version: 66.13
glider: 401
mission: 22
dive: 293
start: 7 31 117 20 39 40
data:
$ID,401
$MISSION,22
$DIVE,293
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,310717,201610,5948.0283,-17132.9004,10,1.2,55,8.1,0.3,316.5,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-3.1
$GPS2,310717,201610,5948.0283,-17132.9004,10,1.2,55,8.1,0.3,316.5,8,3.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339039,0.018602
$KALMAN_X,36170.281250,-2180.006592,-915.575562,-96906.648438,-77.780029
$KALMAN_Y,15840.831055,1462.046387,254.915985,43030.601562,127.765686
$MHEAD_RNG_PITCHd_Wd,265.0,69447,-11.3,-9.091,-14.99,6425
$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,-390.0,2412,1887,2392,4092,0.0,0.0,0,21,5.70,0.00,-5.12,0.000,20483,0.029,0.000,1863,1888,2959,2959,4095,0,0,0,0,0,0,26.20,28.83,26.22,10.33,49.44
$GC,23,-1.61,-390.0,1863,1888,2959,4095,0.1,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1888,2959,2959,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.46,49.80
$GC,68,-1.61,-390.0,1862,1887,2959,4094,2.0,-7.7,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1888,2960,2960,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.47,49.60
$GC,114,-1.61,-390.0,1863,1887,2961,4094,7.1,-11.8,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1888,2961,2961,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.47,49.56
$GC,158,-1.61,-390.0,1862,1887,2961,4095,12.7,-12.3,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1888,2962,2962,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.46,49.17
$GC,202,-1.61,-390.0,1862,1887,2962,4094,17.8,-11.6,25,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1888,2963,2963,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.47,48.97
$GC,247,-1.61,-390.0,1862,1887,2964,4095,22.6,-10.6,31,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1888,2964,2964,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.45,48.46
$GC,291,-1.61,-390.0,1862,1887,2964,4095,27.1,-10.1,37,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1888,2964,2964,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.43,48.07
$GC,334,-1.61,-390.0,1862,1887,2965,4095,31.3,-9.9,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1888,2965,2965,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.40,47.59
$GC,379,-1.61,-390.0,1862,1887,2966,4094,35.6,-9.8,49,390,0.00,2.30,0.00,0.000,260,0.000,0.054,1863,2754,2966,2966,4095,0,0,0,0,0,0,26.57,26.25,26.58,10.38,46.73
$GC,427,-1.61,-390.0,1862,2754,2967,4095,40.4,-9.6,55,437,0.00,2.10,0.00,0.000,1030,0.000,0.031,1863,1924,2967,2967,4095,0,0,0,0,0,0,26.35,26.32,26.39,10.37,45.58
$GC,473,-1.61,-390.0,1862,1923,2968,4095,44.8,-9.5,61,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1924,2968,2968,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.36,45.58
$GC,517,-1.61,-390.0,1862,1923,2968,4095,49.2,-10.0,67,526,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1924,2969,2969,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.36,44.92
$GC,562,-1.61,-390.0,1862,1923,2969,4094,53.9,-10.8,73,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1923,2969,2969,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.35,44.56
$GC,606,-1.61,-390.0,1862,1923,2970,4094,58.8,-11.3,79,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1923,2970,2970,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.34,44.32
$STATE,624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,624,begin apogee
$GC,629,-0.45,0.0,1863,2050,2971,4095,60.7,-10.9,81,665,3.62,0.05,22.73,1.282,10244,0.059,0.057,2197,2006,2502,2502,4094,0,0,0,0,0,0,26.36,25.39,24.70,10.34,44.36
$STATE,666,end apogee,CONTROL_FINISHED_OK
$STATE,666,begin climb
$GC,668,1.61,390.0,2196,2006,2503,4094,63.2,0.0,85,704,7.03,0.00,22.65,1.258,11270,0.035,0.000,2860,2006,2045,2045,4095,0,0,0,0,0,0,25.84,26.01,24.24,10.24,44.05
$GC,741,1.61,390.0,2860,2005,2045,4095,57.7,11.8,94,751,0.00,2.38,0.00,0.000,260,0.000,0.057,2860,2853,2045,2045,4094,0,0,0,0,0,0,25.71,25.41,25.72,10.14,43.54
$GC,786,1.61,390.0,2860,2852,2043,4094,52.0,12.4,100,796,0.00,2.15,0.00,0.000,1030,0.000,0.031,2860,2030,2043,2043,4094,0,0,0,0,0,0,25.64,25.60,25.66,10.12,43.85
$GC,832,1.61,390.0,2860,2029,2042,4094,46.4,12.1,106,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2029,2042,2042,4095,0,0,0,0,0,0,25.95,25.96,25.96,10.12,44.40
$GC,876,1.61,390.0,2860,2029,2041,4095,41.1,11.4,112,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2029,2040,2040,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.12,44.32
$GC,919,1.61,390.0,2860,2029,2040,4094,35.7,12.5,118,929,0.00,2.42,0.00,0.000,516,0.000,0.067,2861,1147,2039,2039,4094,0,0,0,0,0,0,26.10,25.75,26.10,10.11,44.48
$GC,958,1.61,390.0,2860,1146,2038,4094,30.9,12.3,123,968,0.00,2.10,0.00,0.000,1030,0.000,0.029,2861,1981,2038,2038,4094,0,0,0,0,0,0,25.94,25.90,25.95,10.11,44.56
$GC,1005,1.61,390.0,2860,1981,2037,4094,25.5,12.0,129,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1981,2037,2037,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.12,45.23
$GC,1049,1.61,390.0,2860,1981,2036,4094,20.3,11.0,135,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1981,2036,2036,4093,0,0,0,0,0,0,26.24,26.25,26.25,10.15,45.55
$GC,1094,1.61,390.0,2860,1982,2035,4093,15.5,11.1,141,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1983,2035,2035,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,47.12
$GC,1138,1.61,390.0,2860,1984,2034,4094,10.8,10.4,147,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1984,2034,2034,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.19,48.26
$GC,1182,1.61,390.0,2860,1984,2033,4094,6.1,10.9,153,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1984,2032,2032,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.21,48.93
$STATE,1225,end climb,FINISH_DEPTH_REACHED
$STATE,1225,begin subsurface finish
$FINISH1,1.4,1.024196,98
$GC,1231,0.15,97.8,2860,2037,2031,4094,1.4,10.6,159,1251,4.78,2.53,-3.20,0.000,20996,0.046,1.310,2412,1156,2391,2391,4094,0,0,0,0,0,0,26.13,25.01,26.18,10.22,49.25
$FINISH2,0.1
$STATE,1252,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1252,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,185502
$TT8_MAMPS,0.025466,0.208222
$HUMID,50.35
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.24,7.114
$10V_AH,10.27,8.932
$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,21.125,16.625,45.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,441.750,0.000,144.597,678.858,44.167,33.427,430.124,0.000,243.325,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1310.445,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.013,437.415,0.000,513.190,671.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330916
$DATA_FILE_SIZE,14406,161
$CAP_FILE_SIZE,32837,0
$CFSIZE,1024409600,1005092864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,379.17,0x236162,0,24
$GPS,310717,201610,5948.028,-17132.900,10,1.2,55,8.1,0.3,316.5,8,3.0