version: 66.13
glider: 401
mission: 22
dive: 296
start: 7 31 117 21 59 22
data:
$ID,401
$MISSION,22
$DIVE,296
$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,26
$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
$GPS1,310717,213618,5948.7549,-17134.0996,10,0.8,14,8.1,0.8,56.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.5
$GPS2,310717,213618,5948.7549,-17134.0996,10,0.8,14,8.1,0.8,56.4,10,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.337698,-0.040302
$KALMAN_X,36445.445312,-2287.461182,-967.629700,-98154.804688,23.789246
$KALMAN_Y,16835.486328,1606.450562,436.730316,43054.003906,169.149750
$MHEAD_RNG_PITCHd_Wd,255.1,68006,-11.3,-9.091,-14.97,6450
$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,-390.0,2409,1880,2383,4092,0.0,0.0,0,20,5.72,0.00,-4.62,0.000,20482,0.030,0.000,1862,1880,2897,2897,4094,0,0,0,0,0,0,26.06,28.83,26.09,10.34,49.76
$GC,22,-1.61,-390.0,1862,1880,2898,4094,0.0,0.0,1,32,0.00,2.38,-0.47,0.000,16900,0.000,1.291,1862,1048,2953,2953,4095,0,0,0,0,0,0,26.27,24.95,26.19,10.45,49.72
$GC,61,-1.61,-390.0,1862,1048,2954,4095,2.9,-9.2,6,70,0.00,2.15,0.00,0.000,1030,0.000,0.029,1862,1905,2954,2954,4095,0,0,0,0,0,0,25.95,25.92,25.96,10.47,49.92
$GC,107,-1.61,-390.0,1862,1905,2955,4095,8.3,-12.2,12,115,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1905,2955,2955,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.47,49.52
$GC,151,-1.61,-390.0,1862,1905,2956,4095,13.7,-12.3,18,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1905,2956,2956,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.47,48.97
$GC,195,-1.61,-390.0,1862,1905,2957,4094,18.9,-11.6,24,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1905,2957,2957,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.46,48.89
$GC,239,-1.61,-390.0,1862,1906,2957,4094,23.7,-11.0,30,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1906,2957,2957,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.46,48.58
$GC,283,-1.61,-390.0,1862,1907,2958,4094,28.3,-10.2,36,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1908,2958,2958,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.43,48.22
$GC,327,-1.61,-390.0,1862,1907,2959,4095,32.7,-10.0,42,336,0.00,2.28,0.00,0.000,260,0.000,0.054,1862,2754,2959,2959,4094,0,0,0,0,0,0,26.38,26.09,26.39,10.40,47.24
$GC,386,-1.61,-390.0,1862,2754,2960,4094,38.5,-10.2,50,396,0.00,2.15,0.00,0.000,1030,0.000,0.030,1863,1912,2961,2961,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.38,45.90
$GC,433,-1.61,-390.0,1862,1911,2961,4094,43.2,-10.1,56,443,0.00,2.38,0.00,0.000,516,0.000,0.069,1862,1032,2961,2961,4094,0,0,0,0,0,0,26.44,26.13,26.46,10.37,45.82
$GC,485,-1.61,-390.0,1862,1031,2962,4094,49.1,-11.6,63,494,0.00,2.12,0.00,0.000,1030,0.000,0.030,1862,1885,2962,2962,4095,0,0,0,0,0,0,26.26,26.23,26.27,10.36,44.92
$GC,530,-1.61,-390.0,1862,1885,2963,4095,53.9,-10.5,69,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1886,2963,2963,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.35,45.35
$GC,574,-1.61,-390.0,1862,1885,2964,4095,58.4,-10.2,75,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1885,2964,2964,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.35,44.36
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,595,-0.45,0.0,1862,2053,2964,4095,60.2,-10.3,77,630,3.75,0.08,22.45,1.262,10244,0.059,0.051,2205,2001,2504,2504,4094,0,0,0,0,0,0,26.22,25.29,24.61,10.35,44.29
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.61,390.0,2205,2000,2503,4094,62.3,0.0,81,669,6.95,0.00,22.75,1.245,11270,0.036,0.000,2861,2001,2045,2045,4094,0,0,0,0,0,0,25.74,25.91,24.17,10.25,44.21
$GC,706,1.61,390.0,2859,2000,2045,4094,56.9,11.0,90,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2001,2044,2044,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.14,43.14
$GC,752,1.61,390.0,2860,2000,2043,4094,51.5,11.9,96,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2001,2043,2043,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.14,43.81
$GC,798,1.61,390.0,2860,2000,2042,4094,46.1,11.7,102,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2001,2040,2040,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.12,43.85
$GC,844,1.61,390.0,2860,2000,2041,4094,40.5,12.2,108,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2001,2041,2041,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.12,44.29
$GC,889,1.61,390.0,2861,2000,2039,4094,35.0,12.4,114,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2001,2039,2039,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.12,44.13
$GC,935,1.61,390.0,2860,2000,2038,4094,29.4,12.0,120,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2000,2038,2038,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.12,44.17
$GC,979,1.61,390.0,2860,2000,2037,4094,24.2,11.5,126,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2000,2037,2037,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.13,44.84
$GC,1023,1.61,390.0,2860,2000,2036,4094,19.4,11.0,132,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2001,2035,2035,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.17,46.41
$GC,1067,1.61,390.0,2860,2000,2034,4094,14.5,10.8,138,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2001,2034,2034,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.19,47.59
$GC,1112,1.81,525.8,2860,2000,2034,4094,11.3,6.9,144,1130,0.55,2.30,8.10,0.628,10756,0.037,0.071,2920,1166,1885,1885,4094,0,0,0,0,0,0,26.07,25.69,25.25,10.21,48.89
$GC,1147,1.92,597.3,2919,1165,1885,4094,8.6,8.0,148,1158,0.30,2.08,5.40,0.505,11270,0.038,0.030,2954,2016,1803,1803,4094,0,0,0,0,0,0,25.98,26.01,25.24,10.18,48.74
$GC,1196,2.02,663.5,2954,2016,1802,4094,4.8,8.0,154,1207,0.28,2.30,5.00,0.458,10500,0.044,0.054,2988,2860,1725,1725,4094,0,0,0,0,0,0,25.99,25.84,25.27,10.17,48.97
$STATE,1221,end climb,FINISH_DEPTH_REACHED
$STATE,1222,begin subsurface finish
$FINISH1,1.9,1.024161,100
$GC,1230,0.15,100.3,2988,2033,1724,4094,1.9,9.6,157,1249,6.10,0.00,-5.78,0.000,20486,0.037,0.000,2414,2031,2388,2388,4094,0,0,0,0,0,0,25.94,25.47,25.99,10.17,49.21
$FINISH2,0.3
$STATE,1250,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1250,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,201017
$TT8_MAMPS,0.026215,0.271887
$HUMID,49.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.17,7.191
$10V_AH,10.20,9.038
$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,23.650,22.975,63.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,449.792,0.438,150.331,660.865,46.564,33.423,431.833,0.000,384.230,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1290.555,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.124,431.980,341.815,506.341,657.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330956
$DATA_FILE_SIZE,14442,159
$CAP_FILE_SIZE,34917,0
$CFSIZE,1024409600,1004945408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,213618,5948.755,-17134.100,10,0.8,14,8.1,0.8,56.4,10,4.9