version: 66.13
glider: 401
mission: 22
dive: 284
start: 7 31 117 16 53 16
data:
$ID,401
$MISSION,22
$DIVE,284
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,310717,162935,5946.8433,-17127.3750,10,0.7,15,8.2,0.6,225.9,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.0
$GPS2,310717,162935,5946.8433,-17127.3750,10,0.7,15,8.2,0.6,225.9,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.303980,0.151432
$KALMAN_X,36950.960938,-1730.733643,-497.259430,-93321.148438,-31.729706
$KALMAN_Y,15168.186523,1441.899658,34.416756,41748.613281,-70.335114
$MHEAD_RNG_PITCHd_Wd,288.3,74982,-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,-390.0,2367,1882,2507,4092,0.0,0.0,0,20,5.43,0.00,-4.15,0.000,20486,0.029,0.000,1842,1882,2960,2960,4094,0,0,0,0,0,0,26.13,25.21,26.14,10.35,50.63
$GC,22,-1.61,-390.0,1842,1882,2960,4094,0.0,0.0,1,31,0.00,2.35,0.00,0.000,516,0.000,0.070,1842,1030,2960,2960,4094,0,0,0,0,0,0,26.29,25.95,26.31,10.46,51.33
$GC,79,-1.61,-390.0,1841,1029,2961,4094,5.4,-12.2,9,89,0.00,2.17,0.00,0.000,1030,0.000,0.031,1842,1901,2960,2960,4095,0,0,0,0,0,0,26.14,26.10,26.16,10.46,50.07
$GC,126,-1.61,-390.0,1842,1901,2962,4095,11.0,-12.3,15,136,0.00,2.30,0.00,0.000,260,0.000,0.059,1842,2753,2962,2962,4095,0,0,0,0,0,0,26.39,26.06,26.40,10.47,50.03
$GC,173,-1.61,-390.0,1841,2752,2962,4095,17.3,-12.9,21,182,0.00,2.15,0.00,0.000,1030,0.000,0.031,1842,1913,2963,2963,4095,0,0,0,0,0,0,26.19,26.16,26.20,10.47,50.11
$GC,219,-1.61,-390.0,1842,1913,2964,4095,23.4,-13.0,27,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1913,2964,2964,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.45,49.68
$GC,265,-1.61,-390.0,1842,1913,2965,4094,28.7,-11.0,33,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1913,2965,2965,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.42,48.97
$GC,311,-1.61,-390.0,1842,1913,2966,4094,33.3,-10.3,39,320,0.00,2.38,0.00,0.000,516,0.000,0.069,1842,1036,2966,2966,4094,0,0,0,0,0,0,26.48,26.14,26.49,10.39,48.58
$GC,358,-1.61,-390.0,1841,1036,2967,4094,38.5,-11.2,45,367,0.00,2.22,0.00,0.000,1030,0.000,0.030,1842,1934,2967,2967,4095,0,0,0,0,0,0,26.27,26.25,26.30,10.38,46.96
$GC,404,-1.61,-390.0,1841,1934,2968,4095,43.6,-10.8,51,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1934,2968,2968,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.37,46.45
$GC,450,-1.61,-390.0,1841,1934,2969,4095,48.5,-10.5,57,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1934,2969,2969,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.35,45.58
$GC,496,-1.61,-390.0,1842,1933,2970,4095,53.3,-10.8,63,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1934,2970,2970,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.35,45.47
$GC,539,-1.61,-390.0,1841,1934,2971,4095,58.1,-10.4,69,549,0.00,2.20,0.00,0.000,260,0.000,0.060,1842,2753,2971,2971,4095,0,0,0,0,0,0,26.57,26.26,26.58,10.35,45.07
$STATE,557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,557,begin apogee
$GC,564,-0.45,0.0,1842,2013,2971,4095,60.3,-11.0,71,599,3.95,0.00,22.90,1.278,10244,0.058,0.000,2205,2013,2501,2501,4094,0,0,0,0,0,0,26.29,25.32,24.66,10.34,45.15
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,602,1.61,390.0,2205,2013,2502,4094,62.8,0.0,75,638,6.95,0.00,22.70,1.253,11270,0.035,0.000,2863,2013,2045,2045,4094,0,0,0,0,0,0,25.77,25.94,24.20,10.24,44.64
$GC,675,1.61,390.0,2862,2012,2045,4094,57.7,11.1,84,685,0.00,2.42,0.00,0.000,260,0.000,0.056,2863,2881,2044,2044,4094,0,0,0,0,0,0,25.67,25.37,25.68,10.14,43.97
$GC,733,1.61,390.0,2862,2881,2043,4094,50.0,13.1,92,743,0.00,2.25,0.00,0.000,1030,0.000,0.031,2863,2020,2043,2043,4095,0,0,0,0,0,0,25.63,25.61,25.65,10.13,43.81
$GC,780,1.61,390.0,2862,2020,2041,4095,44.4,12.1,98,789,0.00,2.40,0.00,0.000,516,0.000,0.068,2863,1152,2041,2041,4094,0,0,0,0,0,0,25.95,25.64,25.96,10.12,44.17
$GC,864,1.61,390.0,2862,1151,2039,4094,33.7,12.4,110,874,0.00,2.05,0.00,0.000,1030,0.000,0.028,2863,1969,2039,2039,4095,0,0,0,0,0,0,25.89,25.84,25.90,10.11,44.76
$GC,910,1.61,390.0,2862,1968,2038,4095,28.5,11.0,116,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1969,2038,2038,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.11,44.72
$GC,954,1.61,390.0,2862,1968,2037,4094,23.5,11.5,122,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1969,2037,2037,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.13,45.15
$GC,1000,1.61,390.0,2862,1970,2036,4094,18.6,10.4,128,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1971,2035,2035,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.17,46.14
$GC,1046,1.61,390.0,2862,1971,2034,4094,14.2,9.5,134,1054,0.00,2.47,0.00,0.000,260,0.000,0.058,2863,2878,2034,2034,4094,0,0,0,0,0,0,26.27,25.95,26.29,10.19,48.38
$GC,1103,1.61,390.0,2862,2878,2033,4094,8.0,11.1,142,1112,0.00,2.45,0.00,0.000,1030,0.000,0.034,2863,1935,2032,2032,4094,0,0,0,0,0,0,26.08,26.03,26.10,10.21,48.93
$GC,1149,1.61,390.0,2862,1935,2032,4094,3.2,10.2,148,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1935,2031,2031,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.21,49.17
$STATE,1165,end climb,FINISH_DEPTH_REACHED
$STATE,1166,begin subsurface finish
$FINISH1,1.1,1.024260,93
$GC,1172,0.14,93.4,2862,2054,2031,4094,1.1,10.2,150,1191,4.72,2.58,-3.28,0.000,20996,0.031,1.311,2407,1157,2397,2397,4094,0,0,0,0,0,0,26.14,24.99,26.18,10.23,49.52
$FINISH2,0.1
$STATE,1192,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1192,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,150855
$TT8_MAMPS,0.026215,0.237433
$HUMID,50.66
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.20,6.907
$10V_AH,10.23,8.678
$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,21.050,36.350,45.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.699,0.413,134.799,635.296,42.893,33.427,396.699,0.000,368.252,0.000,0.542,0.000
$DEVICE_MAMPS,58.140,1311.210,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.673,412.973,326.764,484.322,631.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330876
$DATA_FILE_SIZE,14215,152
$CAP_FILE_SIZE,31362,0
$CFSIZE,1024409600,1005551616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,162935,5946.843,-17127.375,10,0.7,15,8.2,0.6,225.9,11,4.8