version: 66.13
glider: 401
mission: 22
dive: 291
start: 7 31 117 19 45 48
data:
$ID,401
$MISSION,22
$DIVE,291
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,310717,190005,5947.4321,-17131.0977,10,0.8,15,8.1,0.0,329.3,11,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-4.2
$GPS2,310717,190005,5947.4321,-17131.0977,10,0.8,15,8.1,0.0,329.3,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.331475,0.072863
$KALMAN_X,36753.562500,-2048.639893,-807.359863,-96021.320312,41.444885
$KALMAN_Y,15104.156250,1378.686768,129.314972,42871.878906,22.138214
$MHEAD_RNG_PITCHd_Wd,274.3,71365,-11.3,-9.091,-15.00,6418
$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,-389.6,2408,1883,2393,4092,0.0,0.0,0,21,5.70,0.00,-5.05,0.000,20482,0.029,0.000,1859,1884,2947,2947,4094,0,0,0,0,0,0,26.22,28.83,26.23,10.32,50.23
$GC,23,-1.61,-389.6,1858,1883,2947,4094,0.0,0.0,1,33,0.00,2.40,-0.08,0.000,16900,0.000,1.315,1858,1047,2958,2958,4095,0,0,0,0,0,0,26.41,25.07,26.04,10.45,50.15
$GC,63,-1.61,-390.0,1858,1047,2959,4095,2.3,-7.5,6,71,0.00,2.15,0.00,0.000,1030,0.000,0.031,1858,1905,2958,2958,4094,0,0,0,0,0,0,26.06,26.03,26.06,10.45,50.23
$GC,107,-1.61,-390.0,1858,1905,2960,4094,7.6,-12.3,12,115,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1905,2960,2960,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.45,50.35
$GC,150,-1.61,-390.0,1858,1905,2961,4094,13.1,-12.2,18,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1905,2961,2961,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.45,49.84
$GC,194,-1.61,-390.0,1858,1905,2962,4094,18.8,-13.0,24,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1906,2962,2962,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.45,49.44
$GC,239,-1.61,-390.0,1858,1907,2963,4095,24.1,-11.7,30,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1908,2964,2964,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.44,49.21
$GC,282,-1.61,-390.0,1858,1907,2964,4094,28.5,-9.9,36,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1908,2964,2964,4095,0,0,0,0,0,0,26.42,26.43,26.44,10.41,48.77
$GC,326,-1.61,-390.0,1858,1908,2964,4095,33.0,-10.0,42,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1908,2965,2965,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.39,47.63
$GC,371,-1.61,-390.0,1858,1908,2965,4095,37.4,-10.2,48,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1908,2965,2965,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.37,46.88
$GC,415,-1.61,-390.0,1858,1908,2966,4095,41.8,-9.9,54,424,0.00,2.28,0.00,0.000,260,0.000,0.055,1858,2756,2966,2966,4095,0,0,0,0,0,0,26.48,26.17,26.50,10.36,46.18
$GC,468,-1.61,-390.0,1858,2756,2967,4095,47.1,-10.5,61,477,0.00,2.15,0.00,0.000,1030,0.000,0.030,1859,1910,2968,2968,4095,0,0,0,0,0,0,26.28,26.22,26.29,10.36,45.51
$GC,513,-1.61,-390.0,1858,1910,2968,4095,52.1,-11.0,67,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1911,2968,2968,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.34,45.35
$GC,558,-1.61,-390.0,1858,1910,2969,4095,56.8,-10.3,73,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1911,2968,2968,4095,0,0,0,0,0,0,26.54,26.56,26.55,10.34,45.23
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,587,begin apogee
$GC,593,-0.45,0.0,1858,2041,2969,4094,60.3,-11.1,77,628,3.78,0.00,22.88,1.272,10244,0.057,0.000,2205,2041,2500,2500,4094,0,0,0,0,0,0,26.27,25.31,24.68,10.34,44.84
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,631,1.61,390.0,2204,2041,2499,4094,62.6,0.0,81,667,6.97,0.00,22.58,1.250,11270,0.037,0.000,2863,2041,2044,2044,4094,0,0,0,0,0,0,25.76,25.93,24.18,10.23,44.32
$GC,704,1.61,390.0,2862,2041,2043,4094,57.3,10.9,90,714,0.00,2.28,0.00,0.000,260,0.000,0.058,2863,2856,2043,2043,4094,0,0,0,0,0,0,25.66,25.37,25.67,10.13,43.97
$GC,762,1.61,390.0,2862,2856,2042,4094,49.7,12.7,98,771,0.00,2.20,0.00,0.000,1030,0.000,0.031,2862,2014,2042,2042,4094,0,0,0,0,0,0,25.64,25.59,25.66,10.13,44.25
$GC,807,1.61,390.0,2862,2014,2041,4094,44.2,12.4,104,815,0.00,2.38,0.00,0.000,516,0.000,0.067,2863,1156,2041,2041,4094,0,0,0,0,0,0,25.94,25.62,25.96,10.12,44.60
$GC,844,1.61,390.0,2862,1156,2040,4094,39.5,13.2,109,853,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,1985,2039,2039,4094,0,0,0,0,0,0,25.80,25.77,25.83,10.11,44.99
$GC,889,1.61,390.0,2862,1985,2038,4094,34.0,12.2,115,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1985,2038,2038,4095,0,0,0,0,0,0,26.08,26.09,26.09,10.11,44.68
$GC,933,1.61,390.0,2862,1985,2037,4095,28.7,12.1,121,942,0.00,2.45,0.00,0.000,260,0.000,0.059,2863,2880,2037,2037,4094,0,0,0,0,0,0,26.13,25.82,26.15,10.11,44.92
$GC,997,1.61,390.0,2862,2879,2035,4094,20.9,12.3,130,1007,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,2019,2035,2035,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.14,45.47
$GC,1042,1.61,390.0,2862,2018,2034,4094,16.0,10.0,136,1052,0.00,2.38,0.00,0.000,516,0.000,0.069,2863,1150,2034,2034,4095,0,0,0,0,0,0,26.25,25.91,26.26,10.17,47.20
$GC,1107,1.61,390.0,2862,1150,2033,4095,9.4,10.5,145,1116,0.00,2.12,0.00,0.000,1030,0.000,0.030,2863,1998,2033,2033,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.19,48.58
$GC,1151,1.61,390.0,2862,1998,2031,4094,4.9,10.1,151,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1998,2031,2031,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.21,49.05
$STATE,1181,end climb,SURFACE_DEPTH_REACHED
$STATE,1181,begin surface coast
$FINISH,0.2,1.024211
$STATE,1202,end surface coast,CONTROL_FINISHED_OK
$STATE,1203,begin surface
$SM_CCo,1299,0.00,0.000,0,0,2029,404.40
$SM_GC,1.12,27.52,0.28,0.00,0.024,0.054,0.000,240,1886,2029,-6.61,0.91,404.40,0,0,0,0,0,0,26.15,26.14,26.18
$IRIDIUM_FIX,5955.74,-17228.01,310717,173947
$TT8_MAMPS,0.026215,0.207473
$HUMID,49.92
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.18,7.061
$10V_AH,10.27,8.865
$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,43.975,27.925,45.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.130,60.548,155.709,659.242,42.686,33.419,416.213,0.000,239.039,0.000,0.544,0.000
$DEVICE_MAMPS,57.375,1315.035,1272.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.405,429.280,0.000,503.285,652.590,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,14235,158
$CAP_FILE_SIZE,33784,0
$CFSIZE,1024409600,1005191168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,200836,5947.979,-17132.873,5,1.1,35,8.1,0.0,32.9,9,4.9