version: 66.13
glider: 401
mission: 22
dive: 297
start: 7 31 117 22 22 15
data:
$ID,401
$MISSION,22
$DIVE,297
$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,25
$R_STBD_OVSHOOT,51
$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,0.16
$_SM_ANGLEo,-3.4
$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,-0.335961,-0.048639
$KALMAN_X,36825.542969,-2293.187256,-955.018494,-98540.804688,131.467346
$KALMAN_Y,16857.363281,1628.008911,462.945679,42984.433594,149.930969
$MHEAD_RNG_PITCHd_Wd,253.7,68006,-11.3,-9.091,-14.99,6421
$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,-389.8,2413,1896,2388,4092,0.0,0.0,0,21,5.95,0.00,-4.93,0.000,20482,0.029,0.000,1847,1896,2933,2933,4095,0,0,0,0,0,0,26.02,28.83,26.04,10.33,50.11
$GC,23,-1.61,-389.8,1847,1896,2933,4095,0.1,0.0,1,33,0.00,2.47,-0.12,0.000,16900,0.000,1.298,1847,1042,2950,2950,4094,0,0,0,0,0,0,26.22,24.89,25.99,10.45,50.19
$GC,49,-1.61,-389.8,1846,1042,2950,4094,1.1,-3.0,4,59,0.00,2.12,-0.08,0.000,17414,0.000,0.031,1847,1892,2964,2964,4094,0,0,0,0,0,0,25.86,25.84,25.46,10.46,49.84
$GC,95,-1.61,-389.8,1846,1893,2965,4094,5.5,-9.4,10,103,0.00,2.33,0.00,0.000,260,0.000,0.055,1847,2742,2965,2965,4095,0,0,0,0,0,0,26.01,25.69,26.02,10.46,50.39
$GC,191,-1.61,-389.8,1846,2742,2967,4095,15.1,-10.6,24,201,0.00,2.10,0.00,0.000,1030,0.000,0.030,1847,1930,2967,2967,4094,0,0,0,0,0,0,25.94,25.89,25.94,10.47,49.56
$GC,237,-1.61,-389.8,1846,1929,2968,4094,19.8,-10.6,30,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1929,2968,2968,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.47,48.85
$GC,280,-1.61,-389.8,1846,1929,2968,4095,24.4,-10.0,36,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1929,2969,2969,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.45,48.93
$GC,324,-1.61,-389.8,1847,1929,2969,4094,29.1,-10.4,42,334,0.00,2.45,0.00,0.000,516,0.000,0.069,1847,1033,2969,2969,4095,0,0,0,0,0,0,26.28,25.94,26.29,10.43,48.54
$GC,376,-1.61,-389.8,1846,1033,2971,4095,34.5,-10.6,49,385,0.00,2.25,0.00,0.000,1030,0.000,0.029,1847,1934,2971,2971,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.39,47.55
$GC,421,-1.61,-389.8,1846,1933,2971,4094,39.1,-9.7,55,430,0.00,2.22,0.00,0.000,260,0.000,0.057,1847,2758,2971,2971,4095,0,0,0,0,0,0,26.35,26.03,26.36,10.38,46.45
$GC,472,-1.61,-389.8,1846,2758,2972,4095,44.3,-10.2,62,481,0.00,2.05,0.00,0.000,1030,0.000,0.029,1847,1954,2973,2973,4094,0,0,0,0,0,0,26.13,26.12,26.18,10.36,45.47
$GC,517,-1.61,-389.8,1846,1954,2973,4094,49.2,-10.7,68,526,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1954,2973,2973,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.35,45.58
$GC,562,-1.61,-389.8,1846,1953,2974,4094,54.1,-11.1,74,571,0.00,2.50,0.00,0.000,516,0.000,0.069,1847,1033,2974,2974,4095,0,0,0,0,0,0,26.43,26.09,26.44,10.36,45.78
$STATE,612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,612,begin apogee
$GC,619,-0.45,0.0,1847,2015,2975,4095,60.0,-11.7,81,655,3.95,0.00,23.23,1.258,10244,0.061,0.000,2206,2016,2499,2499,4094,0,0,0,0,0,0,26.17,25.22,24.56,10.35,44.44
$STATE,656,end apogee,CONTROL_FINISHED_OK
$STATE,657,begin climb
$GC,658,1.61,389.8,2206,2016,2499,4094,62.7,0.0,85,694,7.00,0.00,22.55,1.244,11270,0.037,0.000,2862,2016,2045,2045,4094,0,0,0,0,0,0,25.67,25.84,24.13,10.24,44.56
$GC,731,1.61,389.8,2861,2016,2044,4094,57.8,10.5,94,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2016,2044,2044,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.14,44.01
$GC,776,1.61,389.8,2861,2015,2043,4094,52.4,11.9,100,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2016,2043,2043,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.14,43.38
$GC,820,1.61,389.8,2861,2016,2042,4094,47.3,11.5,106,830,0.00,2.42,0.00,0.000,516,0.000,0.067,2862,1152,2042,2042,4094,0,0,0,0,0,0,25.89,25.56,25.90,10.13,43.62
$GC,866,1.61,389.8,2861,1151,2041,4094,42.1,11.6,112,875,0.00,2.17,0.00,0.000,1030,0.000,0.028,2862,2008,2041,2041,4094,0,0,0,0,0,0,25.81,25.74,25.79,10.13,44.21
$GC,912,1.61,389.8,2861,2008,2040,4094,37.2,10.8,118,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2008,2040,2040,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.11,44.32
$GC,956,1.61,389.8,2861,2009,2039,4094,32.2,10.9,124,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2009,2039,2039,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.11,44.72
$GC,1001,1.61,389.8,2861,2008,2038,4094,27.6,10.2,130,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2008,2038,2038,4094,0,0,0,0,0,0,26.16,26.18,26.17,10.13,44.76
$GC,1045,1.61,389.8,2861,2008,2037,4094,22.8,11.0,136,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2008,2037,2037,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.15,45.27
$GC,1089,1.61,389.8,2861,2009,2036,4094,17.9,11.3,142,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2009,2036,2036,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.17,46.22
$GC,1134,1.61,389.8,2861,2009,2034,4094,13.0,10.7,148,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2010,2035,2035,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.19,47.95
$GC,1178,1.61,389.8,2861,2009,2034,4094,8.9,9.3,154,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2010,2034,2034,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.21,49.29
$GC,1222,1.61,389.8,2861,2010,2033,4094,4.5,9.9,160,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2010,2032,2032,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.22,49.05
$STATE,1245,end climb,SURFACE_DEPTH_REACHED
$STATE,1245,begin surface coast
$FINISH,0.4,1.024159
$STATE,1267,end surface coast,CONTROL_FINISHED_OK
$STATE,1267,begin surface
$SM_CCo,1363,0.00,0.000,0,0,2031,403.54
$SM_GC,1.05,27.58,0.30,0.00,0.024,0.052,0.000,232,1886,2031,-6.65,0.91,403.54,0,0,0,0,0,0,26.05,26.15,26.15
$IRIDIUM_FIX,5955.74,-17228.01,310717,201017
$TT8_MAMPS,0.024717,0.208971
$HUMID,50.31
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.13,7.209
$10V_AH,10.29,9.064
$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,44.475,28.225,45.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,458.721,60.104,161.796,699.710,44.121,33.416,437.364,0.000,250.398,0.000,0.543,0.000
$DEVICE_MAMPS,61.200,1298.205,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.821,451.068,0.000,528.871,691.627,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330956
$DATA_FILE_SIZE,17745,166
$CAP_FILE_SIZE,34393,0
$CFSIZE,1024409600,1004879872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,224545,5949.394,-17134.727,3,0.9,13,8.1,0.0,18.9,10,4.8