version: 66.13
glider: 401
mission: 22
dive: 292
start: 7 31 117 20 17 18
data:
$ID,401
$MISSION,22
$DIVE,292
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,310717,200836,5947.9790,-17132.8730,5,1.1,35,8.1,0.0,32.9,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-46.5
$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,-0.339361,0.013192
$KALMAN_X,35969.625000,-2230.412842,-987.399109,-96552.257812,-83.858826
$KALMAN_Y,15824.379883,1470.769775,236.463379,43038.648438,136.860718
$MHEAD_RNG_PITCHd_Wd,264.1,69447,-11.3,-9.091,-14.99,6428
$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,-390.0,239,1886,2029,4092,0.0,0.0,0,21,11.05,0.00,0.00,0.000,2049,0.106,0.000,1155,1886,2029,2029,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.29,48.97
$GC,23,-1.61,-390.0,1155,1886,2029,4094,0.9,0.0,1,51,7.35,2.42,-8.48,0.000,18948,0.049,1.306,1839,1046,2959,2959,4094,0,0,0,0,0,0,25.97,24.86,26.03,10.30,48.70
$GC,80,-1.61,-390.0,1837,1046,2959,4094,0.9,-2.9,8,90,0.00,2.15,0.00,0.000,1030,0.000,0.029,1838,1904,2958,2958,4095,0,0,0,0,0,0,25.88,25.83,25.86,10.50,48.77
$GC,127,-1.61,-390.0,1838,1906,2960,4095,6.1,-11.9,14,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1906,2960,2960,4095,0,0,0,0,0,0,26.11,26.13,26.13,10.50,48.58
$GC,172,-1.61,-390.0,1838,1906,2961,4095,11.9,-12.4,20,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1906,2961,2961,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.50,47.79
$GC,218,-1.61,-390.0,1838,1906,2962,4094,17.7,-12.8,26,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1906,2962,2962,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.50,47.40
$GC,262,-1.61,-390.0,1838,1906,2963,4095,22.7,-11.1,32,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1906,2963,2963,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.48,47.63
$GC,306,-1.61,-390.0,1838,1906,2964,4094,27.5,-10.7,38,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1906,2964,2964,4095,0,0,0,0,0,0,26.29,26.32,26.31,10.46,46.49
$GC,350,-1.61,-390.0,1838,1906,2964,4095,32.1,-10.0,44,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1906,2965,2965,4095,0,0,0,0,0,0,26.33,26.35,26.34,10.43,45.74
$GC,395,-1.61,-390.0,1838,1906,2966,4095,36.9,-11.1,50,404,0.00,2.28,0.00,0.000,260,0.000,0.054,1839,2752,2966,2966,4095,0,0,0,0,0,0,26.36,26.05,26.38,10.40,45.15
$GC,440,-1.61,-390.0,1838,2752,2966,4095,41.9,-11.0,56,449,0.00,2.15,0.00,0.000,1030,0.000,0.029,1839,1907,2966,2966,4095,0,0,0,0,0,0,26.17,26.12,26.20,10.39,43.97
$GC,485,-1.61,-390.0,1838,1907,2967,4095,47.2,-11.9,62,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1908,2968,2968,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,44.01
$GC,528,-1.61,-390.0,1838,1907,2969,4094,52.2,-11.7,68,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1908,2968,2968,4094,0,0,0,0,0,0,26.44,26.45,26.46,10.38,43.81
$GC,573,-1.61,-390.0,1838,1907,2969,4094,57.4,-12.0,74,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1908,2969,2969,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.37,43.34
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,602,-0.45,0.0,1838,2043,2970,4094,60.4,-12.3,77,636,3.97,0.00,22.92,1.274,10244,0.058,0.000,2205,2042,2500,2500,4094,0,0,0,0,0,0,26.20,25.22,24.56,10.37,42.95
$STATE,637,end apogee,CONTROL_FINISHED_OK
$STATE,637,begin climb
$GC,639,1.61,390.0,2205,2042,2500,4094,62.9,0.0,81,675,6.95,2.20,22.65,1.251,10500,0.037,0.057,2862,2851,2045,2045,4094,0,0,0,0,0,0,25.63,25.56,24.12,10.26,43.03
$GC,712,1.61,390.0,2862,2851,2044,4094,57.8,10.5,90,722,0.00,2.17,0.00,0.000,1030,0.000,0.028,2862,2025,2044,2044,4094,0,0,0,0,0,0,25.41,25.37,25.41,10.16,42.55
$GC,759,1.61,390.0,2861,2025,2042,4094,52.4,11.6,96,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2025,2042,2042,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.15,42.71
$GC,805,1.61,390.0,2861,2025,2041,4094,47.0,11.4,102,815,0.00,2.40,0.00,0.000,516,0.000,0.068,2862,1157,2041,2041,4094,0,0,0,0,0,0,25.90,25.58,25.91,10.14,42.83
$GC,852,1.61,390.0,2861,1156,2040,4094,41.4,12.1,108,861,0.00,2.08,0.00,0.000,1030,0.000,0.028,2862,1983,2040,2040,4094,0,0,0,0,0,0,25.78,25.76,25.80,10.13,43.50
$GC,898,1.61,390.0,2862,1982,2039,4094,36.0,11.8,114,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2038,2038,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.13,43.34
$GC,942,1.61,390.0,2861,1982,2038,4094,30.6,12.0,120,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2037,2037,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.13,43.73
$GC,986,1.61,390.0,2862,1982,2037,4094,25.5,11.3,126,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2036,2036,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.14,44.32
$GC,1031,1.61,390.0,2861,1982,2035,4094,20.7,10.7,132,1039,0.00,2.42,0.00,0.000,260,0.000,0.058,2862,2875,2035,2035,4094,0,0,0,0,0,0,26.22,25.90,26.22,10.16,45.11
$GC,1075,1.61,390.0,2861,2875,2034,4094,15.5,12.2,138,1084,0.00,2.25,0.00,0.000,1030,0.000,0.031,2862,2001,2034,2034,4094,0,0,0,0,0,0,26.02,25.98,26.06,10.19,46.22
$GC,1120,1.61,390.0,2861,2000,2033,4094,10.5,10.7,144,1129,0.00,2.30,0.00,0.000,516,0.000,0.067,2862,1156,2033,2033,4094,0,0,0,0,0,0,26.29,25.96,26.30,10.21,47.95
$GC,1178,1.61,390.0,2861,1155,2030,4094,4.4,10.5,152,1187,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,1998,2031,2031,4094,0,0,0,0,0,0,26.12,26.08,26.14,10.23,49.09
$STATE,1201,end climb,FINISH_DEPTH_REACHED
$STATE,1201,begin subsurface finish
$FINISH1,2.0,1.024205,97
$GC,1207,0.15,97.2,2862,1999,2030,4094,2.0,10.2,155,1217,5.07,0.00,-3.17,0.000,20486,0.080,0.000,2413,2005,2393,2393,4094,0,0,0,0,0,0,26.05,25.24,26.13,10.24,48.77
$FINISH2,0.6
$STATE,1218,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1218,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,185502
$TT8_MAMPS,0.025466,0.24717
$HUMID,48.97
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.12,7.097
$10V_AH,10.23,8.906
$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,34.400,27.200,45.575,0.000,0.000,19.195,29.893,251.551,0.000,0.000,56.757,447.088,0.000,145.635,1006.267,97.949,33.452,424.788,0.000,378.964,0.000,0.543,0.000
$DEVICE_MAMPS,106.335,1305.855,1274.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.187,423.818,335.364,497.084,645.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329428
$DATA_FILE_SIZE,14321,156
$CAP_FILE_SIZE,38449,0
$CFSIZE,1024409600,1005142016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310717,201610,5948.028,-17132.900,10,1.2,55,8.1,0.3,316.5,8,3.0