE,283
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,310717,162113,5946.9004,-17127.2949,3,0.7,12,8.2,0.0,229.9,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-45.6
$GPS2,310717,162935,5946.8433,-17127.3750,10,0.7,15,8.2,0.6,225.9,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.288633,0.178797
$KALMAN_X,36775.019531,-1788.340088,-550.067505,-93012.359375,-27.672485
$KALMAN_Y,15260.218750,1518.047119,77.394417,41535.000000,-113.755760
$MHEAD_RNG_PITCHd_Wd,293.6,74982,-11.3,-9.091,-14.99,6424
$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,-390.0,239,1893,2031,4092,0.0,0.0,0,17,7.68,0.00,0.00,0.000,2049,0.112,0.000,869,1892,2031,2031,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.28,49.05
$GC,19,-1.61,-390.0,868,1891,2031,4094,0.9,0.0,1,47,10.68,2.45,-8.48,0.000,18948,0.063,1.304,1837,1039,2960,2960,4094,0,0,0,0,0,0,25.94,24.84,25.97,10.29,49.17
$GC,120,-1.61,-390.0,1837,1039,2961,4094,5.1,-12.8,18,126,0.00,2.15,0.00,0.000,1030,0.000,0.029,1837,1910,2961,2961,4095,0,0,0,0,0,0,25.97,25.91,25.99,10.50,48.66
$GC,157,-1.61,-390.0,1837,1909,2962,4095,9.8,-12.4,24,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1909,2962,2962,4095,0,0,0,0,0,0,26.20,26.20,26.20,10.50,47.91
$GC,193,-1.61,-390.0,1837,1909,2963,4095,14.6,-13.3,30,199,0.00,2.25,0.00,0.000,260,0.000,0.056,1837,2755,2963,2963,4094,0,0,0,0,0,0,26.23,25.91,26.24,10.50,48.42
$GC,231,-1.61,-390.0,1837,2755,2964,4094,19.6,-13.0,36,237,0.00,2.12,0.00,0.000,1030,0.000,0.029,1837,1912,2964,2964,4095,0,0,0,0,0,0,26.07,26.00,26.10,10.50,47.83
$GC,269,-1.61,-390.0,1837,1911,2964,4095,24.2,-12.0,42,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2965,2965,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.48,47.55
$GC,305,-1.61,-390.0,1837,1911,2966,4094,28.1,-9.7,48,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2965,2965,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.45,47.24
$GC,341,-1.61,-390.0,1837,1911,2966,4095,31.8,-10.3,54,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2966,2966,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.43,46.53
$GC,377,-1.61,-390.0,1836,1911,2967,4094,35.6,-10.9,60,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2967,2967,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.41,45.58
$GC,413,-1.61,-390.0,1837,1911,2967,4094,39.5,-11.1,66,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1911,2967,2967,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.39,45.51
$GC,449,-1.61,-390.0,1837,1911,2969,4095,43.6,-11.6,72,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2969,2969,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,44.56
$GC,485,-1.61,-390.0,1837,1911,2969,4094,47.7,-11.7,78,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2969,2969,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.38,45.19
$GC,522,-1.61,-390.0,1837,1911,2969,4095,51.7,-11.3,84,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2970,2970,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,44.32
$GC,558,-1.61,-390.0,1837,1910,2970,4095,55.7,-11.5,90,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2971,2971,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.36,44.01
$GC,594,-1.61,-390.0,1837,1910,2971,4095,59.8,-11.1,96,599,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2971,2971,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.36,43.89
$STATE,604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,604,begin apogee
$GC,609,-0.45,0.0,1837,2038,2971,4094,61.1,-11.3,98,642,3.97,0.00,22.92,1.277,10244,0.057,0.000,2206,2039,2500,2500,4094,0,0,0,0,0,0,26.21,25.24,24.56,10.36,44.32
$STATE,643,end apogee,CONTROL_FINISHED_OK
$STATE,643,begin climb
$GC,645,1.61,390.0,2205,2038,2501,4094,63.2,0.0,104,678,6.97,0.00,22.65,1.254,11270,0.038,0.000,2863,2038,2045,2045,4094,0,0,0,0,0,0,25.70,25.85,24.12,10.25,43.73
$GC,709,1.61,390.0,2863,2038,2044,4094,58.4,10.8,115,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2039,2044,2044,4094,0,0,0,0,0,0,25.58,25.60,25.59,10.16,43.14
$GC,745,1.61,390.0,2863,2038,2043,4094,54.1,12.2,121,751,0.00,2.22,0.00,0.000,260,0.000,0.055,2863,2855,2043,2043,4094,0,0,0,0,0,0,25.72,25.42,25.74,10.15,43.06
$GC,788,1.61,390.0,2863,2854,2042,4094,48.6,13.1,128,794,0.00,2.15,0.00,0.000,1030,0.000,0.029,2863,2019,2041,2041,4094,0,0,0,0,0,0,25.67,25.59,25.69,10.14,43.34
$GC,825,1.61,390.0,2863,2019,2041,4094,43.9,12.2,134,831,0.00,2.33,0.00,0.000,516,0.000,0.067,2864,1154,2041,2041,4094,0,0,0,0,0,0,25.93,25.60,25.94,10.13,44.09
$GC,898,1.61,390.0,2863,1154,2038,4094,35.1,12.0,146,904,0.00,1.98,0.00,0.000,1030,0.000,0.028,2863,1958,2038,2038,4095,0,0,0,0,0,0,25.88,25.82,25.90,10.13,45.07
$GC,937,1.61,390.0,2863,1958,2038,4095,30.8,11.6,152,943,0.00,2.40,0.00,0.000,260,0.000,0.056,2863,2855,2038,2038,4094,0,0,0,0,0,0,26.10,25.79,26.12,10.12,44.25
$GC,968,1.61,390.0,2863,2855,2037,4094,26.7,13.0,157,974,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,1975,2036,2036,4095,0,0,0,0,0,0,25.95,25.86,25.97,10.13,44.68
$GC,1005,1.61,390.0,2863,1975,2036,4095,22.3,11.5,163,1011,0.00,2.22,0.00,0.000,516,0.000,0.067,2863,1150,2035,2035,4094,0,0,0,0,0,0,26.17,25.84,26.19,10.15,45.47
$GC,1048,1.61,390.0,2863,1150,2034,4094,17.5,11.2,170,1054,0.00,1.98,0.00,0.000,1030,0.000,0.028,2864,1960,2035,2035,4094,0,0,0,0,0,0,26.05,25.98,26.06,10.18,46.92
$GC,1085,1.63,400.6,2863,1959,2034,4094,14.2,8.9,176,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1960,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.20,48.26
$GC,1121,1.63,400.6,2863,1959,2033,4094,10.8,9.3,182,1127,0.00,2.40,0.00,0.000,260,0.000,0.057,2863,2859,2033,2033,4095,0,0,0,0,0,0,26.28,25.96,26.29,10.22,48.74
$GC,1189,1.63,400.6,2863,2859,2031,4095,3.6,11.0,193,1195,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,1980,2031,2031,4094,0,0,0,0,0,0,26.14,26.06,26.16,10.23,49.40
$STATE,1207,end climb,FINISH_DEPTH_REACHED
$STATE,1207,begin subsurface finish
$FINISH1,1.5,1.025600,0
$GC,1212,0.00,0.0,2863,1980,2030,4094,1.5,10.3,196,1229,5.47,2.30,-3.97,0.000,20996,0.069,1.309,2368,1152,2507,2507,4094,0,0,0,0,0,0,26.06,24.98,26.10,10.23,49.64
$FINISH2,0.2
$STATE,1230,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1231,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,150855
$TT8_MAMPS,0.025466,0.085386
$HUMID,50.11
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,24.12,6.889
$10V_AH,10.56,8.644
$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,34.775,33.650,45.575,0.000,0.000,46.367,45.891,252.534,0.000,0.000,17.987,452.014,392.591,158.392,661.919,91.589,33.456,387.207,0.000,298.481,0.000,0.544,0.000
$DEVICE_MAMPS,111.690,1308.915,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329412
$DATA_FILE_SIZE,14239,199
$CAP_FILE_SIZE,42434,0
$CFSIZE,1024409600,1005584384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310717,162935,5946.843,-17127.375,10,0.7,15,8.2,0.6,225.9,11,4.8