version: 66.13
glider: 401
mission: 22
dive: 294
start: 7 31 117 21 2 35
data:
$ID,401
$MISSION,22
$DIVE,294
$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,19
$R_STBD_OVSHOOT,24
$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,0.15
$_SM_ANGLEo,-2.6
$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,-0.339391,0.013986
$KALMAN_X,36595.589844,-2211.086670,-933.174927,-97281.226562,70.235229
$KALMAN_Y,15789.559570,1479.717163,284.695801,43034.031250,91.073975
$MHEAD_RNG_PITCHd_Wd,264.3,69447,-11.3,-9.091,-14.98,6431
$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,6,begin dive
$GC,8,-1.61,-390.0,2411,1901,2392,4092,0.0,0.0,0,21,5.88,0.00,-4.62,0.000,20482,0.030,0.000,1850,1901,2905,2905,4095,0,0,0,0,0,0,26.07,28.83,26.09,10.33,50.55
$GC,23,-1.61,-390.0,1849,1901,2905,4095,0.1,0.0,1,33,0.00,2.50,-0.45,0.000,16900,0.000,1.297,1849,1037,2957,2957,4094,0,0,0,0,0,0,26.27,24.96,26.18,10.44,50.51
$GC,49,-1.61,-390.0,1849,1037,2957,4094,1.2,-3.2,4,59,0.00,2.20,0.00,0.000,1030,0.000,0.031,1849,1909,2958,2958,4094,0,0,0,0,0,0,25.93,25.90,25.94,10.45,50.82
$GC,96,-1.61,-390.0,1849,1909,2958,4094,5.9,-11.0,10,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1909,2958,2958,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.46,50.74
$GC,141,-1.61,-390.0,1849,1909,2959,4094,11.8,-12.8,16,150,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1909,2959,2959,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.46,50.11
$GC,187,-1.61,-390.0,1849,1909,2961,4094,17.6,-12.9,22,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1909,2961,2961,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.46,49.56
$GC,230,-1.61,-390.0,1849,1909,2962,4095,22.2,-9.5,28,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1909,2961,2961,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.45,49.72
$GC,275,-1.61,-390.0,1848,1909,2962,4095,26.2,-9.1,34,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1909,2962,2962,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.42,49.48
$GC,319,-1.61,-390.0,1848,1909,2963,4094,30.3,-9.2,40,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1909,2963,2963,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.40,48.07
$GC,364,-1.61,-390.0,1849,1909,2964,4094,34.3,-9.0,46,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1909,2963,2963,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.38,47.08
$GC,408,-1.61,-390.0,1849,1909,2964,4095,38.1,-8.5,52,417,0.00,2.40,0.00,0.000,516,0.000,0.067,1849,1032,2964,2964,4094,0,0,0,0,0,0,26.43,26.13,26.44,10.38,46.77
$GC,446,-1.61,-390.0,1849,1032,2965,4094,41.7,-9.3,57,456,0.00,2.15,0.00,0.000,1030,0.000,0.029,1849,1897,2965,2965,4094,0,0,0,0,0,0,26.25,26.22,26.26,10.36,46.10
$GC,493,-1.61,-390.0,1849,1897,2966,4094,45.9,-9.0,63,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1897,2966,2966,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.36,45.43
$GC,539,-1.61,-390.0,1849,1897,2966,4094,49.9,-9.2,69,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1897,2966,2966,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.35,45.35
$GC,585,-1.61,-390.0,1849,1897,2967,4095,54.1,-9.5,75,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1897,2967,2967,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.34,45.23
$GC,631,-1.61,-390.0,1849,1897,2969,4094,58.6,-9.5,81,639,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1897,2969,2969,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.34,45.11
$STATE,647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,647,begin apogee
$GC,652,-0.45,0.0,1849,2036,2969,4095,60.4,-9.1,83,687,3.85,0.00,22.85,1.275,10244,0.059,0.000,2205,2037,2500,2500,4094,0,0,0,0,0,0,26.25,25.29,24.62,10.33,45.74
$STATE,688,end apogee,CONTROL_FINISHED_OK
$STATE,688,begin climb
$GC,690,1.61,390.0,2204,2036,2500,4094,62.6,0.0,87,726,6.97,0.00,22.33,1.255,11270,0.036,0.000,2860,2037,2050,2050,4094,0,0,0,0,0,0,25.72,25.91,24.17,10.23,44.56
$GC,764,1.66,424.4,2859,2036,2050,4094,58.9,8.5,96,774,0.10,0.00,3.97,0.675,10246,0.073,0.000,2876,2037,2005,2005,4094,0,0,0,0,0,0,25.47,25.03,24.37,10.13,44.21
$GC,811,1.66,424.4,2876,2036,2004,4094,54.7,9.1,102,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2037,2004,2004,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.12,44.32
$GC,857,1.69,443.2,2876,2036,2003,4094,50.7,8.8,108,866,0.00,0.00,2.75,0.359,8198,0.000,0.000,2876,2037,1985,1985,4094,0,0,0,0,0,0,25.89,25.27,24.65,10.11,44.13
$GC,904,1.80,513.8,2876,2036,1985,4094,46.8,8.0,114,915,0.30,2.30,5.65,0.789,10500,0.050,0.060,2909,2867,1900,1900,4094,0,0,0,0,0,0,25.77,25.53,24.69,10.11,44.76
$GC,953,1.80,513.8,2909,2866,1899,4094,42.0,10.2,120,962,0.00,2.22,0.00,0.000,1030,0.000,0.029,2910,2008,1899,1899,4094,0,0,0,0,0,0,25.76,25.70,25.77,10.08,44.88
$GC,999,1.80,513.8,2909,2007,1899,4094,37.7,9.5,126,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2008,1898,1898,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.08,44.92
$GC,1045,1.80,513.8,2909,2007,1897,4094,33.1,10.1,132,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2008,1897,1897,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.08,45.19
$GC,1091,1.80,513.8,2909,2007,1896,4094,28.4,9.7,138,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2008,1896,1896,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.09,45.62
$GC,1137,1.80,513.8,2909,2007,1896,4094,24.0,9.2,144,1146,0.00,2.38,0.00,0.000,260,0.000,0.060,2910,2864,1895,1895,4094,0,0,0,0,0,0,26.21,25.89,26.22,10.10,46.25
$GC,1189,1.80,513.8,2909,2864,1894,4094,18.8,10.1,151,1198,0.00,2.15,0.00,0.000,1030,0.000,0.030,2910,2026,1894,1894,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.12,46.57
$GC,1234,1.80,513.8,2909,2025,1893,4094,14.6,9.1,157,1244,0.00,2.35,0.00,0.000,516,0.000,0.066,2910,1161,1893,1893,4094,0,0,0,0,0,0,26.29,25.96,26.30,10.15,48.03
$GC,1279,1.81,524.9,2909,1160,1892,4094,10.6,8.9,163,1290,0.00,2.10,0.15,0.002,9222,0.000,0.030,2910,1999,1892,1892,4094,0,0,0,0,0,0,26.09,26.10,26.13,10.16,49.09
$GC,1326,1.91,587.3,2909,1999,1891,4094,6.7,8.1,169,1337,0.38,2.40,5.10,0.486,10500,0.043,0.060,2951,2881,1814,1814,4094,0,0,0,0,0,0,26.13,25.97,25.37,10.18,50.11
$STATE,1373,end climb,SURFACE_DEPTH_REACHED
$STATE,1373,begin surface coast
$FINISH,0.2,1.024185
$STATE,1388,end surface coast,CONTROL_FINISHED_OK
$STATE,1388,begin surface
$SM_CCo,1488,0.00,0.000,0,0,1812,591.58
$SM_GC,0.93,28.48,2.55,0.00,0.024,0.032,0.000,239,1907,1812,-6.61,1.32,591.58,0,0,0,0,0,0,26.13,26.06,26.17
$IRIDIUM_FIX,5955.74,-17228.01,310717,185502
$TT8_MAMPS,0.025466,0.252413
$HUMID,50.23
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.17,7.134
$10V_AH,10.22,8.971
$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,45.950,29.850,62.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,514.360,60.796,180.732,740.777,53.380,33.420,480.732,0.000,426.338,0.000,0.542,0.000
$DEVICE_MAMPS,73.440,1297.440,1275.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.010,480.852,380.567,564.176,737.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330916
$DATA_FILE_SIZE,17916,177
$CAP_FILE_SIZE,39992,0
$CFSIZE,1024409600,1005027328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,212838,5948.692,-17134.154,3,0.8,41,8.1,0.4,291.3,9,4.9