version: 66.13
glider: 401
mission: 22
dive: 290
start: 7 31 117 19 23 35
data:
$ID,401
$MISSION,22
$DIVE,290
$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,40
$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
$GPS1,310717,190005,5947.4321,-17131.0977,10,0.8,15,8.1,0.0,329.3,11,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.4
$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,-0.331075,0.077243
$KALMAN_X,36321.179688,-2010.331055,-776.329712,-95660.632812,-118.933716
$KALMAN_Y,15214.330078,1372.238037,105.375313,42792.707031,64.100853
$MHEAD_RNG_PITCHd_Wd,275.0,71365,-11.3,-9.091,-14.97,6444
$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,-390.0,2408,1881,2395,4092,0.0,0.0,0,21,5.82,0.00,-5.12,0.000,20486,0.028,0.000,1846,1881,2961,2961,4094,0,0,0,0,0,0,26.10,25.20,26.13,10.34,50.03
$GC,23,-1.61,-390.0,1845,1880,2961,4094,0.1,0.0,1,32,0.00,2.25,0.00,0.000,516,0.000,0.068,1845,1058,2961,2961,4094,0,0,0,0,0,0,26.28,25.96,26.29,10.46,49.60
$GC,62,-1.61,-390.0,1845,1057,2962,4094,2.6,-8.5,6,71,0.00,2.10,0.00,0.000,1030,0.000,0.031,1845,1897,2962,2962,4095,0,0,0,0,0,0,26.15,26.10,26.15,10.46,49.37
$GC,108,-1.61,-390.0,1845,1900,2962,4095,7.9,-11.9,12,117,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2962,2962,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.46,49.21
$GC,154,-1.61,-390.0,1845,1899,2964,4094,13.7,-12.7,18,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2964,2964,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.47,49.09
$GC,197,-1.61,-390.0,1845,1900,2964,4094,19.4,-12.6,24,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2965,2965,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.47,49.44
$GC,240,-1.61,-390.0,1845,1900,2965,4095,24.3,-11.4,30,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2966,2966,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.45,48.42
$GC,285,-1.61,-390.0,1845,1900,2966,4094,29.0,-10.2,36,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2966,2966,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.42,47.95
$GC,329,-1.61,-390.0,1845,1900,2967,4094,33.2,-9.3,42,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2967,2967,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.39,47.08
$GC,373,-1.61,-390.0,1845,1900,2968,4095,37.6,-10.0,48,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2968,2968,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.38,46.69
$GC,418,-1.61,-390.0,1845,1899,2969,4094,42.0,-9.9,54,427,0.00,2.30,0.00,0.000,260,0.000,0.056,1845,2763,2969,2969,4095,0,0,0,0,0,0,26.53,26.20,26.53,10.37,46.02
$GC,456,-1.61,-390.0,1845,2762,2969,4095,46.0,-10.3,59,466,0.00,2.12,0.00,0.000,1030,0.000,0.031,1845,1925,2970,2970,4094,0,0,0,0,0,0,26.31,26.27,26.33,10.36,45.07
$GC,503,-1.61,-390.0,1845,1925,2970,4094,51.0,-11.3,65,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1925,2971,2971,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.35,44.88
$GC,549,-1.61,-390.0,1844,1925,2971,4095,56.1,-11.2,71,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1925,2972,2972,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.34,44.64
$STATE,585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,585,begin apogee
$GC,590,-0.45,0.0,1845,2050,2972,4094,60.5,-10.8,76,626,3.90,0.05,22.92,1.277,10244,0.057,0.058,2205,2010,2500,2500,4095,0,0,0,0,0,0,26.31,25.34,24.66,10.34,44.48
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,629,1.61,390.0,2204,2010,2500,4095,62.7,0.0,80,665,6.97,0.00,22.60,1.254,11270,0.038,0.000,2862,2010,2044,2044,4095,0,0,0,0,0,0,25.77,25.95,24.20,10.24,44.09
$GC,702,1.61,390.0,2862,2009,2043,4095,57.8,11.1,89,711,0.00,2.38,0.00,0.000,260,0.000,0.054,2863,2858,2043,2043,4094,0,0,0,0,0,0,25.67,25.38,25.69,10.14,43.42
$GC,759,1.61,390.0,2862,2857,2041,4094,50.7,12.5,97,769,0.00,2.17,0.00,0.000,1030,0.000,0.029,2862,2025,2041,2041,4094,0,0,0,0,0,0,25.68,25.59,25.67,10.13,43.81
$GC,806,1.61,390.0,2862,2023,2040,4094,45.2,11.6,103,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2024,2040,2040,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.12,44.01
$GC,852,1.61,390.0,2862,2024,2039,4094,39.7,12.1,109,861,0.00,2.40,0.00,0.000,516,0.000,0.068,2862,1149,2038,2038,4094,0,0,0,0,0,0,26.03,25.70,26.05,10.12,44.01
$GC,898,1.61,390.0,2862,1149,2037,4094,33.8,12.6,115,908,0.00,2.10,0.00,0.000,1030,0.000,0.028,2863,1984,2037,2037,4095,0,0,0,0,0,0,25.89,25.84,25.91,10.11,44.44
$GC,945,1.61,390.0,2862,1984,2036,4095,28.0,12.5,121,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1984,2036,2036,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,45.23
$GC,991,1.61,390.0,2862,1984,2035,4094,22.4,12.5,127,999,0.00,2.42,0.00,0.000,260,0.000,0.058,2862,2873,2035,2035,4094,0,0,0,0,0,0,26.20,25.89,26.22,10.14,45.94
$GC,1022,1.61,390.0,2862,2873,2034,4094,18.5,11.8,131,1031,0.00,2.20,0.00,0.000,1030,0.000,0.031,2863,2019,2034,2034,4094,0,0,0,0,0,0,26.03,25.96,26.03,10.16,46.33
$GC,1067,1.61,390.0,2862,2019,2033,4094,13.9,9.7,137,1076,0.00,2.38,0.00,0.000,516,0.000,0.069,2862,1149,2033,2033,4094,0,0,0,0,0,0,26.27,25.93,26.28,10.18,47.00
$GC,1131,1.61,390.0,2862,1148,2031,4094,7.2,10.3,146,1141,0.00,2.15,0.00,0.000,1030,0.000,0.029,2862,2008,2030,2030,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.20,48.58
$GC,1176,1.61,390.0,2862,2009,2030,4094,2.5,10.4,152,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2030,2030,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.22,49.01
$STATE,1193,end climb,FINISH_DEPTH_REACHED
$STATE,1193,begin subsurface finish
$FINISH1,0.8,1.024215,96
$GC,1199,0.14,96.5,2862,2011,2029,4094,0.8,9.8,154,1210,4.70,0.00,-3.20,0.000,20486,0.030,0.000,2409,2016,2393,2393,4094,0,0,0,0,0,0,26.14,25.26,26.18,10.22,49.21
$FINISH2,0.2
$STATE,1211,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1211,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,173947
$TT8_MAMPS,0.025466,0.265146
$HUMID,50.31
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.20,7.044
$10V_AH,10.19,8.840
$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,21.400,27.525,45.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.757,0.000,135.948,646.340,45.201,33.429,404.445,0.000,374.534,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,68.850,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.708,421.140,333.231,493.531,643.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,14332,155
$CAP_FILE_SIZE,32941,0
$CFSIZE,1024409600,1005240320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,190005,5947.432,-17131.098,10,0.8,15,8.1,0.0,329.3,11,4.8