version: 66.13
glider: 401
mission: 22
dive: 289
start: 7 31 117 19 1 13
data:
$ID,401
$MISSION,22
$DIVE,289
$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,21
$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
$GPS1,310717,185329,5947.4180,-17131.0234,3,0.8,14,8.1,0.2,262.7,10,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-46.4
$GPS2,310717,190005,5947.4321,-17131.0977,10,0.8,15,8.1,0.0,329.3,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.328643,0.084218
$KALMAN_X,36126.714844,-2058.615234,-833.423950,-95326.101562,-138.951172
$KALMAN_Y,15252.352539,1405.146973,102.438187,42710.484375,59.941818
$MHEAD_RNG_PITCHd_Wd,276.3,71365,-11.3,-9.091,-15.00,6412
$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,-389.3,231,1895,2035,4092,0.0,0.0,0,21,11.00,0.00,0.00,0.000,2049,0.107,0.000,1141,1895,2035,2035,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.29,49.29
$GC,23,-1.61,-389.3,1141,1895,2035,4094,1.0,0.0,1,42,7.65,0.00,-8.45,0.000,18438,0.060,0.000,1838,1895,2958,2958,4094,0,0,0,0,0,0,25.95,25.10,26.00,10.29,49.13
$GC,79,-1.61,-390.0,1837,1894,2958,4094,1.8,-7.2,8,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1896,2958,2958,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.49,49.56
$GC,124,-1.61,-390.0,1837,1895,2958,4094,7.1,-12.4,14,132,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1895,2959,2959,4095,0,0,0,0,0,0,26.27,26.28,26.27,10.50,48.42
$GC,168,-1.61,-390.0,1837,1895,2960,4095,12.6,-12.6,20,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1895,2960,2960,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.50,48.34
$GC,212,-1.61,-390.0,1837,1895,2961,4095,18.9,-14.6,26,222,0.00,2.35,0.00,0.000,516,0.000,0.069,1837,1033,2961,2961,4094,0,0,0,0,0,0,26.34,25.99,26.34,10.49,47.91
$GC,283,-1.61,-390.0,1837,1033,2962,4094,28.0,-12.3,36,292,0.00,2.17,0.00,0.000,1030,0.000,0.028,1838,1909,2963,2963,4095,0,0,0,0,0,0,26.20,26.13,26.18,10.46,47.28
$GC,328,-1.61,-390.0,1837,1909,2964,4095,32.1,-8.3,42,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1910,2964,2964,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.43,47.00
$GC,374,-1.61,-390.0,1837,1911,2965,4095,36.2,-9.4,48,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1911,2964,2964,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.40,45.66
$GC,419,-1.61,-390.0,1837,1912,2965,4095,41.1,-11.0,54,428,0.00,2.25,0.00,0.000,260,0.000,0.054,1838,2750,2965,2965,4095,0,0,0,0,0,0,26.46,26.14,26.46,10.39,44.80
$GC,464,-1.61,-390.0,1837,2750,2966,4095,46.2,-11.5,60,473,0.00,2.17,0.00,0.000,1030,0.000,0.031,1838,1895,2966,2966,4095,0,0,0,0,0,0,26.22,26.21,26.27,10.38,44.29
$GC,509,-1.61,-390.0,1837,1894,2967,4095,51.1,-11.0,66,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1895,2967,2967,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.38,44.01
$GC,555,-1.61,-390.0,1837,1895,2968,4094,56.2,-11.5,72,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1895,2968,2968,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.36,43.62
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,590,-0.45,0.0,1838,2041,2969,4095,60.1,-12.1,76,624,3.95,0.00,22.75,1.264,10244,0.057,0.000,2205,2041,2501,2501,4094,0,0,0,0,0,0,26.25,25.29,24.62,10.37,43.58
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,627,1.61,390.0,2205,2040,2501,4094,62.4,0.0,80,663,6.97,0.00,22.62,1.246,11270,0.036,0.000,2864,2041,2045,2045,4094,0,0,0,0,0,0,25.74,25.91,24.18,10.26,43.50
$GC,700,1.61,390.0,2864,2040,2044,4094,57.3,11.1,89,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2044,2044,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.16,42.67
$GC,745,1.61,390.0,2863,2040,2043,4094,51.9,12.0,95,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2042,2042,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.15,42.63
$GC,789,1.61,390.0,2863,2041,2041,4094,46.5,11.8,101,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2041,2041,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.14,43.30
$GC,834,1.61,390.0,2864,2039,2041,4094,41.1,12.1,107,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2040,2040,2040,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.14,43.85
$GC,877,1.61,390.0,2863,2040,2039,4094,36.0,11.9,113,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2039,2039,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.13,43.34
$GC,921,1.61,390.0,2863,2040,2038,4094,30.6,12.2,119,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2040,2037,2037,4095,0,0,0,0,0,0,26.13,26.14,26.14,10.13,43.62
$GC,964,1.61,390.0,2863,2040,2037,4095,25.1,12.5,125,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2036,2036,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.15,44.56
$GC,1009,1.61,390.0,2863,2040,2035,4094,20.1,11.1,131,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2040,2035,2035,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.18,45.70
$GC,1053,1.61,390.0,2863,2040,2034,4094,15.7,9.6,137,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2040,2034,2034,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.21,46.77
$GC,1098,1.61,390.0,2863,2040,2033,4094,11.3,10.1,143,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2033,2033,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.22,48.14
$GC,1142,1.61,390.0,2863,2040,2032,4094,6.8,10.1,149,1150,0.00,2.42,0.00,0.000,516,0.000,0.067,2864,1156,2031,2031,4094,0,0,0,0,0,0,26.33,26.02,26.34,10.23,48.42
$STATE,1192,end climb,FINISH_DEPTH_REACHED
$STATE,1192,begin subsurface finish
$FINISH1,1.6,1.024220,96
$GC,1200,0.14,96.1,2864,1997,2030,4094,1.6,10.3,156,1218,4.78,0.00,-3.22,0.000,20486,0.040,0.000,2408,2006,2395,2395,4095,0,0,0,0,0,0,26.14,25.65,26.19,10.24,49.56
$FINISH2,0.2
$STATE,1219,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1219,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,173947
$TT8_MAMPS,0.025466,0.21721
$HUMID,49.96
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,24.18,7.027
$10V_AH,10.27,8.805
$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,34.350,13.800,45.375,0.000,0.000,25.086,19.881,237.632,0.000,0.000,16.868,439.878,0.000,142.352,961.520,95.214,33.451,420.838,0.000,240.883,0.000,0.543,0.000
$DEVICE_MAMPS,107.100,68.850,1263.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.003,429.267,0.000,503.222,655.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,14375,158
$CAP_FILE_SIZE,36481,0
$CFSIZE,1024409600,1005289472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310717,190005,5947.432,-17131.098,10,0.8,15,8.1,0.0,329.3,11,4.8