version: 66.13
glider: 401
mission: 22
dive: 298
start: 7 31 117 22 53 48
data:
$ID,401
$MISSION,22
$DIVE,298
$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,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
$GPS1,310717,224545,5949.3940,-17134.7266,3,0.9,13,8.1,0.0,18.9,10,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-43.7
$GPS2,310717,225240,5949.4492,-17134.6094,10,0.9,17,8.1,0.0,43.2,9,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.323760,-0.103146
$KALMAN_X,36930.656250,-2360.437744,-1009.946167,-98996.328125,170.467041
$KALMAN_Y,17852.882812,1747.037476,589.824463,43008.789062,202.345581
$MHEAD_RNG_PITCHd_Wd,244.2,67213,-11.3,-9.091,-14.98,6436
$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,-390.0,231,1886,2031,4092,0.0,0.0,0,21,11.12,0.00,0.00,0.000,2049,0.104,0.000,1156,1886,2031,2031,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.30,49.33
$GC,23,-1.61,-390.0,1156,1886,2031,4094,0.9,0.0,1,41,7.32,0.00,-8.43,0.000,19206,0.047,0.000,1839,1886,2960,2960,4095,0,0,0,0,0,0,25.94,25.08,25.99,10.31,49.33
$GC,77,-1.61,-390.0,1838,1886,2960,4095,2.2,-8.3,8,85,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1886,2961,2961,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.50,49.29
$GC,120,-1.61,-390.0,1838,1886,2961,4094,7.3,-12.0,14,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1886,2962,2962,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.51,48.85
$GC,165,-1.61,-390.0,1838,1886,2962,4095,12.8,-12.2,20,173,0.00,2.38,0.00,0.000,260,0.000,0.053,1839,2762,2962,2962,4094,0,0,0,0,0,0,26.29,25.99,26.31,10.51,47.91
$GC,209,-1.61,-390.0,1838,2762,2963,4094,18.1,-11.6,26,218,0.00,2.17,0.00,0.000,1030,0.000,0.029,1839,1911,2964,2964,4094,0,0,0,0,0,0,26.10,26.05,26.14,10.50,48.34
$GC,254,-1.61,-390.0,1838,1910,2964,4094,23.2,-11.5,32,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1911,2964,2964,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.49,47.16
$GC,298,-1.61,-390.0,1838,1910,2965,4094,28.3,-11.4,38,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1911,2965,2965,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.46,46.92
$GC,343,-1.61,-390.0,1838,1911,2966,4094,33.0,-10.6,44,352,0.00,2.38,0.00,0.000,516,0.000,0.068,1839,1036,2966,2966,4094,0,0,0,0,0,0,26.42,26.08,26.43,10.43,46.10
$GC,414,-1.61,-390.0,1838,1036,2968,4094,41.1,-11.7,54,423,0.00,2.12,0.00,0.000,1030,0.000,0.028,1839,1890,2967,2967,4094,0,0,0,0,0,0,26.25,26.22,26.26,10.39,45.19
$GC,461,-1.61,-390.0,1838,1890,2969,4094,46.2,-10.7,60,470,0.00,2.33,0.00,0.000,260,0.000,0.054,1839,2762,2969,2969,4095,0,0,0,0,0,0,26.48,26.16,26.48,10.38,44.13
$GC,512,-1.61,-390.0,1839,2762,2970,4095,52.1,-11.2,67,521,0.00,2.20,0.00,0.000,1030,0.000,0.031,1839,1895,2969,2969,4094,0,0,0,0,0,0,26.26,26.23,26.29,10.38,43.66
$GC,557,-1.61,-390.0,1838,1895,2970,4094,56.9,-10.8,73,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2971,2971,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.37,43.58
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,591,-0.45,0.0,1839,2045,2971,4094,60.3,-10.7,77,628,4.00,0.05,22.90,1.266,10244,0.060,0.059,2205,2007,2501,2501,4094,0,0,0,0,0,0,26.25,25.29,24.63,10.37,44.01
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,631,1.61,390.0,2205,2007,2501,4094,62.5,0.0,81,666,6.97,0.00,22.65,1.243,11270,0.036,0.000,2863,2007,2045,2045,4094,0,0,0,0,0,0,25.74,25.91,24.18,10.27,43.77
$GC,704,1.61,390.0,2862,2007,2044,4094,57.2,10.9,90,713,0.00,2.38,0.00,0.000,260,0.000,0.054,2862,2860,2044,2044,4094,0,0,0,0,0,0,25.65,25.34,25.67,10.16,42.51
$GC,742,1.61,390.0,2862,2860,2043,4094,52.2,13.0,95,752,0.00,2.17,0.00,0.000,1030,0.000,0.028,2863,2028,2043,2043,4094,0,0,0,0,0,0,25.58,25.56,25.63,10.16,42.87
$GC,789,1.61,390.0,2862,2028,2042,4094,46.6,12.1,101,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2028,2041,2041,4095,0,0,0,0,0,0,25.91,25.92,25.92,10.15,43.03
$GC,835,1.61,390.0,2862,2028,2040,4095,41.2,11.7,107,844,0.00,2.40,0.00,0.000,516,0.000,0.067,2863,1156,2041,2041,4094,0,0,0,0,0,0,26.00,25.67,26.01,10.14,43.81
$GC,873,1.61,390.0,2862,1155,2040,4094,36.6,11.6,112,883,0.00,2.05,0.00,0.000,1030,0.000,0.028,2862,1977,2039,2039,4094,0,0,0,0,0,0,25.85,25.83,25.87,10.14,43.18
$GC,920,1.61,390.0,2862,1977,2039,4094,32.1,10.4,118,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1977,2038,2038,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.13,44.05
$GC,966,1.61,390.0,2862,1977,2037,4094,27.1,10.6,124,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1978,2037,2037,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.14,44.05
$GC,1010,1.61,390.0,2862,1977,2036,4094,22.2,10.9,130,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1978,2036,2036,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.16,44.72
$GC,1054,1.61,390.0,2862,1978,2035,4094,17.3,11.1,136,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1979,2035,2035,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.19,46.02
$GC,1097,1.61,390.0,2862,1979,2034,4095,12.6,10.9,142,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1980,2034,2034,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.21,48.14
$GC,1141,1.61,390.0,2862,1980,2033,4094,8.2,9.8,148,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1980,2033,2033,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.22,48.62
$GC,1186,1.61,390.0,2862,1980,2032,4094,3.6,10.4,154,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1980,2031,2031,4094,0,0,0,0,0,0,26.36,26.36,26.37,10.24,49.09
$STATE,1202,end climb,FINISH_DEPTH_REACHED
$STATE,1202,begin subsurface finish
$FINISH1,1.7,1.024149,101
$GC,1208,0.15,101.1,2862,2029,2030,4094,1.7,10.4,156,1228,4.90,2.38,-3.00,0.000,20740,0.061,1.302,2409,2866,2387,2387,4094,0,0,0,0,0,0,26.15,25.04,26.20,10.24,48.93
$FINISH2,0.6
$STATE,1229,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1229,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,213014
$TT8_MAMPS,0.025466,0.268142
$HUMID,49.37
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.18,7.244
$10V_AH,10.23,9.104
$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,34.325,25.350,45.550,0.000,0.000,24.208,22.066,258.043,0.000,0.000,18.836,448.213,0.000,145.090,977.153,98.179,33.479,427.082,0.000,383.291,0.000,0.542,0.000
$DEVICE_MAMPS,104.040,1302.030,1266.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.565,429.289,339.654,503.229,655.341,0.000,0.000,0.000,0.000,0.000
$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,14364,158
$CAP_FILE_SIZE,38356,0
$CFSIZE,1024409600,1004847104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310717,225240,5949.449,-17134.609,10,0.9,17,8.1,0.0,43.2,9,4.6